Pinscape_Controller_v1 - Pinscape Controller version 1 fork. This is a fo…

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Mike R / Mbed 2 deprecated Pinscape_Controller_v1

Pinscape Controller version 1 fork. This is a fork to allow for ongoing bug fixes to the original controller version, from before the major changes for the expansion board project.

Dependencies: FastIO FastPWM SimpleDMA mbed

Fork of Pinscape_Controller by Mike R

main.cpp@20:4c43877327ab, 2015-02-28 (annotated)

Committer:: mjr
Date:: Sat Feb 28 00:32:57 2015 +0000
Revision:: 20:4c43877327ab
Parent:: 19:054f8af32fce
Child:: 21:5048e16cc9ef

New key debouncing, delay on usb read to avoid freezes

Who changed what in which revision?

User	Revision	Line number	New 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	17:ab3cec0c8bf4	22	// "Pinscape" is the name of my custom-built virtual pinball cabinet, so I call this
mjr	17:ab3cec0c8bf4	23	// software the Pinscape Controller. I wrote it to handle several tasks that I needed
mjr	17:ab3cec0c8bf4	24	// for my cabinet. It runs on a Freescale KL25Z microcontroller, which is a small and
mjr	17:ab3cec0c8bf4	25	// inexpensive device that attaches to the cabinet PC via a USB cable, and can attach
mjr	17:ab3cec0c8bf4	26	// via custom wiring to sensors, buttons, and other devices in the cabinet.
mjr	5:a70c0bce770d	27	//
mjr	17:ab3cec0c8bf4	28	// I designed the software and hardware in this project especially for my own
mjr	17:ab3cec0c8bf4	29	// cabinet, but it uses standard interfaces in Windows and Visual Pinball, so it should
mjr	17:ab3cec0c8bf4	30	// work in any VP-based cabinet, as long as you're using the usual VP software suite.
mjr	17:ab3cec0c8bf4	31	// I've tried to document the hardware in enough detail for anyone else to duplicate
mjr	17:ab3cec0c8bf4	32	// the entire project, and the full software is open source.
mjr	5:a70c0bce770d	33	//
mjr	17:ab3cec0c8bf4	34	// The Freescale board appears to the host PC as a standard USB joystick. This works
mjr	17:ab3cec0c8bf4	35	// with the built-in Windows joystick device drivers, so there's no need to install any
mjr	17:ab3cec0c8bf4	36	// new drivers or other software on the PC. Windows should recognize the Freescale
mjr	17:ab3cec0c8bf4	37	// as a joystick when you plug it into the USB port, and Windows shouldn't ask you to
mjr	17:ab3cec0c8bf4	38	// install any drivers. If you bring up the Windows control panel for USB Game
mjr	17:ab3cec0c8bf4	39	// Controllers, this device will appear as "Pinscape Controller". Don't do any
mjr	17:ab3cec0c8bf4	40	// calibration with the Windows control panel or third-part calibration tools. The
mjr	17:ab3cec0c8bf4	41	// software calibrates the accelerometer portion automatically, and has its own special
mjr	17:ab3cec0c8bf4	42	// calibration procedure for the plunger sensor, if you're using that (see below).
mjr	5:a70c0bce770d	43	//
mjr	17:ab3cec0c8bf4	44	// This software provides a whole bunch of separate features. You can use any of these
mjr	17:ab3cec0c8bf4	45	// features individually or all together. If you're not using a particular feature, you
mjr	17:ab3cec0c8bf4	46	// can simply omit the extra wiring and/or hardware for that feature. You can use
mjr	17:ab3cec0c8bf4	47	// the nudging feature by itself without any extra hardware attached, since the
mjr	17:ab3cec0c8bf4	48	// accelerometer is built in to the KL25Z board.
mjr	5:a70c0bce770d	49	//
mjr	17:ab3cec0c8bf4	50	// - Nudge sensing via the KL25Z's on-board accelerometer. Nudging the cabinet
mjr	17:ab3cec0c8bf4	51	// causes small accelerations that the accelerometer can detect; these are sent to
mjr	17:ab3cec0c8bf4	52	// Visual Pinball via the joystick interface so that VP can simulate the effect
mjr	17:ab3cec0c8bf4	53	// of the real physical nudges on its simulated ball. VP has native handling for
mjr	17:ab3cec0c8bf4	54	// this type of input, so all you have to do is set some preferences in VP to tell
mjr	17:ab3cec0c8bf4	55	// it that an accelerometer is attached.
mjr	5:a70c0bce770d	56	//
mjr	5:a70c0bce770d	57	// - Plunger position sensing via an attached TAOS TSL 1410R CCD linear array sensor.
mjr	17:ab3cec0c8bf4	58	// To use this feature, you need to buy the TAOS device (it's not built in to the
mjr	17:ab3cec0c8bf4	59	// KL25Z, obviously), wire it to the KL25Z (5 wire connections between the two
mjr	17:ab3cec0c8bf4	60	// devices are required), and mount the TAOS sensor in your cabinet so that it's
mjr	17:ab3cec0c8bf4	61	// positioned properly to capture images of the physical plunger shooter rod.
mjr	17:ab3cec0c8bf4	62	//
mjr	17:ab3cec0c8bf4	63	// The physical mounting and wiring details are desribed in the project
mjr	17:ab3cec0c8bf4	64	// documentation.
mjr	17:ab3cec0c8bf4	65	//
mjr	17:ab3cec0c8bf4	66	// If the CCD is attached, the software constantly captures images from the CCD
mjr	17:ab3cec0c8bf4	67	// and analyzes them to determine how far back the plunger is pulled. It reports
mjr	17:ab3cec0c8bf4	68	// this to Visual Pinball via the joystick interface. This allows VP to make the
mjr	17:ab3cec0c8bf4	69	// simulated on-screen plunger track the motion of the physical plunger in real
mjr	17:ab3cec0c8bf4	70	// time. As with the nudge data, VP has native handling for the plunger input,
mjr	17:ab3cec0c8bf4	71	// so you just need to set the VP preferences to tell it that an analog plunger
mjr	17:ab3cec0c8bf4	72	// device is attached. One caveat, though: although VP itself has built-in
mjr	17:ab3cec0c8bf4	73	// support for an analog plunger, not all existing tables take advantage of it.
mjr	17:ab3cec0c8bf4	74	// Many existing tables have their own custom plunger scripting that doesn't
mjr	17:ab3cec0c8bf4	75	// cooperate with the VP plunger input. All tables can be made to work with
mjr	17:ab3cec0c8bf4	76	// the plunger, and in most cases it only requires some simple script editing,
mjr	17:ab3cec0c8bf4	77	// but in some cases it requires some more extensive surgery.
mjr	5:a70c0bce770d	78	//
mjr	6:cc35eb643e8f	79	// For best results, the plunger sensor should be calibrated. The calibration
mjr	6:cc35eb643e8f	80	// is stored in non-volatile memory on board the KL25Z, so it's only necessary
mjr	6:cc35eb643e8f	81	// to do the calibration once, when you first install everything. (You might
mjr	6:cc35eb643e8f	82	// also want to re-calibrate if you physically remove and reinstall the CCD
mjr	17:ab3cec0c8bf4	83	// sensor or the mechanical plunger, since their alignment shift change slightly
mjr	17:ab3cec0c8bf4	84	// when you put everything back together.) You can optionally install a
mjr	17:ab3cec0c8bf4	85	// dedicated momentary switch or pushbutton to activate the calibration mode;
mjr	17:ab3cec0c8bf4	86	// this is describe in the project documentation. If you don't want to bother
mjr	17:ab3cec0c8bf4	87	// with the extra button, you can also trigger calibration using the Windows
mjr	17:ab3cec0c8bf4	88	// setup software, which you can find on the Pinscape project page.
mjr	6:cc35eb643e8f	89	//
mjr	17:ab3cec0c8bf4	90	// The calibration procedure is described in the project documentation. Briefly,
mjr	17:ab3cec0c8bf4	91	// when you trigger calibration mode, the software will scan the CCD for about
mjr	17:ab3cec0c8bf4	92	// 15 seconds, during which you should simply pull the physical plunger back
mjr	17:ab3cec0c8bf4	93	// all the way, hold it for a moment, and then slowly return it to the rest
mjr	17:ab3cec0c8bf4	94	// position. (DON'T just release it from the retracted position, since that
mjr	17:ab3cec0c8bf4	95	// let it shoot forward too far. We want to measure the range from the park
mjr	17:ab3cec0c8bf4	96	// position to the fully retracted position only.)
mjr	5:a70c0bce770d	97	//
mjr	13:72dda449c3c0	98	// - Button input wiring. 24 of the KL25Z's GPIO ports are mapped as digital inputs
mjr	13:72dda449c3c0	99	// for buttons and switches. The software reports these as joystick buttons when
mjr	13:72dda449c3c0	100	// it sends reports to the PC. These can be used to wire physical pinball-style
mjr	13:72dda449c3c0	101	// buttons in the cabinet (e.g., flipper buttons, the Start button) and miscellaneous
mjr	13:72dda449c3c0	102	// switches (such as a tilt bob) to the PC. Visual Pinball can use joystick buttons
mjr	13:72dda449c3c0	103	// for input - you just have to assign a VP function to each button using VP's
mjr	13:72dda449c3c0	104	// keyboard options dialog. To wire a button physically, connect one terminal of
mjr	13:72dda449c3c0	105	// the button switch to the KL25Z ground, and connect the other terminal to the
mjr	13:72dda449c3c0	106	// the GPIO port you wish to assign to the button. See the buttonMap[] array
mjr	13:72dda449c3c0	107	// below for the available GPIO ports and their assigned joystick button numbers.
mjr	13:72dda449c3c0	108	// If you're not using a GPIO port, you can just leave it unconnected - the digital
mjr	13:72dda449c3c0	109	// inputs have built-in pull-up resistors, so an unconnected port is the same as
mjr	13:72dda449c3c0	110	// an open switch (an "off" state for the button).
mjr	13:72dda449c3c0	111	//
mjr	5:a70c0bce770d	112	// - LedWiz emulation. The KL25Z can appear to the PC as an LedWiz device, and will
mjr	5:a70c0bce770d	113	// accept and process LedWiz commands from the host. The software can turn digital
mjr	5:a70c0bce770d	114	// output ports on and off, and can set varying PWM intensitiy levels on a subset
mjr	5:a70c0bce770d	115	// of ports. (The KL25Z can only provide 6 PWM ports. Intensity level settings on
mjr	5:a70c0bce770d	116	// other ports is ignored, so non-PWM ports can only be used for simple on/off
mjr	5:a70c0bce770d	117	// devices such as contactors and solenoids.) The KL25Z can only supply 4mA on its
mjr	5:a70c0bce770d	118	// output ports, so external hardware is required to take advantage of the LedWiz
mjr	5:a70c0bce770d	119	// emulation. Many different hardware designs are possible, but there's a simple
mjr	5:a70c0bce770d	120	// reference design in the documentation that uses a Darlington array IC to
mjr	5:a70c0bce770d	121	// increase the output from each port to 500mA (the same level as the LedWiz),
mjr	5:a70c0bce770d	122	// plus an extended design that adds an optocoupler and MOSFET to provide very
mjr	5:a70c0bce770d	123	// high power handling, up to about 45A or 150W, with voltages up to 100V.
mjr	5:a70c0bce770d	124	// That will handle just about any DC device directly (wtihout relays or other
mjr	5:a70c0bce770d	125	// amplifiers), and switches fast enough to support PWM devices.
mjr	5:a70c0bce770d	126	//
mjr	5:a70c0bce770d	127	// The device can report any desired LedWiz unit number to the host, which makes
mjr	5:a70c0bce770d	128	// it possible to use the LedWiz emulation on a machine that also has one or more
mjr	5:a70c0bce770d	129	// actual LedWiz devices intalled. The LedWiz design allows for up to 16 units
mjr	5:a70c0bce770d	130	// to be installed in one machine - each one is invidually addressable by its
mjr	5:a70c0bce770d	131	// distinct unit number.
mjr	5:a70c0bce770d	132	//
mjr	5:a70c0bce770d	133	// The LedWiz emulation features are of course optional. There's no need to
mjr	5:a70c0bce770d	134	// build any of the external port hardware (or attach anything to the output
mjr	5:a70c0bce770d	135	// ports at all) if the LedWiz features aren't needed. Most people won't have
mjr	5:a70c0bce770d	136	// any use for the LedWiz features. I built them mostly as a learning exercise,
mjr	5:a70c0bce770d	137	// but with a slight practical need for a handful of extra ports (I'm using the
mjr	5:a70c0bce770d	138	// cutting-edge 10-contactor setup, so my real LedWiz is full!).
mjr	6:cc35eb643e8f	139	//
mjr	6:cc35eb643e8f	140	// The on-board LED on the KL25Z flashes to indicate the current device status:
mjr	6:cc35eb643e8f	141	//
mjr	6:cc35eb643e8f	142	// two short red flashes = the device is powered but hasn't successfully
mjr	6:cc35eb643e8f	143	// connected to the host via USB (either it's not physically connected
mjr	6:cc35eb643e8f	144	// to the USB port, or there was a problem with the software handshake
mjr	6:cc35eb643e8f	145	// with the USB device driver on the computer)
mjr	6:cc35eb643e8f	146	//
mjr	6:cc35eb643e8f	147	// short red flash = the host computer is in sleep/suspend mode
mjr	6:cc35eb643e8f	148	//
mjr	6:cc35eb643e8f	149	// long red/green = the LedWiz unti number has been changed, so a reset
mjr	6:cc35eb643e8f	150	// is needed. You can simply unplug the device and plug it back in,
mjr	6:cc35eb643e8f	151	// or presss and hold the reset button on the device for a few seconds.
mjr	6:cc35eb643e8f	152	//
mjr	6:cc35eb643e8f	153	// long yellow/green = everything's working, but the plunger hasn't
mjr	6:cc35eb643e8f	154	// been calibrated; follow the calibration procedure described above.
mjr	6:cc35eb643e8f	155	// This flash mode won't appear if the CCD has been disabled. Note
mjr	18:5e890ebd0023	156	// that the device can't tell whether a CCD is physically attached;
mjr	18:5e890ebd0023	157	// if you don't have a CCD attached, you can set the appropriate option
mjr	18:5e890ebd0023	158	// in config.h or use the Windows config tool to disable the CCD
mjr	18:5e890ebd0023	159	// software features.
mjr	6:cc35eb643e8f	160	//
mjr	6:cc35eb643e8f	161	// alternating blue/green = everything's working
mjr	6:cc35eb643e8f	162	//
mjr	6:cc35eb643e8f	163	// Software configuration: you can change option settings by sending special
mjr	6:cc35eb643e8f	164	// USB commands from the PC. I've provided a Windows program for this purpose;
mjr	6:cc35eb643e8f	165	// refer to the documentation for details. For reference, here's the format
mjr	6:cc35eb643e8f	166	// of the USB command for option changes:
mjr	6:cc35eb643e8f	167	//
mjr	6:cc35eb643e8f	168	// length of report = 8 bytes
mjr	6:cc35eb643e8f	169	// byte 0 = 65 (0x41)
mjr	6:cc35eb643e8f	170	// byte 1 = 1 (0x01)
mjr	6:cc35eb643e8f	171	// byte 2 = new LedWiz unit number, 0x01 to 0x0f
mjr	6:cc35eb643e8f	172	// byte 3 = feature enable bit mask:
mjr	6:cc35eb643e8f	173	// 0x01 = enable CCD (default = on)
mjr	9:fd65b0a94720	174	//
mjr	9:fd65b0a94720	175	// Plunger calibration mode: the host can activate plunger calibration mode
mjr	9:fd65b0a94720	176	// by sending this packet. This has the same effect as pressing and holding
mjr	9:fd65b0a94720	177	// the plunger calibration button for two seconds, to allow activating this
mjr	9:fd65b0a94720	178	// mode without attaching a physical button.
mjr	9:fd65b0a94720	179	//
mjr	9:fd65b0a94720	180	// length = 8 bytes
mjr	9:fd65b0a94720	181	// byte 0 = 65 (0x41)
mjr	9:fd65b0a94720	182	// byte 1 = 2 (0x02)
mjr	9:fd65b0a94720	183	//
mjr	10:976666ffa4ef	184	// Exposure reports: the host can request a report of the full set of pixel
mjr	10:976666ffa4ef	185	// values for the next frame by sending this special packet:
mjr	10:976666ffa4ef	186	//
mjr	10:976666ffa4ef	187	// length = 8 bytes
mjr	10:976666ffa4ef	188	// byte 0 = 65 (0x41)
mjr	10:976666ffa4ef	189	// byte 1 = 3 (0x03)
mjr	10:976666ffa4ef	190	//
mjr	10:976666ffa4ef	191	// We'll respond with a series of special reports giving the exposure status.
