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@35:e959ffba78fd, 2015-12-19 (annotated)

Committer:
mjr
Date:
Sat Dec 19 06:37:19 2015 +0000
Revision:
35:e959ffba78fd
Parent:
34:6b981a2afab7
Child:
36:b9747461331e
Keyboard/Media Control interface working, but the extra interface confuses the DOF connector.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mjr 35:e959ffba78fd 1 /* Copyright 2014, 2015 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 35:e959ffba78fd 20 // The Pinscape Controller
mjr 35:e959ffba78fd 21 // A comprehensive input/output controller for virtual pinball machines
mjr 5:a70c0bce770d 22 //
mjr 35:e959ffba78fd 23 // This project implements an I/O controller designed for use in custom-built virtual
mjr 35:e959ffba78fd 24 // pinball cabinets. It can handle nearly all of the functions involved in connecting
mjr 35:e959ffba78fd 25 // pinball simulation software on a Windows PC with devices in the cabinet, including
mjr 35:e959ffba78fd 26 // input devices such as buttons and sensors, and output devices that generate visual
mjr 35:e959ffba78fd 27 // or mechanical feedback during play, like lights, solenoids, and shaker motors.
mjr 35:e959ffba78fd 28 // You can use one, some, or all of the functions, in any combination. You can select
mjr 35:e959ffba78fd 29 // options and configure the controller using a setup tool that runs on Windows.
mjr 5:a70c0bce770d 30 //
mjr 35:e959ffba78fd 31 // The main functions are:
mjr 5:a70c0bce770d 32 //
mjr 35:e959ffba78fd 33 // - Nudge sensing, via the KL25Z's on-board accelerometer. Nudging the cabinet
mjr 17:ab3cec0c8bf4 34 // causes small accelerations that the accelerometer can detect; these are sent to
mjr 35:e959ffba78fd 35 // Visual Pinball (or other pinball emulator software) on the PC via the joystick
mjr 35:e959ffba78fd 36 // interface, using the X and Y axes. VP and most other PC pinball emulators have
mjr 35:e959ffba78fd 37 // native handling for this type of nudge input, so all you have to do is set some
mjr 35:e959ffba78fd 38 // preferences in VP to let it know that an accelerometer is attached.
mjr 5:a70c0bce770d 39 //
mjr 35:e959ffba78fd 40 // - Plunger position sensing, via a number of sensor options. To use this feature,
mjr 35:e959ffba78fd 41 // you need to choose a sensor and set it up, connect the sensor electrically to
mjr 35:e959ffba78fd 42 // the KL25Z, and configure the Pinscape software on the KL25Z to let it know how
mjr 35:e959ffba78fd 43 // the sensor is hooked up. The Pinscape software monitors the sensor and sends
mjr 35:e959ffba78fd 44 // readings to Visual Pinball via the joystick Z axis. VP and other PC software
mjr 35:e959ffba78fd 45 // has native support for this type of input as well; as with the nudge setup,
mjr 35:e959ffba78fd 46 // you just have to set some options in VP to activate the plunger.
mjr 17:ab3cec0c8bf4 47 //
mjr 35:e959ffba78fd 48 // The Pinscape software supports optical sensors (the TAOS TSL1410R and TSL1412R
mjr 35:e959ffba78fd 49 // linear sensor arrays) as well as slide potentiometers. The specific equipment
mjr 35:e959ffba78fd 50 // that's supported, along with physical mounting and wiring details, can be found
mjr 35:e959ffba78fd 51 // in the Build Guide.
mjr 35:e959ffba78fd 52 //
mjr 35:e959ffba78fd 53 // Note that while VP has its own built-in support for plunger devices like this
mjr 35:e959ffba78fd 54 // one, many existing VP tables will ignore it, because they use custom scripting
mjr 35:e959ffba78fd 55 // that's only designed for keyboard plunger input. The Build Guide has advice on
mjr 35:e959ffba78fd 56 // adjusting tables to add plunger support when necessary.
mjr 5:a70c0bce770d 57 //
mjr 6:cc35eb643e8f 58 // For best results, the plunger sensor should be calibrated. The calibration
mjr 6:cc35eb643e8f 59 // is stored in non-volatile memory on board the KL25Z, so it's only necessary
mjr 6:cc35eb643e8f 60 // to do the calibration once, when you first install everything. (You might
mjr 6:cc35eb643e8f 61 // also want to re-calibrate if you physically remove and reinstall the CCD
mjr 17:ab3cec0c8bf4 62 // sensor or the mechanical plunger, since their alignment shift change slightly
mjr 17:ab3cec0c8bf4 63 // when you put everything back together.) You can optionally install a
mjr 17:ab3cec0c8bf4 64 // dedicated momentary switch or pushbutton to activate the calibration mode;
mjr 17:ab3cec0c8bf4 65 // this is describe in the project documentation. If you don't want to bother
mjr 17:ab3cec0c8bf4 66 // with the extra button, you can also trigger calibration using the Windows
mjr 17:ab3cec0c8bf4 67 // setup software, which you can find on the Pinscape project page.