mjr	10:976666ffa4ef	192	// Each report has the following structure:
mjr	10:976666ffa4ef	193	//
mjr	10:976666ffa4ef	194	// bytes 0:1 = 11-bit index, with high 5 bits set to 10000. For
mjr	10:976666ffa4ef	195	// example, 0x04 0x80 indicates index 4. This is the
mjr	10:976666ffa4ef	196	// starting pixel number in the report. The first report
mjr	10:976666ffa4ef	197	// will be 0x00 0x80 to indicate pixel #0.
mjr	10:976666ffa4ef	198	// bytes 2:3 = 16-bit unsigned int brightness level of pixel at index
mjr	10:976666ffa4ef	199	// bytes 4:5 = brightness of pixel at index+1
mjr	10:976666ffa4ef	200	// etc for the rest of the packet
mjr	10:976666ffa4ef	201	//
mjr	10:976666ffa4ef	202	// This still has the form of a joystick packet at the USB level, but
mjr	10:976666ffa4ef	203	// can be differentiated by the host via the status bits. It would have
mjr	10:976666ffa4ef	204	// been cleaner to use a different Report ID at the USB level, but this
mjr	10:976666ffa4ef	205	// would have necessitated a different container structure in the report
mjr	10:976666ffa4ef	206	// descriptor, which would have broken LedWiz compatibility. Given that
mjr	10:976666ffa4ef	207	// constraint, we have to re-use the joystick report type, making for
mjr	10:976666ffa4ef	208	// this somewhat kludgey approach.
mjr	6:cc35eb643e8f	209
mjr	0:5acbbe3f4cf4	210	#include "mbed.h"
mjr	6:cc35eb643e8f	211	#include "math.h"
mjr	0:5acbbe3f4cf4	212	#include "USBJoystick.h"
mjr	0:5acbbe3f4cf4	213	#include "MMA8451Q.h"
mjr	1:d913e0afb2ac	214	#include "tsl1410r.h"
mjr	1:d913e0afb2ac	215	#include "FreescaleIAP.h"
mjr	2:c174f9ee414a	216	#include "crc32.h"
mjr	2:c174f9ee414a	217
mjr	17:ab3cec0c8bf4	218	// our local configuration file
mjr	17:ab3cec0c8bf4	219	#include "config.h"
mjr	17:ab3cec0c8bf4	220
mjr	5:a70c0bce770d	221
mjr	5:a70c0bce770d	222	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	223	// utilities
mjr	17:ab3cec0c8bf4	224
mjr	17:ab3cec0c8bf4	225	// number of elements in an array
mjr	17:ab3cec0c8bf4	226	#define countof(x) (sizeof(x)/sizeof((x)[0]))
mjr	17:ab3cec0c8bf4	227
mjr	17:ab3cec0c8bf4	228
mjr	17:ab3cec0c8bf4	229	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	230	// USB device vendor ID, product ID, and version.
mjr	5:a70c0bce770d	231	//
mjr	5:a70c0bce770d	232	// We use the vendor ID for the LedWiz, so that the PC-side software can
mjr	5:a70c0bce770d	233	// identify us as capable of performing LedWiz commands. The LedWiz uses
mjr	5:a70c0bce770d	234	// a product ID value from 0xF0 to 0xFF; the last four bits identify the
mjr	5:a70c0bce770d	235	// unit number (e.g., product ID 0xF7 means unit #7). This allows multiple
mjr	5:a70c0bce770d	236	// LedWiz units to be installed in a single PC; the software on the PC side
mjr	5:a70c0bce770d	237	// uses the unit number to route commands to the devices attached to each
mjr	5:a70c0bce770d	238	// unit. On the real LedWiz, the unit number must be set in the firmware
mjr	5:a70c0bce770d	239	// at the factory; it's not configurable by the end user. Most LedWiz's
mjr	5:a70c0bce770d	240	// ship with the unit number set to 0, but the vendor will set different
mjr	5:a70c0bce770d	241	// unit numbers if requested at the time of purchase. So if you have a
mjr	5:a70c0bce770d	242	// single LedWiz already installed in your cabinet, and you didn't ask for
mjr	5:a70c0bce770d	243	// a non-default unit number, your existing LedWiz will be unit 0.
mjr	5:a70c0bce770d	244	//
mjr	6:cc35eb643e8f	245	// Note that the USB_PRODUCT_ID value set here omits the unit number. We
mjr	6:cc35eb643e8f	246	// take the unit number from the saved configuration. We provide a
mjr	6:cc35eb643e8f	247	// configuration command that can be sent via the USB connection to change
mjr	6:cc35eb643e8f	248	// the unit number, so that users can select the unit number without having
mjr	6:cc35eb643e8f	249	// to install a different version of the software. We'll combine the base
mjr	6:cc35eb643e8f	250	// product ID here with the unit number to get the actual product ID that
mjr	6:cc35eb643e8f	251	// we send to the USB controller.
mjr	5:a70c0bce770d	252	const uint16_t USB_VENDOR_ID = 0xFAFA;
mjr	6:cc35eb643e8f	253	const uint16_t USB_PRODUCT_ID = 0x00F0;
mjr	6:cc35eb643e8f	254	const uint16_t USB_VERSION_NO = 0x0006;
mjr	0:5acbbe3f4cf4	255
mjr	5:a70c0bce770d	256
mjr	6:cc35eb643e8f	257	// Joystick axis report range - we report from -JOYMAX to +JOYMAX
mjr	6:cc35eb643e8f	258	#define JOYMAX 4096
mjr	6:cc35eb643e8f	259
mjr	5:a70c0bce770d	260
mjr	17:ab3cec0c8bf4	261	// --------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	262	//
mjr	17:ab3cec0c8bf4	263	// Potentiometer configuration
mjr	17:ab3cec0c8bf4	264	//
mjr	17:ab3cec0c8bf4	265	#ifdef POT_SENSOR_ENABLED
mjr	17:ab3cec0c8bf4	266	#define IF_POT(x) x
mjr	17:ab3cec0c8bf4	267	#else
mjr	17:ab3cec0c8bf4	268	#define IF_POT(x)
mjr	17:ab3cec0c8bf4	269	#endif
mjr	9:fd65b0a94720	270
mjr	17:ab3cec0c8bf4	271
mjr	17:ab3cec0c8bf4	272	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	273	//
mjr	17:ab3cec0c8bf4	274	// On-board RGB LED elements - we use these for diagnostic displays.
mjr	17:ab3cec0c8bf4	275	//
mjr	17:ab3cec0c8bf4	276	DigitalOut ledR(LED1), ledG(LED2), ledB(LED3);
mjr	17:ab3cec0c8bf4	277
mjr	9:fd65b0a94720	278
mjr	9:fd65b0a94720	279	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	280	//
mjr	5:a70c0bce770d	281	// LedWiz emulation
mjr	5:a70c0bce770d	282	//
mjr	5:a70c0bce770d	283
mjr	0:5acbbe3f4cf4	284	static int pbaIdx = 0;
mjr	0:5acbbe3f4cf4	285
mjr	6:cc35eb643e8f	286	// LedWiz output pin interface. We create a cover class to virtualize
mjr	6:cc35eb643e8f	287	// digital vs PWM outputs and give them a common interface. The KL25Z
mjr	6:cc35eb643e8f	288	// unfortunately doesn't have enough hardware PWM channels to support
mjr	6:cc35eb643e8f	289	// PWM on all 32 LedWiz outputs, so we provide as many PWM channels as
mjr	6:cc35eb643e8f	290	// we can (10), and fill out the rest of the outputs with plain digital
mjr	6:cc35eb643e8f	291	// outs.
mjr	6:cc35eb643e8f	292	class LwOut
mjr	6:cc35eb643e8f	293	{
mjr	6:cc35eb643e8f	294	public:
mjr	6:cc35eb643e8f	295	virtual void set(float val) = 0;
mjr	6:cc35eb643e8f	296	};
mjr	6:cc35eb643e8f	297	class LwPwmOut: public LwOut
mjr	6:cc35eb643e8f	298	{
mjr	6:cc35eb643e8f	299	public:
mjr	13:72dda449c3c0	300	LwPwmOut(PinName pin) : p(pin) { prv = -1; }
mjr	13:72dda449c3c0	301	virtual void set(float val)
mjr	13:72dda449c3c0	302	{
mjr	13:72dda449c3c0	303	if (val != prv)
mjr	13:72dda449c3c0	304	p.write(prv = val);
mjr	13:72dda449c3c0	305	}
mjr	6:cc35eb643e8f	306	PwmOut p;
mjr	13:72dda449c3c0	307	float prv;
mjr	6:cc35eb643e8f	308	};
mjr	6:cc35eb643e8f	309	class LwDigOut: public LwOut
mjr	6:cc35eb643e8f	310	{
mjr	6:cc35eb643e8f	311	public:
mjr	13:72dda449c3c0	312	LwDigOut(PinName pin) : p(pin) { prv = -1; }
mjr	13:72dda449c3c0	313	virtual void set(float val)
mjr	13:72dda449c3c0	314	{
mjr	13:72dda449c3c0	315	if (val != prv)
mjr	13:72dda449c3c0	316	p.write((prv = val) == 0.0 ? 0 : 1);
mjr	13:72dda449c3c0	317	}
mjr	6:cc35eb643e8f	318	DigitalOut p;
mjr	13:72dda449c3c0	319	float prv;
mjr	6:cc35eb643e8f	320	};
mjr	11:bd9da7088e6e	321	class LwUnusedOut: public LwOut
mjr	11:bd9da7088e6e	322	{
mjr	11:bd9da7088e6e	323	public:
mjr	11:bd9da7088e6e	324	LwUnusedOut() { }
mjr	11:bd9da7088e6e	325	virtual void set(float val) { }
mjr	11:bd9da7088e6e	326	};
mjr	6:cc35eb643e8f	327
mjr	6:cc35eb643e8f	328	// output pin array
mjr	6:cc35eb643e8f	329	static LwOut *lwPin[32];
mjr	6:cc35eb643e8f	330
mjr	6:cc35eb643e8f	331	// initialize the output pin array
mjr	6:cc35eb643e8f	332	void initLwOut()
mjr	6:cc35eb643e8f	333	{
mjr	9:fd65b0a94720	334	for (int i = 0 ; i < countof(lwPin) ; ++i)
mjr	6:cc35eb643e8f	335	{
mjr	11:bd9da7088e6e	336	PinName p = (i < countof(ledWizPortMap) ? ledWizPortMap[i].pin : NC);
mjr	11:bd9da7088e6e	337	if (p == NC)
mjr	11:bd9da7088e6e	338	lwPin[i] = new LwUnusedOut();
mjr	11:bd9da7088e6e	339	else if (ledWizPortMap[i].isPWM)
mjr	11:bd9da7088e6e	340	lwPin[i] = new LwPwmOut(p);
mjr	11:bd9da7088e6e	341	else
mjr	11:bd9da7088e6e	342	lwPin[i] = new LwDigOut(p);
mjr	6:cc35eb643e8f	343	}
mjr	6:cc35eb643e8f	344	}
mjr	6:cc35eb643e8f	345
mjr	0:5acbbe3f4cf4	346	// on/off state for each LedWiz output
mjr	1:d913e0afb2ac	347	static uint8_t wizOn[32];
mjr	0:5acbbe3f4cf4	348
mjr	0:5acbbe3f4cf4	349	// profile (brightness/blink) state for each LedWiz output
mjr	1:d913e0afb2ac	350	static uint8_t wizVal[32] = {
mjr	13:72dda449c3c0	351	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	352	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	353	48, 48, 48, 48, 48, 48, 48, 48,
mjr	13:72dda449c3c0	354	48, 48, 48, 48, 48, 48, 48, 48
mjr	0:5acbbe3f4cf4	355	};
mjr	0:5acbbe3f4cf4	356
mjr	1:d913e0afb2ac	357	static float wizState(int idx)
mjr	0:5acbbe3f4cf4	358	{
mjr	13:72dda449c3c0	359	if (wizOn[idx])
mjr	13:72dda449c3c0	360	{
mjr	0:5acbbe3f4cf4	361	// on - map profile brightness state to PWM level
mjr	1:d913e0afb2ac	362	uint8_t val = wizVal[idx];
mjr	13:72dda449c3c0	363	if (val <= 48)
mjr	13:72dda449c3c0	364	{
mjr	15:944bbc29c4dd	365	// PWM brightness/intensity level. Rescale from the LedWiz
mjr	15:944bbc29c4dd	366	// 0..48 integer range to our internal PwmOut 0..1 float range.
mjr	15:944bbc29c4dd	367	// Note that on the actual LedWiz, level 48 is actually about
mjr	15:944bbc29c4dd	368	// 98% on - contrary to the LedWiz documentation, level 49 is
mjr	15:944bbc29c4dd	369	// the true 100% level. (In the documentation, level 49 is
mjr	15:944bbc29c4dd	370	// simply not a valid setting.) Even so, we treat level 48 as
mjr	15:944bbc29c4dd	371	// 100% on to match the documentation. This won't be perfectly
mjr	15:944bbc29c4dd	372	// ocmpatible with the actual LedWiz, but it makes for such a
mjr	15:944bbc29c4dd	373	// small difference in brightness (if the output device is an
mjr	15:944bbc29c4dd	374	// LED, say) that no one should notice. It seems better to
mjr	15:944bbc29c4dd	375	// err in this direction, because while the difference in
mjr	15:944bbc29c4dd	376	// brightness when attached to an LED won't be noticeable, the
mjr	15:944bbc29c4dd	377	// difference in duty cycle when attached to something like a
mjr	15:944bbc29c4dd	378	// contactor can be noticeable - anything less than 100%
mjr	15:944bbc29c4dd	379	// can cause a contactor or relay to chatter. There's almost
mjr	15:944bbc29c4dd	380	// never a situation where you'd want values other than 0% and
mjr	15:944bbc29c4dd	381	// 100% for a contactor or relay, so treating level 48 as 100%
mjr	15:944bbc29c4dd	382	// makes us work properly with software that's expecting the
mjr	15:944bbc29c4dd	383	// documented LedWiz behavior and therefore uses level 48 to
mjr	15:944bbc29c4dd	384	// turn a contactor or relay fully on.
mjr	13:72dda449c3c0	385	return val/48.0;
mjr	13:72dda449c3c0	386	}
mjr	13:72dda449c3c0	387	else if (val == 49)
mjr	13:72dda449c3c0	388	{
mjr	15:944bbc29c4dd	389	// 49 is undefined in the LedWiz documentation, but actually
mjr	15:944bbc29c4dd	390	// means 100% on. The documentation says that levels 1-48 are
mjr	15:944bbc29c4dd	391	// the full PWM range, but empirically it appears that the real
mjr	15:944bbc29c4dd	392	// range implemented in the firmware is 1-49. Some software on
mjr	15:944bbc29c4dd	393	// the PC side (notably DOF) is aware of this and uses level 49
mjr	15:944bbc29c4dd	394	// to mean "100% on". To ensure compatibility with existing
mjr	15:944bbc29c4dd	395	// PC-side software, we need to recognize level 49.
mjr	13:72dda449c3c0	396	return 1.0;
mjr	13:72dda449c3c0	397	}
mjr	0:5acbbe3f4cf4	398	else if (val >= 129 && val <= 132)
mjr	13:72dda449c3c0	399	{
mjr	13:72dda449c3c0	400	// Values of 129-132 select different flashing modes. We don't
mjr	13:72dda449c3c0	401	// support any of these. Instead, simply treat them as fully on.
mjr	13:72dda449c3c0	402	// Note that DOF doesn't ever use modes 129-132, as it implements
mjr	13:72dda449c3c0	403	// all flashing modes itself on the host side, so this limitation
mjr	13:72dda449c3c0	404	// won't have any effect on DOF users. You can observe it using
mjr	13:72dda449c3c0	405	// LedBlinky, though.
mjr	13:72dda449c3c0	406	return 1.0;
mjr	13:72dda449c3c0	407	}
mjr	0:5acbbe3f4cf4	408	else
mjr	13:72dda449c3c0	409	{
mjr	13:72dda449c3c0	410	// Other values are undefined in the LedWiz documentation. Hosts
mjr	13:72dda449c3c0	411	// should never send undefined values, since whatever behavior an
mjr	13:72dda449c3c0	412	// LedWiz unit exhibits in response is accidental and could change
mjr	13:72dda449c3c0	413	// in a future version. We'll treat all undefined values as equivalent
mjr	13:72dda449c3c0	414	// to 48 (fully on).
mjr	13:72dda449c3c0	415	//
mjr	13:72dda449c3c0	416	// NB: the 49 and 129-132 cases are broken out above for the sake
mjr	13:72dda449c3c0	417	// of documentation. We end up using 1.0 as the return value for
mjr	13:72dda449c3c0	418	// everything outside of the defined 0-48 range, so we could collapse
mjr	13:72dda449c3c0	419	// this whole thing to a single 'else' branch, but I wanted to call
mjr	13:72dda449c3c0	420	// out the specific reasons for handling the settings above as we do.
mjr	0:5acbbe3f4cf4	421	return 1.0;
mjr	13:72dda449c3c0	422	}
mjr	0:5acbbe3f4cf4	423	}
mjr	13:72dda449c3c0	424	else
mjr	13:72dda449c3c0	425	{
mjr	13:72dda449c3c0	426	// off - show at 0 intensity
mjr	13:72dda449c3c0	427	return 0.0;
mjr	0:5acbbe3f4cf4	428	}
mjr	0:5acbbe3f4cf4	429	}
mjr	0:5acbbe3f4cf4	430
mjr	1:d913e0afb2ac	431	static void updateWizOuts()
mjr	1:d913e0afb2ac	432	{
mjr	6:cc35eb643e8f	433	for (int i = 0 ; i < 32 ; ++i)
mjr	6:cc35eb643e8f	434	lwPin[i]->set(wizState(i));
mjr	1:d913e0afb2ac	435	}
mjr	1:d913e0afb2ac	436
mjr	11:bd9da7088e6e	437
mjr	11:bd9da7088e6e	438	// ---------------------------------------------------------------------------
mjr	11:bd9da7088e6e	439	//
mjr	11:bd9da7088e6e	440	// Button input
mjr	11:bd9da7088e6e	441	//
mjr	11:bd9da7088e6e	442
mjr	11:bd9da7088e6e	443	// button input map array
mjr	11:bd9da7088e6e	444	DigitalIn *buttonDigIn[32];
mjr	11:bd9da7088e6e	445
mjr	18:5e890ebd0023	446	// button state
mjr	18:5e890ebd0023	447	struct ButtonState
mjr	18:5e890ebd0023	448	{
mjr	18:5e890ebd0023	449	// current on/off state
mjr	18:5e890ebd0023	450	int pressed;
mjr	18:5e890ebd0023	451
mjr	18:5e890ebd0023	452	// Sticky time remaining for current state. When a
mjr	18:5e890ebd0023	453	// state transition occurs, we set this to a debounce
mjr	18:5e890ebd0023	454	// period. Future state transitions will be ignored
mjr	18:5e890ebd0023	455	// until the debounce time elapses.
mjr	18:5e890ebd0023	456	int t;
mjr	18:5e890ebd0023	457	} buttonState[32];
mjr	18:5e890ebd0023	458
mjr	12:669df364a565	459	// timer for button reports
mjr	12:669df364a565	460	static Timer buttonTimer;
mjr	12:669df364a565	461
mjr	11:bd9da7088e6e	462	// initialize the button inputs
mjr	11:bd9da7088e6e	463	void initButtons()
mjr	11:bd9da7088e6e	464	{
mjr	11:bd9da7088e6e	465	// create the digital inputs
mjr	11:bd9da7088e6e	466	for (int i = 0 ; i < countof(buttonDigIn) ; ++i)
mjr	11:bd9da7088e6e	467	{
mjr	11:bd9da7088e6e	468	if (i < countof(buttonMap) && buttonMap[i] != NC)
mjr	11:bd9da7088e6e	469	buttonDigIn[i] = new DigitalIn(buttonMap[i]);
mjr	11:bd9da7088e6e	470	else
mjr	11:bd9da7088e6e	471	buttonDigIn[i] = 0;
mjr	11:bd9da7088e6e	472	}
mjr	12:669df364a565	473
mjr	12:669df364a565	474	// start the button timer
mjr	12:669df364a565	475	buttonTimer.start();
mjr	11:bd9da7088e6e	476	}
mjr	11:bd9da7088e6e	477
mjr	11:bd9da7088e6e	478
mjr	18:5e890ebd0023	479	// read the button input state
mjr	18:5e890ebd0023	480	uint32_t readButtons()
mjr	11:bd9da7088e6e	481	{
mjr	11:bd9da7088e6e	482	// start with all buttons off
mjr	11:bd9da7088e6e	483	uint32_t buttons = 0;
mjr	11:bd9da7088e6e	484
mjr	18:5e890ebd0023	485	// figure the time elapsed since the last scan
mjr	18:5e890ebd0023	486	int dt = buttonTimer.read_ms();
mjr	18:5e890ebd0023	487
mjr	18:5e890ebd0023	488	// reset the timef for the next scan
mjr	18:5e890ebd0023	489	buttonTimer.reset();
mjr	18:5e890ebd0023	490
mjr	11:bd9da7088e6e	491	// scan the button list
mjr	11:bd9da7088e6e	492	uint32_t bit = 1;
mjr	18:5e890ebd0023	493	DigitalIn **di = buttonDigIn;
mjr	18:5e890ebd0023	494	ButtonState *bs = buttonState;
mjr	18:5e890ebd0023	495	for (int i = 0 ; i < countof(buttonDigIn) ; ++i, ++di, ++bs, bit <<= 1)
mjr	11:bd9da7088e6e	496	{
mjr	18:5e890ebd0023	497	// read this button
mjr	18:5e890ebd0023	498	if (*di != 0)
mjr	18:5e890ebd0023	499	{
mjr	18:5e890ebd0023	500	// deduct the elapsed time since the last update
mjr	18:5e890ebd0023	501	// from the button's remaining sticky time
mjr	18:5e890ebd0023	502	bs->t -= dt;
mjr	18:5e890ebd0023	503	if (bs->t < 0)
mjr	18:5e890ebd0023	504	bs->t = 0;
mjr	18:5e890ebd0023	505
mjr	18:5e890ebd0023	506	// If the sticky time has elapsed, note the new physical
mjr	18:5e890ebd0023	507	// state of the button. If we still have sticky time
mjr	18:5e890ebd0023	508	// remaining, ignore the physical state; the last state
mjr	18:5e890ebd0023	509	// change persists until the sticky time elapses so that
mjr	18:5e890ebd0023	510	// we smooth out any "bounce" (electrical transients that
mjr	18:5e890ebd0023	511	// occur when the switch contact is opened or closed).
mjr	18:5e890ebd0023	512	if (bs->t == 0)
mjr	18:5e890ebd0023	513	{
mjr	18:5e890ebd0023	514	// get the new physical state
mjr	18:5e890ebd0023	515	int pressed = !(*di)->read();
mjr	18:5e890ebd0023	516
mjr	18:5e890ebd0023	517	// update the button's logical state if this is a change
mjr	18:5e890ebd0023	518	if (pressed != bs->pressed)
mjr	18:5e890ebd0023	519	{
mjr	18:5e890ebd0023	520	// store the new state
mjr	18:5e890ebd0023	521	bs->pressed = pressed;
mjr	18:5e890ebd0023	522
mjr	18:5e890ebd0023	523	// start a new sticky period for debouncing this
mjr	18:5e890ebd0023	524	// state change
mjr	19:054f8af32fce	525	bs->t = 25;
mjr	18:5e890ebd0023	526	}
mjr	18:5e890ebd0023	527	}
mjr	18:5e890ebd0023	528
mjr	18:5e890ebd0023	529	// if it's pressed, OR its bit into the state
mjr	18:5e890ebd0023	530	if (bs->pressed)
mjr	18:5e890ebd0023	531	buttons \|= bit;
mjr	18:5e890ebd0023	532	}
mjr	11:bd9da7088e6e	533	}
mjr	11:bd9da7088e6e	534
mjr	18:5e890ebd0023	535	// return the new button list
mjr	11:bd9da7088e6e	536	return buttons;
mjr	11:bd9da7088e6e	537	}
mjr	11:bd9da7088e6e	538
mjr	5:a70c0bce770d	539	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	540	//
mjr	5:a70c0bce770d	541	// Customization joystick subbclass
mjr	5:a70c0bce770d	542	//
mjr	5:a70c0bce770d	543
mjr	5:a70c0bce770d	544	class MyUSBJoystick: public USBJoystick
mjr	5:a70c0bce770d	545	{
mjr	5:a70c0bce770d	546	public:
mjr	5:a70c0bce770d	547	MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release)
mjr	5:a70c0bce770d	548	: USBJoystick(vendor_id, product_id, product_release, true)
mjr	5:a70c0bce770d	549	{
mjr	5:a70c0bce770d	550	suspended_ = false;
mjr	5:a70c0bce770d	551	}
mjr	5:a70c0bce770d	552
mjr	5:a70c0bce770d	553	// are we connected?
mjr	5:a70c0bce770d	554	int isConnected() { return configured(); }
mjr	5:a70c0bce770d	555
mjr	5:a70c0bce770d	556	// Are we in suspend mode?
mjr	5:a70c0bce770d	557	int isSuspended() const { return suspended_; }
mjr	5:a70c0bce770d	558
mjr	5:a70c0bce770d	559	protected:
mjr	5:a70c0bce770d	560	virtual void suspendStateChanged(unsigned int suspended)
mjr	5:a70c0bce770d	561	{ suspended_ = suspended; }
mjr	5:a70c0bce770d	562
mjr	5:a70c0bce770d	563	// are we suspended?
mjr	5:a70c0bce770d	564	int suspended_;
mjr	5:a70c0bce770d	565	};
mjr	5:a70c0bce770d	566
mjr	5:a70c0bce770d	567	// ---------------------------------------------------------------------------
mjr	6:cc35eb643e8f	568	//
mjr	6:cc35eb643e8f	569	// Some simple math service routines
mjr	6:cc35eb643e8f	570	//
mjr	6:cc35eb643e8f	571
mjr	6:cc35eb643e8f	572	inline float square(float x) { return x*x; }
mjr	6:cc35eb643e8f	573	inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
mjr	6:cc35eb643e8f	574
mjr	6:cc35eb643e8f	575	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	576	//
mjr	5:a70c0bce770d	577	// Accelerometer (MMA8451Q)
mjr	5:a70c0bce770d	578	//
mjr	5:a70c0bce770d	579
mjr	5:a70c0bce770d	580	// The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
mjr	5:a70c0bce770d	581	//
mjr	5:a70c0bce770d	582	// This is a custom wrapper for the library code to interface to the
mjr	6:cc35eb643e8f	583	// MMA8451Q. This class encapsulates an interrupt handler and
mjr	6:cc35eb643e8f	584	// automatic calibration.
mjr	5:a70c0bce770d	585	//
mjr	5:a70c0bce770d	586	// We install an interrupt handler on the accelerometer "data ready"
mjr	6:cc35eb643e8f	587	// interrupt to ensure that we fetch each sample immediately when it
mjr	6:cc35eb643e8f	588	// becomes available. The accelerometer data rate is fiarly high
mjr	6:cc35eb643e8f	589	// (800 Hz), so it's not practical to keep up with it by polling.
mjr	6:cc35eb643e8f	590	// Using an interrupt handler lets us respond quickly and read
mjr	6:cc35eb643e8f	591	// every sample.
mjr	5:a70c0bce770d	592	//
mjr	6:cc35eb643e8f	593	// We automatically calibrate the accelerometer so that it's not
mjr	6:cc35eb643e8f	594	// necessary to get it exactly level when installing it, and so
mjr	6:cc35eb643e8f	595	// that it's also not necessary to calibrate it manually. There's
mjr	6:cc35eb643e8f	596	// lots of experience that tells us that manual calibration is a
mjr	6:cc35eb643e8f	597	// terrible solution, mostly because cabinets tend to shift slightly
mjr	6:cc35eb643e8f	598	// during use, requiring frequent recalibration. Instead, we
mjr	6:cc35eb643e8f	599	// calibrate automatically. We continuously monitor the acceleration
mjr	6:cc35eb643e8f	600	// data, watching for periods of constant (or nearly constant) values.
mjr	6:cc35eb643e8f	601	// Any time it appears that the machine has been at rest for a while
mjr	6:cc35eb643e8f	602	// (about 5 seconds), we'll average the readings during that rest
mjr	6:cc35eb643e8f	603	// period and use the result as the level rest position. This is
mjr	6:cc35eb643e8f	604	// is ongoing, so we'll quickly find the center point again if the
mjr	6:cc35eb643e8f	605	// machine is moved during play (by an especially aggressive bout
mjr	6:cc35eb643e8f	606	// of nudging, say).
mjr	5:a70c0bce770d	607	//
mjr	5:a70c0bce770d	608
mjr	17:ab3cec0c8bf4	609	// I2C address of the accelerometer (this is a constant of the KL25Z)
mjr	17:ab3cec0c8bf4	610	const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr	17:ab3cec0c8bf4	611
mjr	17:ab3cec0c8bf4	612	// SCL and SDA pins for the accelerometer (constant for the KL25Z)
mjr	17:ab3cec0c8bf4	613	#define MMA8451_SCL_PIN PTE25
mjr	17:ab3cec0c8bf4	614	#define MMA8451_SDA_PIN PTE24
mjr	17:ab3cec0c8bf4	615
mjr	17:ab3cec0c8bf4	616	// Digital in pin to use for the accelerometer interrupt. For the KL25Z,
mjr	17:ab3cec0c8bf4	617	// this can be either PTA14 or PTA15, since those are the pins physically
mjr	17:ab3cec0c8bf4	618	// wired on this board to the MMA8451 interrupt controller.
mjr	17:ab3cec0c8bf4	619	#define MMA8451_INT_PIN PTA15
mjr	17:ab3cec0c8bf4	620
mjr	17:ab3cec0c8bf4	621
mjr	6:cc35eb643e8f	622	// accelerometer input history item, for gathering calibration data
mjr	6:cc35eb643e8f	623	struct AccHist
mjr	5:a70c0bce770d	624	{
mjr	6:cc35eb643e8f	625	AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	626	void set(float x, float y, AccHist *prv)
mjr	6:cc35eb643e8f	627	{
mjr	6:cc35eb643e8f	628	// save the raw position
mjr	6:cc35eb643e8f	629	this->x = x;
mjr	6:cc35eb643e8f	630	this->y = y;
mjr	6:cc35eb643e8f	631	this->d = distance(prv);
mjr	6:cc35eb643e8f	632	}
mjr	6:cc35eb643e8f	633
mjr	6:cc35eb643e8f	634	// reading for this entry
mjr	5:a70c0bce770d	635	float x, y;
mjr	5:a70c0bce770d	636
mjr	6:cc35eb643e8f	637	// distance from previous entry
mjr	6:cc35eb643e8f	638	float d;
mjr	5:a70c0bce770d	639
mjr	6:cc35eb643e8f	640	// total and count of samples averaged over this period
mjr	6:cc35eb643e8f	641	float xtot, ytot;
mjr	6:cc35eb643e8f	642	int cnt;
mjr	6:cc35eb643e8f	643
mjr	6:cc35eb643e8f	644	void clearAvg() { xtot = ytot = 0.0; cnt = 0; }
mjr	6:cc35eb643e8f	645	void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; }
mjr	6:cc35eb643e8f	646	float xAvg() const { return xtot/cnt; }
mjr	6:cc35eb643e8f	647	float yAvg() const { return ytot/cnt; }
mjr	5:a70c0bce770d	648
mjr	6:cc35eb643e8f	649	float distance(AccHist *p)
mjr	6:cc35eb643e8f	650	{ return sqrt(square(p->x - x) + square(p->y - y)); }
mjr	5:a70c0bce770d	651	};
mjr	5:a70c0bce770d	652
mjr	5:a70c0bce770d	653	// accelerometer wrapper class
mjr	3:3514575d4f86	654	class Accel
mjr	3:3514575d4f86	655	{
mjr	3:3514575d4f86	656	public:
mjr	3:3514575d4f86	657	Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin)
mjr	3:3514575d4f86	658	: mma_(sda, scl, i2cAddr), intIn_(irqPin)
mjr	3:3514575d4f86	659	{
mjr	5:a70c0bce770d	660	// remember the interrupt pin assignment
mjr	5:a70c0bce770d	661	irqPin_ = irqPin;
mjr	5:a70c0bce770d	662
mjr	5:a70c0bce770d	663	// reset and initialize
mjr	5:a70c0bce770d	664	reset();
mjr	5:a70c0bce770d	665	}
mjr	5:a70c0bce770d	666
mjr	5:a70c0bce770d	667	void reset()
mjr	5:a70c0bce770d	668	{
mjr	6:cc35eb643e8f	669	// clear the center point
mjr	6:cc35eb643e8f	670	cx_ = cy_ = 0.0;
mjr	6:cc35eb643e8f	671
mjr	6:cc35eb643e8f	672	// start the calibration timer
mjr	5:a70c0bce770d	673	tCenter_.start();
mjr	5:a70c0bce770d	674	iAccPrv_ = nAccPrv_ = 0;
mjr	6:cc35eb643e8f	675
mjr	5:a70c0bce770d	676	// reset and initialize the MMA8451Q
mjr	5:a70c0bce770d	677	mma_.init();
mjr	6:cc35eb643e8f	678
mjr	6:cc35eb643e8f	679	// set the initial integrated velocity reading to zero
mjr	6:cc35eb643e8f	680	vx_ = vy_ = 0;
mjr	3:3514575d4f86	681
mjr	6:cc35eb643e8f	682	// set up our accelerometer interrupt handling
mjr	6:cc35eb643e8f	683	intIn_.rise(this, &Accel::isr);
mjr	5:a70c0bce770d	684	mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2);
mjr	3:3514575d4f86	685
mjr	3:3514575d4f86	686	// read the current registers to clear the data ready flag
mjr	6:cc35eb643e8f	687	mma_.getAccXYZ(ax_, ay_, az_);
mjr	3:3514575d4f86	688
mjr	3:3514575d4f86	689	// start our timers
mjr	3:3514575d4f86	690	tGet_.start();
mjr	3:3514575d4f86	691	tInt_.start();
mjr	3:3514575d4f86	692	}
mjr	3:3514575d4f86	693
mjr	9:fd65b0a94720	694	void get(int &x, int &y)
mjr	3:3514575d4f86	695	{
mjr	3:3514575d4f86	696	// disable interrupts while manipulating the shared data
mjr	3:3514575d4f86	697	__disable_irq();
mjr	3:3514575d4f86	698
mjr	3:3514575d4f86	699	// read the shared data and store locally for calculations
mjr	6:cc35eb643e8f	700	float ax = ax_, ay = ay_;
mjr	6:cc35eb643e8f	701	float vx = vx_, vy = vy_;
mjr	5:a70c0bce770d	702
mjr	6:cc35eb643e8f	703	// reset the velocity sum for the next run
mjr	6:cc35eb643e8f	704	vx_ = vy_ = 0;
mjr	3:3514575d4f86	705
mjr	3:3514575d4f86	706	// get the time since the last get() sample
mjr	3:3514575d4f86	707	float dt = tGet_.read_us()/1.0e6;
mjr	3:3514575d4f86	708	tGet_.reset();
mjr	3:3514575d4f86	709
mjr	3:3514575d4f86	710	// done manipulating the shared data
mjr	3:3514575d4f86	711	__enable_irq();
mjr	3:3514575d4f86	712
mjr	6:cc35eb643e8f	713	// adjust the readings for the integration time
mjr	6:cc35eb643e8f	714	vx /= dt;
mjr	6:cc35eb643e8f	715	vy /= dt;
mjr	6:cc35eb643e8f	716
mjr	6:cc35eb643e8f	717	// add this sample to the current calibration interval's running total
mjr	6:cc35eb643e8f	718	AccHist *p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	719	p->addAvg(ax, ay);
mjr	6:cc35eb643e8f	720
mjr	5:a70c0bce770d	721	// check for auto-centering every so often
mjr	5:a70c0bce770d	722	if (tCenter_.read_ms() > 1000)
mjr	5:a70c0bce770d	723	{
mjr	5:a70c0bce770d	724	// add the latest raw sample to the history list
mjr	6:cc35eb643e8f	725	AccHist *prv = p;
mjr	5:a70c0bce770d	726	iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv;
mjr	6:cc35eb643e8f	727	p = accPrv_ + iAccPrv_;
mjr	6:cc35eb643e8f	728	p->set(ax, ay, prv);
mjr	5:a70c0bce770d	729
mjr	5:a70c0bce770d	730	// if we have a full complement, check for stability
mjr	5:a70c0bce770d	731	if (nAccPrv_ >= maxAccPrv)
mjr	5:a70c0bce770d	732	{
mjr	5:a70c0bce770d	733	// check if we've been stable for all recent samples
mjr	6:cc35eb643e8f	734	static const float accTol = .01;
mjr	6:cc35eb643e8f	735	AccHist *p0 = accPrv_;
mjr	6:cc35eb643e8f	736	if (p0[0].d < accTol
mjr	6:cc35eb643e8f	737	&& p0[1].d < accTol
mjr	6:cc35eb643e8f	738	&& p0[2].d < accTol
mjr	6:cc35eb643e8f	739	&& p0[3].d < accTol
mjr	6:cc35eb643e8f	740	&& p0[4].d < accTol)
mjr	5:a70c0bce770d	741	{
mjr	6:cc35eb643e8f	742	// Figure the new calibration point as the average of
mjr	6:cc35eb643e8f	743	// the samples over the rest period
mjr	6:cc35eb643e8f	744	cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0;
mjr	6:cc35eb643e8f	745	cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0;
mjr	5:a70c0bce770d	746	}
mjr	5:a70c0bce770d	747	}
mjr	5:a70c0bce770d	748	else
mjr	5:a70c0bce770d	749	{
mjr	5:a70c0bce770d	750	// not enough samples yet; just up the count
mjr	5:a70c0bce770d	751	++nAccPrv_;
mjr	5:a70c0bce770d	752	}
mjr	6:cc35eb643e8f	753
mjr	6:cc35eb643e8f	754	// clear the new item's running totals
mjr	6:cc35eb643e8f	755	p->clearAvg();
mjr	5:a70c0bce770d	756
mjr	5:a70c0bce770d	757	// reset the timer
mjr	5:a70c0bce770d	758	tCenter_.reset();
mjr	5:a70c0bce770d	759	}
mjr	5:a70c0bce770d	760
mjr	6:cc35eb643e8f	761	// report our integrated velocity reading in x,y
mjr	6:cc35eb643e8f	762	x = rawToReport(vx);
mjr	6:cc35eb643e8f	763	y = rawToReport(vy);
mjr	5:a70c0bce770d	764
mjr	6:cc35eb643e8f	765	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	766	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	767	printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
mjr	6:cc35eb643e8f	768	#endif
mjr	3:3514575d4f86	769	}
mjr	3:3514575d4f86	770
mjr	3:3514575d4f86	771	private:
mjr	6:cc35eb643e8f	772	// adjust a raw acceleration figure to a usb report value
mjr	6:cc35eb643e8f	773	int rawToReport(float v)
mjr	5:a70c0bce770d	774	{
mjr	6:cc35eb643e8f	775	// scale to the joystick report range and round to integer
mjr	6:cc35eb643e8f	776	int i = int(round(v*JOYMAX));
mjr	5:a70c0bce770d	777
mjr	6:cc35eb643e8f	778	// if it's near the center, scale it roughly as 20*(i/20)^2,
mjr	6:cc35eb643e8f	779	// to suppress noise near the rest position
mjr	6:cc35eb643e8f	780	static const int filter[] = {
mjr	6:cc35eb643e8f	781	-18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
mjr	6:cc35eb643e8f	782	0,
mjr	6:cc35eb643e8f	783	0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
mjr	6:cc35eb643e8f	784	};
mjr	6:cc35eb643e8f	785	return (i > 20 \|\| i < -20 ? i : filter[i+20]);
mjr	5:a70c0bce770d	786	}
mjr	5:a70c0bce770d	787
mjr	3:3514575d4f86	788	// interrupt handler
mjr	3:3514575d4f86	789	void isr()
mjr	3:3514575d4f86	790	{
mjr	3:3514575d4f86	791	// Read the axes. Note that we have to read all three axes
mjr	3:3514575d4f86	792	// (even though we only really use x and y) in order to clear
mjr	3:3514575d4f86	793	// the "data ready" status bit in the accelerometer. The
mjr	3:3514575d4f86	794	// interrupt only occurs when the "ready" bit transitions from
mjr	3:3514575d4f86	795	// off to on, so we have to make sure it's off.
mjr	5:a70c0bce770d	796	float x, y, z;
mjr	5:a70c0bce770d	797	mma_.getAccXYZ(x, y, z);
mjr	3:3514575d4f86	798
mjr	3:3514575d4f86	799	// calculate the time since the last interrupt
mjr	3:3514575d4f86	800	float dt = tInt_.read_us()/1.0e6;
mjr	3:3514575d4f86	801	tInt_.reset();
mjr	6:cc35eb643e8f	802
mjr	6:cc35eb643e8f	803	// integrate the time slice from the previous reading to this reading
mjr	6:cc35eb643e8f	804	vx_ += (x + ax_ - 2cx_)dt/2;
mjr	6:cc35eb643e8f	805	vy_ += (y + ay_ - 2cy_)dt/2;
mjr	3:3514575d4f86	806
mjr	6:cc35eb643e8f	807	// store the updates
mjr	6:cc35eb643e8f	808	ax_ = x;
mjr	6:cc35eb643e8f	809	ay_ = y;
mjr	6:cc35eb643e8f	810	az_ = z;
mjr	3:3514575d4f86	811	}
mjr	3:3514575d4f86	812
mjr	3:3514575d4f86	813	// underlying accelerometer object
mjr	3:3514575d4f86	814	MMA8451Q mma_;
mjr	3:3514575d4f86	815
mjr	5:a70c0bce770d	816	// last raw acceleration readings
mjr	6:cc35eb643e8f	817	float ax_, ay_, az_;
mjr	5:a70c0bce770d	818
mjr	6:cc35eb643e8f	819	// integrated velocity reading since last get()
mjr	6:cc35eb643e8f	820	float vx_, vy_;
mjr	6:cc35eb643e8f	821
mjr	3:3514575d4f86	822	// timer for measuring time between get() samples
mjr	3:3514575d4f86	823	Timer tGet_;
mjr	3:3514575d4f86	824
mjr	3:3514575d4f86	825	// timer for measuring time between interrupts
mjr	3:3514575d4f86	826	Timer tInt_;
mjr	5:a70c0bce770d	827
mjr	6:cc35eb643e8f	828	// Calibration reference point for accelerometer. This is the
mjr	6:cc35eb643e8f	829	// average reading on the accelerometer when in the neutral position
mjr	6:cc35eb643e8f	830	// at rest.
mjr	6:cc35eb643e8f	831	float cx_, cy_;
mjr	5:a70c0bce770d	832
mjr	5:a70c0bce770d	833	// timer for atuo-centering
mjr	5:a70c0bce770d	834	Timer tCenter_;
mjr	6:cc35eb643e8f	835
mjr	6:cc35eb643e8f	836	// Auto-centering history. This is a separate history list that
mjr	6:cc35eb643e8f	837	// records results spaced out sparesely over time, so that we can
mjr	6:cc35eb643e8f	838	// watch for long-lasting periods of rest. When we observe nearly
mjr	6:cc35eb643e8f	839	// no motion for an extended period (on the order of 5 seconds), we
mjr	6:cc35eb643e8f	840	// take this to mean that the cabinet is at rest in its neutral
mjr	6:cc35eb643e8f	841	// position, so we take this as the calibration zero point for the
mjr	6:cc35eb643e8f	842	// accelerometer. We update this history continuously, which allows
mjr	6:cc35eb643e8f	843	// us to continuously re-calibrate the accelerometer. This ensures
mjr	6:cc35eb643e8f	844	// that we'll automatically adjust to any actual changes in the
mjr	6:cc35eb643e8f	845	// cabinet's orientation (e.g., if it gets moved slightly by an
mjr	6:cc35eb643e8f	846	// especially strong nudge) as well as any systematic drift in the
mjr	6:cc35eb643e8f	847	// accelerometer measurement bias (e.g., from temperature changes).
mjr	5:a70c0bce770d	848	int iAccPrv_, nAccPrv_;
mjr	5:a70c0bce770d	849	static const int maxAccPrv = 5;
mjr	6:cc35eb643e8f	850	AccHist accPrv_[maxAccPrv];
mjr	6:cc35eb643e8f	851
mjr	5:a70c0bce770d	852	// interurupt pin name
mjr	5:a70c0bce770d	853	PinName irqPin_;
mjr	5:a70c0bce770d	854
mjr	5:a70c0bce770d	855	// interrupt router
mjr	5:a70c0bce770d	856	InterruptIn intIn_;
mjr	3:3514575d4f86	857	};
mjr	3:3514575d4f86	858
mjr	5:a70c0bce770d	859
mjr	5:a70c0bce770d	860	// ---------------------------------------------------------------------------
mjr	5:a70c0bce770d	861	//
mjr	14:df700b22ca08	862	// Clear the I2C bus for the MMA8451Q. This seems necessary some of the time
mjr	5:a70c0bce770d	863	// for reasons that aren't clear to me. Doing a hard power cycle has the same
mjr	5:a70c0bce770d	864	// effect, but when we do a soft reset, the hardware sometimes seems to leave
mjr	5:a70c0bce770d	865	// the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
mjr	14:df700b22ca08	866	// the SCL line is supposed to clear this condition. I'm not convinced this
mjr	14:df700b22ca08	867	// actually works with the way this component is wired on the KL25Z, but it
mjr	14:df700b22ca08	868	// seems harmless, so we'll do it on reset in case it does some good. What
mjr	14:df700b22ca08	869	// we really seem to need is a way to power cycle the MMA8451Q if it ever
mjr	14:df700b22ca08	870	// gets stuck, but this is simply not possible in software on the KL25Z.
mjr	14:df700b22ca08	871	//
mjr	14:df700b22ca08	872	// If the accelerometer does get stuck, and a software reboot doesn't reset
mjr	14:df700b22ca08	873	// it, the only workaround is to manually power cycle the whole KL25Z by
mjr	14:df700b22ca08	874	// unplugging both of its USB connections.
mjr	5:a70c0bce770d	875	//
mjr	5:a70c0bce770d	876	void clear_i2c()
mjr	5:a70c0bce770d	877	{
mjr	5:a70c0bce770d	878	// assume a general-purpose output pin to the I2C clock
mjr	5:a70c0bce770d	879	DigitalOut scl(MMA8451_SCL_PIN);
mjr	5:a70c0bce770d	880	DigitalIn sda(MMA8451_SDA_PIN);
mjr	5:a70c0bce770d	881
mjr	5:a70c0bce770d	882	// clock the SCL 9 times
mjr	5:a70c0bce770d	883	for (int i = 0 ; i < 9 ; ++i)
mjr	5:a70c0bce770d	884	{
mjr	5:a70c0bce770d	885	scl = 1;
mjr	5:a70c0bce770d	886	wait_us(20);
mjr	5:a70c0bce770d	887	scl = 0;
mjr	5:a70c0bce770d	888	wait_us(20);
mjr	5:a70c0bce770d	889	}
mjr	5:a70c0bce770d	890	}
mjr	14:df700b22ca08	891
mjr	14:df700b22ca08	892	// ---------------------------------------------------------------------------
mjr	14:df700b22ca08	893	//
mjr	17:ab3cec0c8bf4	894	// Include the appropriate plunger sensor definition. This will define a
mjr	17:ab3cec0c8bf4	895	// class called PlungerSensor, with a standard interface that we use in
mjr	17:ab3cec0c8bf4	896	// the main loop below. This is kind of like a virtual class interface,
mjr	17:ab3cec0c8bf4	897	// but it actually defines the methods statically, which is a little more
mjr	17:ab3cec0c8bf4	898	// efficient at run-time. There's no need for a true virtual interface
mjr	17:ab3cec0c8bf4	899	// because we don't need to be able to change sensor types on the fly.
mjr	17:ab3cec0c8bf4	900	//
mjr	17:ab3cec0c8bf4	901
mjr	17:ab3cec0c8bf4	902	#ifdef ENABLE_CCD_SENSOR
mjr	17:ab3cec0c8bf4	903	#include "ccdSensor.h"
mjr	17:ab3cec0c8bf4	904	#elif ENABLE_POT_SENSOR
mjr	17:ab3cec0c8bf4	905	#include "potSensor.h"
mjr	17:ab3cec0c8bf4	906	#else
mjr	17:ab3cec0c8bf4	907	#include "nullSensor.h"
mjr	17:ab3cec0c8bf4	908	#endif
mjr	17:ab3cec0c8bf4	909
mjr	17:ab3cec0c8bf4	910
mjr	17:ab3cec0c8bf4	911	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	912	//
mjr	17:ab3cec0c8bf4	913	// Non-volatile memory (NVM)
mjr	17:ab3cec0c8bf4	914	//
mjr	17:ab3cec0c8bf4	915
mjr	17:ab3cec0c8bf4	916	// Structure defining our NVM storage layout. We store a small
mjr	17:ab3cec0c8bf4	917	// amount of persistent data in flash memory to retain calibration
mjr	17:ab3cec0c8bf4	918	// data when powered off.
mjr	17:ab3cec0c8bf4	919	struct NVM
mjr	17:ab3cec0c8bf4	920	{
mjr	17:ab3cec0c8bf4	921	// checksum - we use this to determine if the flash record
mjr	17:ab3cec0c8bf4	922	// has been properly initialized
mjr	17:ab3cec0c8bf4	923	uint32_t checksum;
mjr	17:ab3cec0c8bf4	924
mjr	17:ab3cec0c8bf4	925	// signature value
mjr	17:ab3cec0c8bf4	926	static const uint32_t SIGNATURE = 0x4D4A522A;
mjr	17:ab3cec0c8bf4	927	static const uint16_t VERSION = 0x0003;
mjr	17:ab3cec0c8bf4	928
mjr	17:ab3cec0c8bf4	929	// Is the data structure valid? We test the signature and
mjr	17:ab3cec0c8bf4	930	// checksum to determine if we've been properly stored.
mjr	17:ab3cec0c8bf4	931	int valid() const
mjr	17:ab3cec0c8bf4	932	{
mjr	17:ab3cec0c8bf4	933	return (d.sig == SIGNATURE
mjr	17:ab3cec0c8bf4	934	&& d.vsn == VERSION
mjr	17:ab3cec0c8bf4	935	&& d.sz == sizeof(NVM)
mjr	17:ab3cec0c8bf4	936	&& checksum == CRC32(&d, sizeof(d)));
mjr	17:ab3cec0c8bf4	937	}
mjr	17:ab3cec0c8bf4	938
mjr	17:ab3cec0c8bf4	939	// save to non-volatile memory
mjr	17:ab3cec0c8bf4	940	void save(FreescaleIAP &iap, int addr)
mjr	17:ab3cec0c8bf4	941	{
mjr	17:ab3cec0c8bf4	942	// update the checksum and structure size
mjr	17:ab3cec0c8bf4	943	checksum = CRC32(&d, sizeof(d));
mjr	17:ab3cec0c8bf4	944	d.sz = sizeof(NVM);
mjr	17:ab3cec0c8bf4	945
mjr	17:ab3cec0c8bf4	946	// erase the sector
mjr	17:ab3cec0c8bf4	947	iap.erase_sector(addr);
mjr	17:ab3cec0c8bf4	948
mjr	17:ab3cec0c8bf4	949	// save the data
mjr	17:ab3cec0c8bf4	950	iap.program_flash(addr, this, sizeof(*this));
mjr	17:ab3cec0c8bf4	951	}
mjr	17:ab3cec0c8bf4	952
mjr	17:ab3cec0c8bf4	953	// reset calibration data for calibration mode
mjr	17:ab3cec0c8bf4	954	void resetPlunger()
mjr	17:ab3cec0c8bf4	955	{
mjr	17:ab3cec0c8bf4	956	// set extremes for the calibration data
mjr	17:ab3cec0c8bf4	957	d.plungerMax = 0;
mjr	17:ab3cec0c8bf4	958	d.plungerZero = npix;
mjr	17:ab3cec0c8bf4	959	d.plungerMin = npix;
mjr	17:ab3cec0c8bf4	960	}
mjr	17:ab3cec0c8bf4	961
mjr	17:ab3cec0c8bf4	962	// stored data (excluding the checksum)
mjr	17:ab3cec0c8bf4	963	struct
mjr	17:ab3cec0c8bf4	964	{
mjr	17:ab3cec0c8bf4	965	// Signature, structure version, and structure size - further verification
mjr	17:ab3cec0c8bf4	966	// that we have valid initialized data. The size is a simple proxy for a
mjr	17:ab3cec0c8bf4	967	// structure version, as the most common type of change to the structure as
mjr	17:ab3cec0c8bf4	968	// the software evolves will be the addition of new elements. We also
mjr	17:ab3cec0c8bf4	969	// provide an explicit version number that we can update manually if we
mjr	17:ab3cec0c8bf4	970	// make any changes that don't affect the structure size but would affect
mjr	17:ab3cec0c8bf4	971	// compatibility with a saved record (e.g., swapping two existing elements).
mjr	17:ab3cec0c8bf4	972	uint32_t sig;
mjr	17:ab3cec0c8bf4	973	uint16_t vsn;
mjr	17:ab3cec0c8bf4	974	int sz;
mjr	17:ab3cec0c8bf4	975
mjr	17:ab3cec0c8bf4	976	// has the plunger been manually calibrated?
mjr	17:ab3cec0c8bf4	977	int plungerCal;
mjr	17:ab3cec0c8bf4	978
mjr	17:ab3cec0c8bf4	979	// Plunger calibration min, zero, and max. The zero point is the
mjr	17:ab3cec0c8bf4	980	// rest position (aka park position), where it's in equilibrium between
mjr	17:ab3cec0c8bf4	981	// the main spring and the barrel spring. It can travel a small distance
mjr	17:ab3cec0c8bf4	982	// forward of the rest position, because the barrel spring can be
mjr	17:ab3cec0c8bf4	983	// compressed by the user pushing on the plunger or by the momentum
mjr	17:ab3cec0c8bf4	984	// of a release motion. The minimum is the maximum forward point where
mjr	17:ab3cec0c8bf4	985	// the barrel spring can't be compressed any further.
mjr	17:ab3cec0c8bf4	986	int plungerMin;
mjr	17:ab3cec0c8bf4	987	int plungerZero;
mjr	17:ab3cec0c8bf4	988	int plungerMax;
mjr	17:ab3cec0c8bf4	989
mjr	17:ab3cec0c8bf4	990	// is the plunger sensor enabled?
mjr	17:ab3cec0c8bf4	991	int plungerEnabled;
mjr	17:ab3cec0c8bf4	992
mjr	17:ab3cec0c8bf4	993	// LedWiz unit number
mjr	17:ab3cec0c8bf4	994	uint8_t ledWizUnitNo;
mjr	17:ab3cec0c8bf4	995	} d;
mjr	17:ab3cec0c8bf4	996	};
mjr	17:ab3cec0c8bf4	997
mjr	17:ab3cec0c8bf4	998
mjr	17:ab3cec0c8bf4	999	// ---------------------------------------------------------------------------
mjr	17:ab3cec0c8bf4	1000	//
mjr	5:a70c0bce770d	1001	// Main program loop. This is invoked on startup and runs forever. Our
mjr	5:a70c0bce770d	1002	// main work is to read our devices (the accelerometer and the CCD), process
mjr	5:a70c0bce770d	1003	// the readings into nudge and plunger position data, and send the results
mjr	5:a70c0bce770d	1004	// to the host computer via the USB joystick interface. We also monitor
mjr	5:a70c0bce770d	1005	// the USB connection for incoming LedWiz commands and process those into
mjr	5:a70c0bce770d	1006	// port outputs.
mjr	5:a70c0bce770d	1007	//
mjr	0:5acbbe3f4cf4	1008	int main(void)
mjr	0:5acbbe3f4cf4	1009	{
mjr	1:d913e0afb2ac	1010	// turn off our on-board indicator LED
mjr	4:02c7cd7b2183	1011	ledR = 1;
mjr	4:02c7cd7b2183	1012	ledG = 1;
mjr	4:02c7cd7b2183	1013	ledB = 1;
mjr	1:d913e0afb2ac	1014
mjr	6:cc35eb643e8f	1015	// initialize the LedWiz ports
mjr	6:cc35eb643e8f	1016	initLwOut();
mjr	6:cc35eb643e8f	1017
mjr	11:bd9da7088e6e	1018	// initialize the button input ports
mjr	11:bd9da7088e6e	1019	initButtons();
mjr	11:bd9da7088e6e	1020
mjr	6:cc35eb643e8f	1021	// we don't need a reset yet
mjr	6:cc35eb643e8f	1022	bool needReset = false;
mjr	6:cc35eb643e8f	1023
mjr	5:a70c0bce770d	1024	// clear the I2C bus for the accelerometer
mjr	5:a70c0bce770d	1025	clear_i2c();
mjr	5:a70c0bce770d	1026
mjr	2:c174f9ee414a	1027	// set up a flash memory controller
mjr	2:c174f9ee414a	1028	FreescaleIAP iap;
mjr	2:c174f9ee414a	1029
mjr	2:c174f9ee414a	1030	// use the last sector of flash for our non-volatile memory structure
mjr	2:c174f9ee414a	1031	int flash_addr = (iap.flash_size() - SECTOR_SIZE);
mjr	2:c174f9ee414a	1032	NVM flash = (NVM )flash_addr;
mjr	2:c174f9ee414a	1033	NVM cfg;
mjr	2:c174f9ee414a	1034
mjr	2:c174f9ee414a	1035	// check for valid flash
mjr	6:cc35eb643e8f	1036	bool flash_valid = flash->valid();
mjr	2:c174f9ee414a	1037
mjr	2:c174f9ee414a	1038	// if the flash is valid, load it; otherwise initialize to defaults
mjr	2:c174f9ee414a	1039	if (flash_valid) {
mjr	2:c174f9ee414a	1040	memcpy(&cfg, flash, sizeof(cfg));
mjr	6:cc35eb643e8f	1041	printf("Flash restored: plunger cal=%d, min=%d, zero=%d, max=%d\r\n",
mjr	6:cc35eb643e8f	1042	cfg.d.plungerCal, cfg.d.plungerMin, cfg.d.plungerZero, cfg.d.plungerMax);
mjr	2:c174f9ee414a	1043	}
mjr	2:c174f9ee414a	1044	else {
mjr	2:c174f9ee414a	1045	printf("Factory reset\r\n");
mjr	2:c174f9ee414a	1046	cfg.d.sig = cfg.SIGNATURE;
mjr	2:c174f9ee414a	1047	cfg.d.vsn = cfg.VERSION;
mjr	6:cc35eb643e8f	1048	cfg.d.plungerCal = 0;
mjr	17:ab3cec0c8bf4	1049	cfg.d.plungerMin = 0; // assume we can go all the way forward...
mjr	17:ab3cec0c8bf4	1050	cfg.d.plungerMax = npix; // ...and all the way back
mjr	17:ab3cec0c8bf4	1051	cfg.d.plungerZero = npix/6; // the rest position is usually around 1/2" back
mjr	6:cc35eb643e8f	1052	cfg.d.ledWizUnitNo = DEFAULT_LEDWIZ_UNIT_NUMBER;
mjr	17:ab3cec0c8bf4	1053	cfg.d.plungerEnabled = true;
mjr	2:c174f9ee414a	1054	}
mjr	1:d913e0afb2ac	1055
mjr	6:cc35eb643e8f	1056	// Create the joystick USB client. Note that we use the LedWiz unit
mjr	6:cc35eb643e8f	1057	// number from the saved configuration.
mjr	6:cc35eb643e8f	1058	MyUSBJoystick js(
mjr	6:cc35eb643e8f	1059	USB_VENDOR_ID,
mjr	6:cc35eb643e8f	1060	USB_PRODUCT_ID \| cfg.d.ledWizUnitNo,
mjr	6:cc35eb643e8f	1061	USB_VERSION_NO);
mjr	17:ab3cec0c8bf4	1062
mjr	17:ab3cec0c8bf4	1063	// last report timer - we use this to throttle reports, since VP
mjr	17:ab3cec0c8bf4	1064	// doesn't want to hear from us more than about every 10ms
mjr	17:ab3cec0c8bf4	1065	Timer reportTimer;
mjr	17:ab3cec0c8bf4	1066	reportTimer.start();
mjr	17:ab3cec0c8bf4	1067
mjr	17:ab3cec0c8bf4	1068	// initialize the calibration buttons, if present
mjr	17:ab3cec0c8bf4	1069	DigitalIn *calBtn = (CAL_BUTTON_PIN == NC ? 0 : new DigitalIn(CAL_BUTTON_PIN));
mjr	17:ab3cec0c8bf4	1070	DigitalOut *calBtnLed = (CAL_BUTTON_LED == NC ? 0 : new DigitalOut(CAL_BUTTON_LED));
mjr	6:cc35eb643e8f	1071
mjr	1:d913e0afb2ac	1072	// plunger calibration button debounce timer
mjr	1:d913e0afb2ac	1073	Timer calBtnTimer;
mjr	1:d913e0afb2ac	1074	calBtnTimer.start();
mjr	1:d913e0afb2ac	1075	int calBtnLit = false;
mjr	1:d913e0afb2ac	1076
mjr	1:d913e0afb2ac	1077	// Calibration button state:
mjr	1:d913e0afb2ac	1078	// 0 = not pushed
mjr	1:d913e0afb2ac	1079	// 1 = pushed, not yet debounced
mjr	1:d913e0afb2ac	1080	// 2 = pushed, debounced, waiting for hold time
mjr	1:d913e0afb2ac	1081	// 3 = pushed, hold time completed - in calibration mode
mjr	1:d913e0afb2ac	1082	int calBtnState = 0;
mjr	1:d913e0afb2ac	1083
mjr	1:d913e0afb2ac	1084	// set up a timer for our heartbeat indicator
mjr	1:d913e0afb2ac	1085	Timer hbTimer;
mjr	1:d913e0afb2ac	1086	hbTimer.start();
mjr	1:d913e0afb2ac	1087	int hb = 0;
mjr	5:a70c0bce770d	1088	uint16_t hbcnt = 0;
mjr	1:d913e0afb2ac	1089
mjr	1:d913e0afb2ac	1090	// set a timer for accelerometer auto-centering
mjr	1:d913e0afb2ac	1091	Timer acTimer;
mjr	1:d913e0afb2ac	1092	acTimer.start();
mjr	1:d913e0afb2ac	1093
mjr	0:5acbbe3f4cf4	1094	// create the accelerometer object
mjr	5:a70c0bce770d	1095	Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN);
mjr	0:5acbbe3f4cf4	1096
mjr	17:ab3cec0c8bf4	1097	// last accelerometer report, in joystick units (we report the nudge
mjr	17:ab3cec0c8bf4	1098	// acceleration via the joystick x & y axes, per the VP convention)
mjr	17:ab3cec0c8bf4	1099	int x = 0, y = 0;
mjr	17:ab3cec0c8bf4	1100
mjr	17:ab3cec0c8bf4	1101	// create our plunger sensor object
mjr	17:ab3cec0c8bf4	1102	PlungerSensor plungerSensor;
mjr	17:ab3cec0c8bf4	1103
mjr	17:ab3cec0c8bf4	1104	// last plunger report position, in 'npix' normalized pixel units
mjr	17:ab3cec0c8bf4	1105	int pos = 0;
mjr	17:ab3cec0c8bf4	1106
mjr	17:ab3cec0c8bf4	1107	// last plunger report, in joystick units (we report the plunger as the
mjr	17:ab3cec0c8bf4	1108	// "z" axis of the joystick, per the VP convention)
mjr	17:ab3cec0c8bf4	1109	int z = 0;
mjr	17:ab3cec0c8bf4	1110
mjr	17:ab3cec0c8bf4	1111	// most recent prior plunger readings, for tracking release events(z0 is
mjr	17:ab3cec0c8bf4	1112	// reading just before the last one we reported, z1 is the one before that,
mjr	17:ab3cec0c8bf4	1113	// z2 the next before that)
mjr	17:ab3cec0c8bf4	1114	int z0 = 0, z1 = 0, z2 = 0;
mjr	17:ab3cec0c8bf4	1115
mjr	17:ab3cec0c8bf4	1116	// Simulated "bounce" position when firing. We model the bounce off of
mjr	17:ab3cec0c8bf4	1117	// the barrel spring when the plunger is released as proportional to the
mjr	17:ab3cec0c8bf4	1118	// distance it was retracted just before being released.
mjr	17:ab3cec0c8bf4	1119	int zBounce = 0;
mjr	2:c174f9ee414a	1120
mjr	17:ab3cec0c8bf4	1121	// Simulated Launch Ball button state. If a "ZB Launch Ball" port is
mjr	17:ab3cec0c8bf4	1122	// defined for our LedWiz port mapping, any time that port is turned ON,
mjr	17:ab3cec0c8bf4	1123	// we'll simulate pushing the Launch Ball button if the player pulls
mjr	17:ab3cec0c8bf4	1124	// back and releases the plunger, or simply pushes on the plunger from
mjr	17:ab3cec0c8bf4	1125	// the rest position. This allows the plunger to be used in lieu of a
mjr	17:ab3cec0c8bf4	1126	// physical Launch Ball button for tables that don't have plungers.
mjr	17:ab3cec0c8bf4	1127	//
mjr	17:ab3cec0c8bf4	1128	// States:
mjr	17:ab3cec0c8bf4	1129	// 0 = default
mjr	17:ab3cec0c8bf4	1130	// 1 = cocked (plunger has been pulled back about 1" from state 0)
mjr	17:ab3cec0c8bf4	1131	// 2 = uncocked (plunger is pulled back less than 1" from state 1)
mjr	17:ab3cec0c8bf4	1132	// 3 = launching (plunger has been released from state 1 or 2, or
mjr	17:ab3cec0c8bf4	1133	// pushed forward about 1/4" from state 0)
mjr	17:ab3cec0c8bf4	1134	// 4 = launching, plunger is no longer pushed forward
mjr	17:ab3cec0c8bf4	1135	int lbState = 0;
mjr	6:cc35eb643e8f	1136
mjr	17:ab3cec0c8bf4	1137	// Time since last lbState transition. Some of the states are time-
mjr	17:ab3cec0c8bf4	1138	// sensitive. In the "uncocked" state, we'll return to state 0 if
mjr	17:ab3cec0c8bf4	1139	// we remain in this state for more than a few milliseconds, since
mjr	17:ab3cec0c8bf4	1140	// it indicates that the plunger is being slowly returned to rest
mjr	17:ab3cec0c8bf4	1141	// rather than released. In the "launching" state, we need to release
mjr	17:ab3cec0c8bf4	1142	// the Launch Ball button after a moment, and we need to wait for
mjr	17:ab3cec0c8bf4	1143	// the plunger to come to rest before returning to state 0.
mjr	17:ab3cec0c8bf4	1144	Timer lbTimer;
mjr	17:ab3cec0c8bf4	1145	lbTimer.start();
mjr	17:ab3cec0c8bf4	1146
mjr	18:5e890ebd0023	1147	// Launch Ball simulated push timer. We start this when we simulate
mjr	18:5e890ebd0023	1148	// the button push, and turn off the simulated button when enough time
mjr	18:5e890ebd0023	1149	// has elapsed.
mjr	18:5e890ebd0023	1150	Timer lbBtnTimer;
mjr	18:5e890ebd0023	1151
mjr	17:ab3cec0c8bf4	1152	// Simulated button states. This is a vector of button states
mjr	17:ab3cec0c8bf4	1153	// for the simulated buttons. We combine this with the physical
mjr	17:ab3cec0c8bf4	1154	// button states on each USB joystick report, so we will report
mjr	17:ab3cec0c8bf4	1155	// a button as pressed if either the physical button is being pressed
mjr	17:ab3cec0c8bf4	1156	// or we're simulating a press on the button. This is used for the
mjr	17:ab3cec0c8bf4	1157	// simulated Launch Ball button.
mjr	17:ab3cec0c8bf4	1158	uint32_t simButtons = 0;
mjr	6:cc35eb643e8f	1159
mjr	6:cc35eb643e8f	1160	// Firing in progress: we set this when we detect the start of rapid
mjr	6:cc35eb643e8f	1161	// plunger movement from a retracted position towards the rest position.
mjr	17:ab3cec0c8bf4	1162	//
mjr	17:ab3cec0c8bf4	1163	// When we detect a firing event, we send VP a series of synthetic
mjr	17:ab3cec0c8bf4	1164	// reports simulating the idealized plunger motion. The actual physical
mjr	17:ab3cec0c8bf4	1165	// motion is much too fast to report to VP; in the time between two USB
mjr	17:ab3cec0c8bf4	1166	// reports, the plunger can shoot all the way forward, rebound off of
mjr	17:ab3cec0c8bf4	1167	// the barrel spring, bounce back part way, and bounce forward again,
mjr	17:ab3cec0c8bf4	1168	// or even do all of this more than once. This means that sampling the
mjr	17:ab3cec0c8bf4	1169	// physical motion at the USB report rate would create a misleading
mjr	17:ab3cec0c8bf4	1170	// picture of the plunger motion, since our samples would catch the
mjr	17:ab3cec0c8bf4	1171	// plunger at random points in this oscillating motion. From the
mjr	17:ab3cec0c8bf4	1172	// user's perspective, the physical action that occurred is simply that
mjr	17:ab3cec0c8bf4	1173	// the plunger was released from a particular distance, so it's this
mjr	17:ab3cec0c8bf4	1174	// high-level event that we want to convey to VP. To do this, we
mjr	17:ab3cec0c8bf4	1175	// synthesize a series of reports to convey an idealized version of
mjr	17:ab3cec0c8bf4	1176	// the release motion that's perfectly synchronized to the VP reports.
mjr	17:ab3cec0c8bf4	1177	// Essentially we pretend that our USB position samples are exactly
mjr	17:ab3cec0c8bf4	1178	// aligned in time with (1) the point of retraction just before the
mjr	17:ab3cec0c8bf4	1179	// user released the plunger, (2) the point of maximum forward motion
mjr	17:ab3cec0c8bf4	1180	// just after the user released the plunger (the point of maximum
mjr	17:ab3cec0c8bf4	1181	// compression as the plunger bounces off of the barrel spring), and
mjr	17:ab3cec0c8bf4	1182	// (3) the plunger coming to rest at the park position. This series
mjr	17:ab3cec0c8bf4	1183	// of reports is synthetic in the sense that it's not what we actually
mjr	17:ab3cec0c8bf4	1184	// see on the CCD at the times of these reports - the true plunger
mjr	17:ab3cec0c8bf4	1185	// position is oscillating at high speed during this period. But at
mjr	17:ab3cec0c8bf4	1186	// the same time it conveys a more faithful picture of the true physical
mjr	17:ab3cec0c8bf4	1187	// motion to VP, and allows VP to reproduce the true physical motion
mjr	17:ab3cec0c8bf4	1188	// more faithfully in its simulation model, by correcting for the
mjr	17:ab3cec0c8bf4	1189	// relatively low sampling rate in the communication path between the
mjr	17:ab3cec0c8bf4	1190	// real plunger and VP's model plunger.
mjr	17:ab3cec0c8bf4	1191	//
mjr	17:ab3cec0c8bf4	1192	// If 'firing' is non-zero, it's the index of our current report in
mjr	17:ab3cec0c8bf4	1193	// the synthetic firing report series.
mjr	9:fd65b0a94720	1194	int firing = 0;
mjr	2:c174f9ee414a	1195
mjr	2:c174f9ee414a	1196	// start the first CCD integration cycle
mjr	17:ab3cec0c8bf4	1197	plungerSensor.init();
mjr	9:fd65b0a94720	1198
mjr	9:fd65b0a94720	1199	// Device status. We report this on each update so that the host config
mjr	9:fd65b0a94720	1200	// tool can detect our current settings. This is a bit mask consisting
mjr	9:fd65b0a94720	1201	// of these bits:
mjr	9:fd65b0a94720	1202	// 0x01 -> plunger sensor enabled
mjr	17:ab3cec0c8bf4	1203	uint16_t statusFlags = (cfg.d.plungerEnabled ? 0x01 : 0x00);
mjr	10:976666ffa4ef	1204
mjr	10:976666ffa4ef	1205	// flag: send a pixel dump after the next read
mjr	10:976666ffa4ef	1206	bool reportPix = false;
mjr	1:d913e0afb2ac	1207
mjr	1:d913e0afb2ac	1208	// we're all set up - now just loop, processing sensor reports and
mjr	1:d913e0afb2ac	1209	// host requests
mjr	0:5acbbe3f4cf4	1210	for (;;)
mjr	0:5acbbe3f4cf4	1211	{
mjr	18:5e890ebd0023	1212	// Look for an incoming report. Process a few input reports in
mjr	18:5e890ebd0023	1213	// a row, but stop after a few so that a barrage of inputs won't
mjr	20:4c43877327ab	1214	// starve our output event processing. Also, pause briefly between
mjr	20:4c43877327ab	1215	// reads; allowing reads to occur back-to-back seems to occasionally
mjr	20:4c43877327ab	1216	// stall the USB pipeline (for reasons unknown; I'd fix the underlying
mjr	20:4c43877327ab	1217	// problem if I knew what it was).
mjr	0:5acbbe3f4cf4	1218	HID_REPORT report;
mjr	20:4c43877327ab	1219	for (int rr = 0 ; rr < 4 && js.readNB(&report) ; ++rr, wait_ms(1))
mjr	0:5acbbe3f4cf4	1220	{
mjr	6:cc35eb643e8f	1221	// all Led-Wiz reports are 8 bytes exactly
mjr	6:cc35eb643e8f	1222	if (report.length == 8)
mjr	1:d913e0afb2ac	1223	{
mjr	6:cc35eb643e8f	1224	uint8_t *data = report.data;
mjr	6:cc35eb643e8f	1225	if (data[0] == 64)
mjr	0:5acbbe3f4cf4	1226	{
mjr	6:cc35eb643e8f	1227	// LWZ-SBA - first four bytes are bit-packed on/off flags
mjr	6:cc35eb643e8f	1228	// for the outputs; 5th byte is the pulse speed (0-7)
mjr	6:cc35eb643e8f	1229	//printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n",
mjr	6:cc35eb643e8f	1230	// data[1], data[2], data[3], data[4], data[5]);
mjr	0:5acbbe3f4cf4	1231
mjr	6:cc35eb643e8f	1232	// update all on/off states
mjr	6:cc35eb643e8f	1233	for (int i = 0, bit = 1, ri = 1 ; i < 32 ; ++i, bit <<= 1)
mjr	6:cc35eb643e8f	1234	{
mjr	6:cc35eb643e8f	1235	if (bit == 0x100) {
mjr	6:cc35eb643e8f	1236	bit = 1;
mjr	6:cc35eb643e8f	1237	++ri;
mjr	6:cc35eb643e8f	1238	}
mjr	6:cc35eb643e8f	1239	wizOn[i] = ((data[ri] & bit) != 0);
mjr	6:cc35eb643e8f	1240	}
mjr	6:cc35eb643e8f	1241
mjr	6:cc35eb643e8f	1242	// update the physical outputs
mjr	1:d913e0afb2ac	1243	updateWizOuts();
mjr	6:cc35eb643e8f	1244
mjr	6:cc35eb643e8f	1245	// reset the PBA counter
mjr	6:cc35eb643e8f	1246	pbaIdx = 0;
mjr	6:cc35eb643e8f	1247	}
mjr	6:cc35eb643e8f	1248	else if (data[0] == 65)
mjr	6:cc35eb643e8f	1249	{
mjr	6:cc35eb643e8f	1250	// Private control message. This isn't an LedWiz message - it's
mjr	6:cc35eb643e8f	1251	// an extension for this device. 65 is an invalid PBA setting,
mjr	6:cc35eb643e8f	1252	// and isn't used for any other LedWiz message, so we appropriate
mjr	6:cc35eb643e8f	1253	// it for our own private use. The first byte specifies the
mjr	6:cc35eb643e8f	1254	// message type.
mjr	6:cc35eb643e8f	1255	if (data[1] == 1)
mjr	6:cc35eb643e8f	1256	{
mjr	9:fd65b0a94720	1257	// 1 = Set Configuration:
mjr	6:cc35eb643e8f	1258	// data[2] = LedWiz unit number (0x00 to 0x0f)
mjr	6:cc35eb643e8f	1259	// data[3] = feature enable bit mask:
mjr	6:cc35eb643e8f	1260	// 0x01 = enable CCD
mjr	6:cc35eb643e8f	1261
mjr	6:cc35eb643e8f	1262	// we'll need a reset if the LedWiz unit number is changing
mjr	6:cc35eb643e8f	1263	uint8_t newUnitNo = data[2] & 0x0f;
mjr	6:cc35eb643e8f	1264	needReset \|= (newUnitNo != cfg.d.ledWizUnitNo);
mjr	6:cc35eb643e8f	1265
mjr	6:cc35eb643e8f	1266	// set the configuration parameters from the message
mjr	6:cc35eb643e8f	1267	cfg.d.ledWizUnitNo = newUnitNo;
mjr	17:ab3cec0c8bf4	1268	cfg.d.plungerEnabled = data[3] & 0x01;
mjr	6:cc35eb643e8f	1269
mjr	9:fd65b0a94720	1270	// update the status flags
mjr	9:fd65b0a94720	1271	statusFlags = (statusFlags & ~0x01) \| (data[3] & 0x01);
mjr	9:fd65b0a94720	1272
mjr	9:fd65b0a94720	1273	// if the ccd is no longer enabled, use 0 for z reports
mjr	17:ab3cec0c8bf4	1274	if (!cfg.d.plungerEnabled)
mjr	9:fd65b0a94720	1275	z = 0;
mjr	9:fd65b0a94720	1276
mjr	6:cc35eb643e8f	1277	// save the configuration
mjr	6:cc35eb643e8f	1278	cfg.save(iap, flash_addr);
mjr	6:cc35eb643e8f	1279	}
mjr	9:fd65b0a94720	1280	else if (data[1] == 2)
mjr	9:fd65b0a94720	1281	{
mjr	9:fd65b0a94720	1282	// 2 = Calibrate plunger
mjr	9:fd65b0a94720	1283	// (No parameters)
mjr	9:fd65b0a94720	1284
mjr	9:fd65b0a94720	1285	// enter calibration mode
mjr	9:fd65b0a94720	1286	calBtnState = 3;
mjr	9:fd65b0a94720	1287	calBtnTimer.reset();
mjr	9:fd65b0a94720	1288	cfg.resetPlunger();
mjr	9:fd65b0a94720	1289	}
mjr	10:976666ffa4ef	1290	else if (data[1] == 3)
mjr	10:976666ffa4ef	1291	{
mjr	10:976666ffa4ef	1292	// 3 = pixel dump
mjr	10:976666ffa4ef	1293	// (No parameters)
mjr	10:976666ffa4ef	1294	reportPix = true;
mjr	10:976666ffa4ef	1295
mjr	10:976666ffa4ef	1296	// show purple until we finish sending the report
mjr	10:976666ffa4ef	1297	ledR = 0;
mjr	10:976666ffa4ef	1298	ledB = 0;
mjr	10:976666ffa4ef	1299	ledG = 1;
mjr	10:976666ffa4ef	1300	}
mjr	6:cc35eb643e8f	1301	}
mjr	6:cc35eb643e8f	1302	else
mjr	6:cc35eb643e8f	1303	{
mjr	6:cc35eb643e8f	1304	// LWZ-PBA - full state dump; each byte is one output
mjr	6:cc35eb643e8f	1305	// in the current bank. pbaIdx keeps track of the bank;
mjr	6:cc35eb643e8f	1306	// this is incremented implicitly by each PBA message.
mjr	6:cc35eb643e8f	1307	//printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr	6:cc35eb643e8f	1308	// pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr	6:cc35eb643e8f	1309
mjr	6:cc35eb643e8f	1310	// update all output profile settings
mjr	6:cc35eb643e8f	1311	for (int i = 0 ; i < 8 ; ++i)
mjr	6:cc35eb643e8f	1312	wizVal[pbaIdx + i] = data[i];
mjr	6:cc35eb643e8f	1313
mjr	6:cc35eb643e8f	1314	// update the physical LED state if this is the last bank
mjr	6:cc35eb643e8f	1315	if (pbaIdx == 24)
mjr	13:72dda449c3c0	1316	{
mjr	6:cc35eb643e8f	1317	updateWizOuts();
mjr	13:72dda449c3c0	1318	pbaIdx = 0;
mjr	13:72dda449c3c0	1319	}
mjr	13:72dda449c3c0	1320	else
mjr	13:72dda449c3c0	1321	pbaIdx += 8;
mjr	6:cc35eb643e8f	1322	}
mjr	0:5acbbe3f4cf4	1323	}
mjr	0:5acbbe3f4cf4	1324	}
mjr	1:d913e0afb2ac	1325
mjr	1:d913e0afb2ac	1326	// check for plunger calibration
mjr	17:ab3cec0c8bf4	1327	if (calBtn != 0 && !calBtn->read())
mjr	0:5acbbe3f4cf4	1328	{
mjr	1:d913e0afb2ac	1329	// check the state
mjr	1:d913e0afb2ac	1330	switch (calBtnState)
mjr	0:5acbbe3f4cf4	1331	{
mjr	1:d913e0afb2ac	1332	case 0:
mjr	1:d913e0afb2ac	1333	// button not yet pushed - start debouncing
mjr	1:d913e0afb2ac	1334	calBtnTimer.reset();
mjr	1:d913e0afb2ac	1335	calBtnState = 1;
mjr	1:d913e0afb2ac	1336	break;
mjr	1:d913e0afb2ac	1337
mjr	1:d913e0afb2ac	1338	case 1:
mjr	1:d913e0afb2ac	1339	// pushed, not yet debounced - if the debounce time has
mjr	1:d913e0afb2ac	1340	// passed, start the hold period
mjr	9:fd65b0a94720	1341	if (calBtnTimer.read_ms() > 50)
mjr	1:d913e0afb2ac	1342	calBtnState = 2;
mjr	1:d913e0afb2ac	1343	break;
mjr	1:d913e0afb2ac	1344
mjr	1:d913e0afb2ac	1345	case 2:
mjr	1:d913e0afb2ac	1346	// in the hold period - if the button has been held down
mjr	1:d913e0afb2ac	1347	// for the entire hold period, move to calibration mode
mjr	9:fd65b0a94720	1348	if (calBtnTimer.read_ms() > 2050)
mjr	1:d913e0afb2ac	1349	{
mjr	1:d913e0afb2ac	1350	// enter calibration mode
mjr	1:d913e0afb2ac	1351	calBtnState = 3;
mjr	9:fd65b0a94720	1352	calBtnTimer.reset();
mjr	9:fd65b0a94720	1353	cfg.resetPlunger();
mjr	1:d913e0afb2ac	1354	}
mjr	1:d913e0afb2ac	1355	break;
mjr	2:c174f9ee414a	1356
mjr	2:c174f9ee414a	1357	case 3:
mjr	9:fd65b0a94720	1358	// Already in calibration mode - pushing the button here
mjr	9:fd65b0a94720	1359	// doesn't change the current state, but we won't leave this
mjr	9:fd65b0a94720	1360	// state as long as it's held down. So nothing changes here.
mjr	2:c174f9ee414a	1361	break;
mjr	0:5acbbe3f4cf4	1362	}
mjr	0:5acbbe3f4cf4	1363	}
mjr	1:d913e0afb2ac	1364	else
mjr	1:d913e0afb2ac	1365	{
mjr	2:c174f9ee414a	1366	// Button released. If we're in calibration mode, and
mjr	2:c174f9ee414a	1367	// the calibration time has elapsed, end the calibration
mjr	2:c174f9ee414a	1368	// and save the results to flash.
mjr	2:c174f9ee414a	1369	//
mjr	2:c174f9ee414a	1370	// Otherwise, return to the base state without saving anything.
mjr	2:c174f9ee414a	1371	// If the button is released before we make it to calibration
mjr	2:c174f9ee414a	1372	// mode, it simply cancels the attempt.
mjr	9:fd65b0a94720	1373	if (calBtnState == 3 && calBtnTimer.read_ms() > 15000)
mjr	2:c174f9ee414a	1374	{
mjr	2:c174f9ee414a	1375	// exit calibration mode
mjr	1:d913e0afb2ac	1376	calBtnState = 0;
mjr	2:c174f9ee414a	1377
mjr	6:cc35eb643e8f	1378	// save the updated configuration
mjr	6:cc35eb643e8f	1379	cfg.d.plungerCal = 1;
mjr	6:cc35eb643e8f	1380	cfg.save(iap, flash_addr);
mjr	2:c174f9ee414a	1381
mjr	2:c174f9ee414a	1382	// the flash state is now valid
mjr	2:c174f9ee414a	1383	flash_valid = true;
mjr	2:c174f9ee414a	1384	}
mjr	2:c174f9ee414a	1385	else if (calBtnState != 3)
mjr	2:c174f9ee414a	1386	{
mjr	2:c174f9ee414a	1387	// didn't make it to calibration mode - cancel the operation
mjr	1:d913e0afb2ac	1388	calBtnState = 0;
mjr	2:c174f9ee414a	1389	}
mjr	1:d913e0afb2ac	1390	}
mjr	1:d913e0afb2ac	1391
mjr	1:d913e0afb2ac	1392	// light/flash the calibration button light, if applicable
mjr	1:d913e0afb2ac	1393	int newCalBtnLit = calBtnLit;
mjr	1:d913e0afb2ac	1394	switch (calBtnState)
mjr	0:5acbbe3f4cf4	1395	{
mjr	1:d913e0afb2ac	1396	case 2:
mjr	1:d913e0afb2ac	1397	// in the hold period - flash the light
mjr	9:fd65b0a94720	1398	newCalBtnLit = ((calBtnTimer.read_ms()/250) & 1);
mjr	1:d913e0afb2ac	1399	break;
mjr	1:d913e0afb2ac	1400
mjr	1:d913e0afb2ac	1401	case 3:
mjr	1:d913e0afb2ac	1402	// calibration mode - show steady on
mjr	1:d913e0afb2ac	1403	newCalBtnLit = true;
mjr	1:d913e0afb2ac	1404	break;
mjr	1:d913e0afb2ac	1405
mjr	1:d913e0afb2ac	1406	default:
mjr	1:d913e0afb2ac	1407	// not calibrating/holding - show steady off
mjr	1:d913e0afb2ac	1408	newCalBtnLit = false;
mjr	1:d913e0afb2ac	1409	break;
mjr	1:d913e0afb2ac	1410	}
mjr	3:3514575d4f86	1411
mjr	3:3514575d4f86	1412	// light or flash the external calibration button LED, and
mjr	3:3514575d4f86	1413	// do the same with the on-board blue LED
mjr	1:d913e0afb2ac	1414	if (calBtnLit != newCalBtnLit)
mjr	1:d913e0afb2ac	1415	{
mjr	1:d913e0afb2ac	1416	calBtnLit = newCalBtnLit;
mjr	2:c174f9ee414a	1417	if (calBtnLit) {
mjr	17:ab3cec0c8bf4	1418	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	1419	calBtnLed->write(1);
mjr	4:02c7cd7b2183	1420	ledR = 1;
mjr	4:02c7cd7b2183	1421	ledG = 1;
mjr	9:fd65b0a94720	1422	ledB = 0;
mjr	2:c174f9ee414a	1423	}
mjr	2:c174f9ee414a	1424	else {
mjr	17:ab3cec0c8bf4	1425	if (calBtnLed != 0)
mjr	17:ab3cec0c8bf4	1426	calBtnLed->write(0);
mjr	4:02c7cd7b2183	1427	ledR = 1;
mjr	4:02c7cd7b2183	1428	ledG = 1;
mjr	9:fd65b0a94720	1429	ledB = 1;
mjr	2:c174f9ee414a	1430	}
mjr	1:d913e0afb2ac	1431	}
mjr	1:d913e0afb2ac	1432
mjr	17:ab3cec0c8bf4	1433	// If the plunger is enabled, and we're not already in a firing event,
mjr	17:ab3cec0c8bf4	1434	// and the last plunger reading had the plunger pulled back at least
mjr	17:ab3cec0c8bf4	1435	// a bit, watch for plunger release events until it's time for our next
mjr	17:ab3cec0c8bf4	1436	// USB report.
mjr	17:ab3cec0c8bf4	1437	if (!firing && cfg.d.plungerEnabled && z >= JOYMAX/6)
mjr	17:ab3cec0c8bf4	1438	{
mjr	17:ab3cec0c8bf4	1439	// monitor the plunger until it's time for our next report
mjr	17:ab3cec0c8bf4	1440	while (reportTimer.read_ms() < 15)
mjr	17:ab3cec0c8bf4	1441	{
mjr	17:ab3cec0c8bf4	1442	// do a fast low-res scan; if it's at or past the zero point,
mjr	17:ab3cec0c8bf4	1443	// start a firing event
mjr	17:ab3cec0c8bf4	1444	if (plungerSensor.lowResScan() <= cfg.d.plungerZero)
mjr	17:ab3cec0c8bf4	1445	firing = 1;
mjr	17:ab3cec0c8bf4	1446	}
mjr	17:ab3cec0c8bf4	1447	}
mjr	17:ab3cec0c8bf4	1448
mjr	6:cc35eb643e8f	1449	// read the plunger sensor, if it's enabled
mjr	17:ab3cec0c8bf4	1450	if (cfg.d.plungerEnabled)
mjr	6:cc35eb643e8f	1451	{
mjr	6:cc35eb643e8f	1452	// start with the previous reading, in case we don't have a
mjr	6:cc35eb643e8f	1453	// clear result on this frame
mjr	6:cc35eb643e8f	1454	int znew = z;
mjr	17:ab3cec0c8bf4	1455	if (plungerSensor.highResScan(pos))
mjr	6:cc35eb643e8f	1456	{
mjr	17:ab3cec0c8bf4	1457	// We got a new reading. If we're in calibration mode, use it
mjr	17:ab3cec0c8bf4	1458	// to figure the new calibration, otherwise adjust the new reading
mjr	17:ab3cec0c8bf4	1459	// for the established calibration.
mjr	17:ab3cec0c8bf4	1460	if (calBtnState == 3)
mjr	6:cc35eb643e8f	1461	{
mjr	17:ab3cec0c8bf4	1462	// Calibration mode. If this reading is outside of the current
mjr	17:ab3cec0c8bf4	1463	// calibration bounds, expand the bounds.
mjr	17:ab3cec0c8bf4	1464	if (pos < cfg.d.plungerMin)
mjr	17:ab3cec0c8bf4	1465	cfg.d.plungerMin = pos;
mjr	17:ab3cec0c8bf4	1466	if (pos < cfg.d.plungerZero)
mjr	17:ab3cec0c8bf4	1467	cfg.d.plungerZero = pos;
mjr	17:ab3cec0c8bf4	1468	if (pos > cfg.d.plungerMax)
mjr	17:ab3cec0c8bf4	1469	cfg.d.plungerMax = pos;
mjr	6:cc35eb643e8f	1470
mjr	17:ab3cec0c8bf4	1471	// normalize to the full physical range while calibrating
mjr	17:ab3cec0c8bf4	1472	znew = int(round(float(pos)/npix * JOYMAX));
mjr	17:ab3cec0c8bf4	1473	}
mjr	17:ab3cec0c8bf4	1474	else
mjr	17:ab3cec0c8bf4	1475	{
mjr	17:ab3cec0c8bf4	1476	// Not in calibration mode, so normalize the new reading to the
mjr	17:ab3cec0c8bf4	1477	// established calibration range.
mjr	17:ab3cec0c8bf4	1478	//
mjr	17:ab3cec0c8bf4	1479	// Note that negative values are allowed. Zero represents the
mjr	17:ab3cec0c8bf4	1480	// "park" position, where the plunger sits when at rest. A mechanical
mjr	17:ab3cec0c8bf4	1481	// plunger has a smmall amount of travel in the "push" direction,
mjr	17:ab3cec0c8bf4	1482	// since the barrel spring can be compressed slightly. Negative
mjr	17:ab3cec0c8bf4	1483	// values represent travel in the push direction.
mjr	17:ab3cec0c8bf4	1484	if (pos > cfg.d.plungerMax)
mjr	17:ab3cec0c8bf4	1485	pos = cfg.d.plungerMax;
mjr	17:ab3cec0c8bf4	1486	znew = int(round(float(pos - cfg.d.plungerZero)
mjr	17:ab3cec0c8bf4	1487	/ (cfg.d.plungerMax - cfg.d.plungerZero + 1) * JOYMAX));
mjr	6:cc35eb643e8f	1488	}
mjr	6:cc35eb643e8f	1489	}
mjr	7:100a25f8bf56	1490
mjr	17:ab3cec0c8bf4	1491	// If we're not already in a firing event, check to see if the
mjr	17:ab3cec0c8bf4	1492	// new position is forward of the last report. If it is, a firing
mjr	17:ab3cec0c8bf4	1493	// event might have started during the high-res scan. This might
mjr	17:ab3cec0c8bf4	1494	// seem unlikely given that the scan only takes about 5ms, but that
mjr	17:ab3cec0c8bf4	1495	// 5ms represents about 25-30% of our total time between reports,
mjr	17:ab3cec0c8bf4	1496	// there's about a 1 in 4 chance that a release starts during a
mjr	17:ab3cec0c8bf4	1497	// scan.
mjr	17:ab3cec0c8bf4	1498	if (!firing && z0 > 0 && znew < z0)
mjr	17:ab3cec0c8bf4	1499	{
mjr	17:ab3cec0c8bf4	1500	// The plunger has moved forward since the previous report.
mjr	17:ab3cec0c8bf4	1501	// Watch it for a few more ms to see if we can get a stable
mjr	17:ab3cec0c8bf4	1502	// new position.
mjr	17:ab3cec0c8bf4	1503	int pos1 = plungerSensor.lowResScan();
mjr	17:ab3cec0c8bf4	1504	Timer tw;
mjr	17:ab3cec0c8bf4	1505	tw.start();
mjr	17:ab3cec0c8bf4	1506	while (tw.read_ms() < 6)
mjr	17:ab3cec0c8bf4	1507	{
mjr	17:ab3cec0c8bf4	1508	// if we've crossed the rest position, it's a firing event
mjr	17:ab3cec0c8bf4	1509	if (pos1 < cfg.d.plungerZero)
mjr	17:ab3cec0c8bf4	1510	{
mjr	17:ab3cec0c8bf4	1511	firing = 1;
mjr	17:ab3cec0c8bf4	1512	break;
mjr	17:ab3cec0c8bf4	1513	}
mjr	17:ab3cec0c8bf4	1514
mjr	17:ab3cec0c8bf4	1515	// read the new position
mjr	17:ab3cec0c8bf4	1516	int pos2 = plungerSensor.lowResScan();
mjr	17:ab3cec0c8bf4	1517
mjr	17:ab3cec0c8bf4	1518	// if it's stable, stop looping
mjr	17:ab3cec0c8bf4	1519	if (abs(pos2 - pos1) < int(npix/(3.2*8)))
mjr	17:ab3cec0c8bf4	1520	break;
mjr	17:ab3cec0c8bf4	1521
mjr	17:ab3cec0c8bf4	1522	// the new reading is now the prior reading
mjr	17:ab3cec0c8bf4	1523	pos1 = pos2;
mjr	17:ab3cec0c8bf4	1524	}
mjr	17:ab3cec0c8bf4	1525	}
mjr	17:ab3cec0c8bf4	1526
mjr	17:ab3cec0c8bf4	1527	// Check for a simulated Launch Ball button press, if enabled
mjr	18:5e890ebd0023	1528	if (ZBLaunchBallPort != 0)
mjr	17:ab3cec0c8bf4	1529	{
mjr	18:5e890ebd0023	1530	const int cockThreshold = JOYMAX/3;
mjr	18:5e890ebd0023	1531	const int pushThreshold = int(-JOYMAX/3 * LaunchBallPushDistance);
mjr	17:ab3cec0c8bf4	1532	int newState = lbState;
mjr	17:ab3cec0c8bf4	1533	switch (lbState)
mjr	17:ab3cec0c8bf4	1534	{
mjr	17:ab3cec0c8bf4	1535	case 0:
mjr	17:ab3cec0c8bf4	1536	// Base state. If the plunger is pulled back by an inch
mjr	17:ab3cec0c8bf4	1537	// or more, go to "cocked" state. If the plunger is pushed
mjr	17:ab3cec0c8bf4	1538	// forward by 1/4" or more, go to "launch" state.
mjr	18:5e890ebd0023	1539	if (znew >= cockThreshold)
mjr	17:ab3cec0c8bf4	1540	newState = 1;
mjr	18:5e890ebd0023	1541	else if (znew <= pushThreshold)
mjr	17:ab3cec0c8bf4	1542	newState = 3;
mjr	17:ab3cec0c8bf4	1543	break;
mjr	17:ab3cec0c8bf4	1544
mjr	17:ab3cec0c8bf4	1545	case 1:
mjr	17:ab3cec0c8bf4	1546	// Cocked state. If a firing event is now in progress,
mjr	17:ab3cec0c8bf4	1547	// go to "launch" state. Otherwise, if the plunger is less
mjr	17:ab3cec0c8bf4	1548	// than 1" retracted, go to "uncocked" state - the player
mjr	17:ab3cec0c8bf4	1549	// might be slowly returning the plunger to rest so as not
mjr	17:ab3cec0c8bf4	1550	// to trigger a launch.
mjr	17:ab3cec0c8bf4	1551	if (firing \|\| znew <= 0)
mjr	17:ab3cec0c8bf4	1552	newState = 3;
mjr	18:5e890ebd0023	1553	else if (znew < cockThreshold)
mjr	17:ab3cec0c8bf4	1554	newState = 2;
mjr	17:ab3cec0c8bf4	1555	break;
mjr	17:ab3cec0c8bf4	1556
mjr	17:ab3cec0c8bf4	1557	case 2:
mjr	17:ab3cec0c8bf4	1558	// Uncocked state. If the plunger is more than an inch
mjr	17:ab3cec0c8bf4	1559	// retracted, return to cocked state. If we've been in
mjr	17:ab3cec0c8bf4	1560	// the uncocked state for more than half a second, return
mjr	18:5e890ebd0023	1561	// to the base state. This allows the user to return the
mjr	18:5e890ebd0023	1562	// plunger to rest without triggering a launch, by moving
mjr	18:5e890ebd0023	1563	// it at manual speed to the rest position rather than
mjr	18:5e890ebd0023	1564	// releasing it.
mjr	18:5e890ebd0023	1565	if (znew >= cockThreshold)
mjr	17:ab3cec0c8bf4	1566	newState = 1;
mjr	17:ab3cec0c8bf4	1567	else if (lbTimer.read_ms() > 500)
mjr	17:ab3cec0c8bf4	1568	newState = 0;
mjr	17:ab3cec0c8bf4	1569	break;
mjr	17:ab3cec0c8bf4	1570
mjr	17:ab3cec0c8bf4	1571	case 3:
mjr	17:ab3cec0c8bf4	1572	// Launch state. If the plunger is no longer pushed
mjr	17:ab3cec0c8bf4	1573	// forward, switch to launch rest state.
mjr	18:5e890ebd0023	1574	if (znew >= 0)
mjr	17:ab3cec0c8bf4	1575	newState = 4;
mjr	17:ab3cec0c8bf4	1576	break;
mjr	17:ab3cec0c8bf4	1577
mjr	17:ab3cec0c8bf4	1578	case 4:
mjr	17:ab3cec0c8bf4	1579	// Launch rest state. If the plunger is pushed forward
mjr	17:ab3cec0c8bf4	1580	// again, switch back to launch state. If not, and we've
mjr	17:ab3cec0c8bf4	1581	// been in this state for at least 200ms, return to the
mjr	17:ab3cec0c8bf4	1582	// default state.
mjr	18:5e890ebd0023	1583	if (znew <= pushThreshold)
mjr	17:ab3cec0c8bf4	1584	newState = 3;
mjr	17:ab3cec0c8bf4	1585	else if (lbTimer.read_ms() > 200)
mjr	17:ab3cec0c8bf4	1586	newState = 0;
mjr	17:ab3cec0c8bf4	1587	break;
mjr	17:ab3cec0c8bf4	1588	}
mjr	17:ab3cec0c8bf4	1589
mjr	17:ab3cec0c8bf4	1590	// change states if desired
mjr	18:5e890ebd0023	1591	const uint32_t lbButtonBit = (1 << (LaunchBallButton - 1));
mjr	17:ab3cec0c8bf4	1592	if (newState != lbState)
mjr	17:ab3cec0c8bf4	1593	{
mjr	18:5e890ebd0023	1594	// if we're entering Launch state, and the ZB Launch Ball
mjr	18:5e890ebd0023	1595	// LedWiz signal is turned on, simulate a Launch Ball button
mjr	18:5e890ebd0023	1596	// press
mjr	18:5e890ebd0023	1597	if (newState == 3 && lbState != 4 && wizOn[ZBLaunchBallPort-1])
mjr	18:5e890ebd0023	1598	{
mjr	18:5e890ebd0023	1599	lbBtnTimer.reset();
mjr	18:5e890ebd0023	1600	lbBtnTimer.start();
mjr	18:5e890ebd0023	1601	simButtons \|= lbButtonBit;
mjr	18:5e890ebd0023	1602	}
mjr	17:ab3cec0c8bf4	1603
mjr	17:ab3cec0c8bf4	1604	// if we're switching to state 0, release the button
mjr	17:ab3cec0c8bf4	1605	if (newState == 0)
mjr	17:ab3cec0c8bf4	1606	simButtons &= ~(1 << (LaunchBallButton - 1));
mjr	17:ab3cec0c8bf4	1607
mjr	17:ab3cec0c8bf4	1608	// switch to the new state
mjr	17:ab3cec0c8bf4	1609	lbState = newState;
mjr	17:ab3cec0c8bf4	1610
mjr	17:ab3cec0c8bf4	1611	// start timing in the new state
mjr	17:ab3cec0c8bf4	1612	lbTimer.reset();
mjr	17:ab3cec0c8bf4	1613	}
mjr	18:5e890ebd0023	1614
mjr	18:5e890ebd0023	1615	// if the simulated Launch Ball button press is in effect,
mjr	18:5e890ebd0023	1616	// and either it's been in effect too long or the ZB Launch
mjr	18:5e890ebd0023	1617	// Ball signal is no longer active, turn off the button
mjr	18:5e890ebd0023	1618	if ((simButtons & lbButtonBit) != 0
mjr	18:5e890ebd0023	1619	&& (!wizOn[ZBLaunchBallPort-1] \|\| lbBtnTimer.read_ms() > 250))
mjr	18:5e890ebd0023	1620	{
mjr	18:5e890ebd0023	1621	lbBtnTimer.stop();
mjr	18:5e890ebd0023	1622	simButtons &= ~lbButtonBit;
mjr	18:5e890ebd0023	1623	}
mjr	18:5e890ebd0023	1624
mjr	17:ab3cec0c8bf4	1625	}
mjr	17:ab3cec0c8bf4	1626
mjr	17:ab3cec0c8bf4	1627	// If a firing event is in progress, generate synthetic reports to
mjr	17:ab3cec0c8bf4	1628	// describe an idealized version of the plunger motion to VP rather
mjr	17:ab3cec0c8bf4	1629	// than reporting the actual physical plunger position.
mjr	6:cc35eb643e8f	1630	//
mjr	17:ab3cec0c8bf4	1631	// We use the synthetic reports during a release event because the
mjr	17:ab3cec0c8bf4	1632	// physical plunger motion when released is too fast for VP to track.
mjr	17:ab3cec0c8bf4	1633	// VP only syncs its internal physics model with the outside world
mjr	17:ab3cec0c8bf4	1634	// about every 10ms. In that amount of time, the plunger moves
mjr	17:ab3cec0c8bf4	1635	// fast enough when released that it can shoot all the way forward,
mjr	17:ab3cec0c8bf4	1636	// bounce off of the barrel spring, and rebound part of the way
mjr	17:ab3cec0c8bf4	1637	// back. The result is the classic analog-to-digital problem of
mjr	17:ab3cec0c8bf4	1638	// sample aliasing. If we happen to time our sample during the
mjr	17:ab3cec0c8bf4	1639	// release motion so that we catch the plunger at the peak of a
mjr	17:ab3cec0c8bf4	1640	// bounce, the digital signal incorrectly looks like the plunger
mjr	17:ab3cec0c8bf4	1641	// is moving slowly forward - VP thinks we went from fully
mjr	17:ab3cec0c8bf4	1642	// retracted to half retracted in the sample interval, whereas
mjr	17:ab3cec0c8bf4	1643	// we actually traveled all the way forward and half way back,
mjr	17:ab3cec0c8bf4	1644	// so the speed VP infers is about 1/3 of the actual speed.
mjr	9:fd65b0a94720	1645	//
mjr	17:ab3cec0c8bf4	1646	// To correct this, we take advantage of our ability to sample
mjr	17:ab3cec0c8bf4	1647	// the CCD image several times in the course of a VP report. If
mjr	17:ab3cec0c8bf4	1648	// we catch the plunger near the origin after we've seen it
mjr	17:ab3cec0c8bf4	1649	// retracted, we go into Release Event mode. During this mode,
mjr	17:ab3cec0c8bf4	1650	// we stop reporting the true physical plunger position, and
mjr	17:ab3cec0c8bf4	1651	// instead report an idealized pattern: we report the plunger
mjr	17:ab3cec0c8bf4	1652	// immediately shooting forward to a position in front of the
mjr	17:ab3cec0c8bf4	1653	// park position that's in proportion to how far back the plunger
mjr	17:ab3cec0c8bf4	1654	// was just before the release, and we then report it stationary
mjr	17:ab3cec0c8bf4	1655	// at the park position. We continue to report the stationary
mjr	17:ab3cec0c8bf4	1656	// park position until the actual physical plunger motion has
mjr	17:ab3cec0c8bf4	1657	// stabilized on a new position. We then exit Release Event
mjr	17:ab3cec0c8bf4	1658	// mode and return to reporting the true physical position.
mjr	17:ab3cec0c8bf4	1659	if (firing)
mjr	6:cc35eb643e8f	1660	{
mjr	17:ab3cec0c8bf4	1661	// Firing in progress. Keep reporting the park position
mjr	17:ab3cec0c8bf4	1662	// until the physical plunger position comes to rest.
mjr	17:ab3cec0c8bf4	1663	const int restTol = JOYMAX/24;
mjr	17:ab3cec0c8bf4	1664	if (firing == 1)
mjr	6:cc35eb643e8f	1665	{
mjr	17:ab3cec0c8bf4	1666	// For the first couple of frames, show the plunger shooting
mjr	17:ab3cec0c8bf4	1667	// forward past the zero point, to simulate the momentum carrying
mjr	17:ab3cec0c8bf4	1668	// it forward to bounce off of the barrel spring. Show the
mjr	17:ab3cec0c8bf4	1669	// bounce as proportional to the distance it was retracted
mjr	17:ab3cec0c8bf4	1670	// in the prior report.
mjr	17:ab3cec0c8bf4	1671	z = zBounce = -z0/6;
mjr	17:ab3cec0c8bf4	1672	++firing;
mjr	6:cc35eb643e8f	1673	}
mjr	17:ab3cec0c8bf4	1674	else if (firing == 2)
mjr	9:fd65b0a94720	1675	{
mjr	17:ab3cec0c8bf4	1676	// second frame - keep the bounce a little longer
mjr	17:ab3cec0c8bf4	1677	z = zBounce;
mjr	17:ab3cec0c8bf4	1678	++firing;
mjr	17:ab3cec0c8bf4	1679	}
mjr	17:ab3cec0c8bf4	1680	else if (firing > 4
mjr	17:ab3cec0c8bf4	1681	&& abs(znew - z0) < restTol
mjr	17:ab3cec0c8bf4	1682	&& abs(znew - z1) < restTol
mjr	17:ab3cec0c8bf4	1683	&& abs(znew - z2) < restTol)
mjr	17:ab3cec0c8bf4	1684	{
mjr	17:ab3cec0c8bf4	1685	// The physical plunger has come to rest. Exit firing
mjr	17:ab3cec0c8bf4	1686	// mode and resume reporting the actual position.
mjr	17:ab3cec0c8bf4	1687	firing = false;
mjr	17:ab3cec0c8bf4	1688	z = znew;
mjr	9:fd65b0a94720	1689	}
mjr	9:fd65b0a94720	1690	else
mjr	9:fd65b0a94720	1691	{
mjr	17:ab3cec0c8bf4	1692	// until the physical plunger comes to rest, simply
mjr	17:ab3cec0c8bf4	1693	// report the park position
mjr	9:fd65b0a94720	1694	z = 0;
mjr	17:ab3cec0c8bf4	1695	++firing;
mjr	9:fd65b0a94720	1696	}
mjr	6:cc35eb643e8f	1697	}
mjr	6:cc35eb643e8f	1698	else
mjr	6:cc35eb643e8f	1699	{
mjr	17:ab3cec0c8bf4	1700	// not in firing mode - report the true physical position
mjr	17:ab3cec0c8bf4	1701	z = znew;
mjr	6:cc35eb643e8f	1702	}
mjr	17:ab3cec0c8bf4	1703
mjr	17:ab3cec0c8bf4	1704	// shift the new reading into the recent history buffer
mjr	6:cc35eb643e8f	1705	z2 = z1;
mjr	6:cc35eb643e8f	1706	z1 = z0;
mjr	6:cc35eb643e8f	1707	z0 = znew;
mjr	2:c174f9ee414a	1708	}
mjr	6:cc35eb643e8f	1709
mjr	11:bd9da7088e6e	1710	// update the buttons
mjr	18:5e890ebd0023	1711	uint32_t buttons = readButtons();
mjr	17:ab3cec0c8bf4	1712
mjr	17:ab3cec0c8bf4	1713	// If it's been long enough since our last USB status report,
mjr	17:ab3cec0c8bf4	1714	// send the new report. We throttle the report rate because
mjr	17:ab3cec0c8bf4	1715	// it can overwhelm the PC side if we report too frequently.
mjr	17:ab3cec0c8bf4	1716	// VP only wants to sync with the real world in 10ms intervals,
mjr	17:ab3cec0c8bf4	1717	// so reporting more frequently only creates i/o overhead
mjr	17:ab3cec0c8bf4	1718	// without doing anything to improve the simulation.
mjr	17:ab3cec0c8bf4	1719	if (reportTimer.read_ms() > 15)
mjr	17:ab3cec0c8bf4	1720	{
mjr	17:ab3cec0c8bf4	1721	// read the accelerometer
mjr	17:ab3cec0c8bf4	1722	int xa, ya;
mjr	17:ab3cec0c8bf4	1723	accel.get(xa, ya);
mjr	17:ab3cec0c8bf4	1724
mjr	17:ab3cec0c8bf4	1725	// confine the results to our joystick axis range
mjr	17:ab3cec0c8bf4	1726	if (xa < -JOYMAX) xa = -JOYMAX;
mjr	17:ab3cec0c8bf4	1727	if (xa > JOYMAX) xa = JOYMAX;
mjr	17:ab3cec0c8bf4	1728	if (ya < -JOYMAX) ya = -JOYMAX;
mjr	17:ab3cec0c8bf4	1729	if (ya > JOYMAX) ya = JOYMAX;
mjr	17:ab3cec0c8bf4	1730
mjr	17:ab3cec0c8bf4	1731	// store the updated accelerometer coordinates
mjr	17:ab3cec0c8bf4	1732	x = xa;
mjr	17:ab3cec0c8bf4	1733	y = ya;
mjr	17:ab3cec0c8bf4	1734
mjr	17:ab3cec0c8bf4	1735	// Send the status report. Note that the nominal x and y axes
mjr	17:ab3cec0c8bf4	1736	// are reversed - this makes it more intuitive to set up in VP.
mjr	17:ab3cec0c8bf4	1737	// If we mount the Freesale card flat on the floor of the cabinet
mjr	17:ab3cec0c8bf4	1738	// with the USB connectors facing the front of the cabinet, this
mjr	17:ab3cec0c8bf4	1739	// arrangement of our nominal axes aligns with VP's standard
mjr	17:ab3cec0c8bf4	1740	// setting, so that we can configure VP with X Axis = X on the
mjr	17:ab3cec0c8bf4	1741	// joystick and Y Axis = Y on the joystick.
mjr	17:ab3cec0c8bf4	1742	js.update(y, x, z, buttons \| simButtons, statusFlags);
mjr	17:ab3cec0c8bf4	1743
mjr	17:ab3cec0c8bf4	1744	// we've just started a new report interval, so reset the timer
mjr	17:ab3cec0c8bf4	1745	reportTimer.reset();
mjr	17:ab3cec0c8bf4	1746	}
mjr	1:d913e0afb2ac	1747
mjr	10:976666ffa4ef	1748	// If we're in pixel dump mode, report all pixel exposure values
mjr	10:976666ffa4ef	1749	if (reportPix)
mjr	10:976666ffa4ef	1750	{
mjr	17:ab3cec0c8bf4	1751	// send the report
mjr	17:ab3cec0c8bf4	1752	plungerSensor.sendExposureReport(js);
mjr	17:ab3cec0c8bf4	1753
mjr	10:976666ffa4ef	1754	// we have satisfied this request
mjr	10:976666ffa4ef	1755	reportPix = false;
mjr	10:976666ffa4ef	1756	}
mjr	10:976666ffa4ef	1757
mjr	6:cc35eb643e8f	1758	#ifdef DEBUG_PRINTF
mjr	6:cc35eb643e8f	1759	if (x != 0 \|\| y != 0)
mjr	6:cc35eb643e8f	1760	printf("%d,%d\r\n", x, y);
mjr	6:cc35eb643e8f	1761	#endif
mjr	6:cc35eb643e8f	1762
mjr	6:cc35eb643e8f	1763	// provide a visual status indication on the on-board LED
mjr	5:a70c0bce770d	1764	if (calBtnState < 2 && hbTimer.read_ms() > 1000)
mjr	1:d913e0afb2ac	1765	{
mjr	5:a70c0bce770d	1766	if (js.isSuspended() \|\| !js.isConnected())
mjr	2:c174f9ee414a	1767	{
mjr	5:a70c0bce770d	1768	// suspended - turn off the LED
mjr	4:02c7cd7b2183	1769	ledR = 1;
mjr	4:02c7cd7b2183	1770	ledG = 1;
mjr	4:02c7cd7b2183	1771	ledB = 1;
mjr	5:a70c0bce770d	1772
mjr	5:a70c0bce770d	1773	// show a status flash every so often
mjr	5:a70c0bce770d	1774	if (hbcnt % 3 == 0)
mjr	5:a70c0bce770d	1775	{
mjr	6:cc35eb643e8f	1776	// disconnected = red/red flash; suspended = red
mjr	5:a70c0bce770d	1777	for (int n = js.isConnected() ? 1 : 2 ; n > 0 ; --n)
mjr	5:a70c0bce770d	1778	{
mjr	5:a70c0bce770d	1779	ledR = 0;
mjr	5:a70c0bce770d	1780	wait(0.05);
mjr	5:a70c0bce770d	1781	ledR = 1;
mjr	5:a70c0bce770d	1782	wait(0.25);
mjr	5:a70c0bce770d	1783	}
mjr	5:a70c0bce770d	1784	}
mjr	2:c174f9ee414a	1785	}
mjr	6:cc35eb643e8f	1786	else if (needReset)
mjr	2:c174f9ee414a	1787	{
mjr	6:cc35eb643e8f	1788	// connected, need to reset due to changes in config parameters -
mjr	6:cc35eb643e8f	1789	// flash red/green
mjr	6:cc35eb643e8f	1790	hb = !hb;
mjr	6:cc35eb643e8f	1791	ledR = (hb ? 0 : 1);
mjr	6:cc35eb643e8f	1792	ledG = (hb ? 1 : 0);
mjr	6:cc35eb643e8f	1793	ledB = 0;
mjr	6:cc35eb643e8f	1794	}
mjr	17:ab3cec0c8bf4	1795	else if (cfg.d.plungerEnabled && !cfg.d.plungerCal)
mjr	6:cc35eb643e8f	1796	{
mjr	6:cc35eb643e8f	1797	// connected, plunger calibration needed - flash yellow/green
mjr	6:cc35eb643e8f	1798	hb = !hb;
mjr	6:cc35eb643e8f	1799	ledR = (hb ? 0 : 1);
mjr	6:cc35eb643e8f	1800	ledG = 0;
mjr	6:cc35eb643e8f	1801	ledB = 1;
mjr	6:cc35eb643e8f	1802	}
mjr	6:cc35eb643e8f	1803	else
mjr	6:cc35eb643e8f	1804	{
mjr	6:cc35eb643e8f	1805	// connected - flash blue/green
mjr	2:c174f9ee414a	1806	hb = !hb;
mjr	4:02c7cd7b2183	1807	ledR = 1;
mjr	4:02c7cd7b2183	1808	ledG = (hb ? 0 : 1);
mjr	4:02c7cd7b2183	1809	ledB = (hb ? 1 : 0);
mjr	2:c174f9ee414a	1810	}
mjr	1:d913e0afb2ac	1811
mjr	1:d913e0afb2ac	1812	// reset the heartbeat timer
mjr	1:d913e0afb2ac	1813	hbTimer.reset();
mjr	5:a70c0bce770d	1814	++hbcnt;
mjr	1:d913e0afb2ac	1815	}
mjr	1:d913e0afb2ac	1816	}
mjr	0:5acbbe3f4cf4	1817	}

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	08 Feb 2016
Imports:	30
Forks:	0
Commits:	69
Dependents:	0
Dependencies:	4
Followers:	3

main.cpp@20:4c43877327ab, 2015-02-28 (annotated)

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