mjr 6:cc35eb643e8f 68 //
mjr 17:ab3cec0c8bf4 69 // The calibration procedure is described in the project documentation. Briefly,
mjr 17:ab3cec0c8bf4 70 // when you trigger calibration mode, the software will scan the CCD for about
mjr 17:ab3cec0c8bf4 71 // 15 seconds, during which you should simply pull the physical plunger back
mjr 17:ab3cec0c8bf4 72 // all the way, hold it for a moment, and then slowly return it to the rest
mjr 17:ab3cec0c8bf4 73 // position. (DON'T just release it from the retracted position, since that
mjr 17:ab3cec0c8bf4 74 // let it shoot forward too far. We want to measure the range from the park
mjr 17:ab3cec0c8bf4 75 // position to the fully retracted position only.)
mjr 5:a70c0bce770d 76 //
mjr 13:72dda449c3c0 77 // - Button input wiring. 24 of the KL25Z's GPIO ports are mapped as digital inputs
mjr 13:72dda449c3c0 78 // for buttons and switches. The software reports these as joystick buttons when
mjr 13:72dda449c3c0 79 // it sends reports to the PC. These can be used to wire physical pinball-style
mjr 13:72dda449c3c0 80 // buttons in the cabinet (e.g., flipper buttons, the Start button) and miscellaneous
mjr 13:72dda449c3c0 81 // switches (such as a tilt bob) to the PC. Visual Pinball can use joystick buttons
mjr 13:72dda449c3c0 82 // for input - you just have to assign a VP function to each button using VP's
mjr 13:72dda449c3c0 83 // keyboard options dialog. To wire a button physically, connect one terminal of
mjr 13:72dda449c3c0 84 // the button switch to the KL25Z ground, and connect the other terminal to the
mjr 35:e959ffba78fd 85 // the GPIO port you wish to assign to the button.
mjr 13:72dda449c3c0 86 //
mjr 5:a70c0bce770d 87 // - LedWiz emulation. The KL25Z can appear to the PC as an LedWiz device, and will
mjr 5:a70c0bce770d 88 // accept and process LedWiz commands from the host. The software can turn digital
mjr 5:a70c0bce770d 89 // output ports on and off, and can set varying PWM intensitiy levels on a subset
mjr 5:a70c0bce770d 90 // of ports. (The KL25Z can only provide 6 PWM ports. Intensity level settings on
mjr 5:a70c0bce770d 91 // other ports is ignored, so non-PWM ports can only be used for simple on/off
mjr 5:a70c0bce770d 92 // devices such as contactors and solenoids.) The KL25Z can only supply 4mA on its
mjr 5:a70c0bce770d 93 // output ports, so external hardware is required to take advantage of the LedWiz
mjr 5:a70c0bce770d 94 // emulation. Many different hardware designs are possible, but there's a simple
mjr 5:a70c0bce770d 95 // reference design in the documentation that uses a Darlington array IC to
mjr 5:a70c0bce770d 96 // increase the output from each port to 500mA (the same level as the LedWiz),
mjr 5:a70c0bce770d 97 // plus an extended design that adds an optocoupler and MOSFET to provide very
mjr 5:a70c0bce770d 98 // high power handling, up to about 45A or 150W, with voltages up to 100V.
mjr 5:a70c0bce770d 99 // That will handle just about any DC device directly (wtihout relays or other
mjr 5:a70c0bce770d 100 // amplifiers), and switches fast enough to support PWM devices.
mjr 5:a70c0bce770d 101 //
mjr 5:a70c0bce770d 102 // The device can report any desired LedWiz unit number to the host, which makes
mjr 5:a70c0bce770d 103 // it possible to use the LedWiz emulation on a machine that also has one or more
mjr 5:a70c0bce770d 104 // actual LedWiz devices intalled. The LedWiz design allows for up to 16 units
mjr 5:a70c0bce770d 105 // to be installed in one machine - each one is invidually addressable by its
mjr 5:a70c0bce770d 106 // distinct unit number.
mjr 5:a70c0bce770d 107 //
mjr 5:a70c0bce770d 108 // The LedWiz emulation features are of course optional. There's no need to
mjr 5:a70c0bce770d 109 // build any of the external port hardware (or attach anything to the output
mjr 5:a70c0bce770d 110 // ports at all) if the LedWiz features aren't needed. Most people won't have
mjr 5:a70c0bce770d 111 // any use for the LedWiz features. I built them mostly as a learning exercise,
mjr 5:a70c0bce770d 112 // but with a slight practical need for a handful of extra ports (I'm using the
mjr 5:a70c0bce770d 113 // cutting-edge 10-contactor setup, so my real LedWiz is full!).
mjr 6:cc35eb643e8f 114 //
mjr 26:cb71c4af2912 115 // - Enhanced LedWiz emulation with TLC5940 PWM controller chips. You can attach
mjr 26:cb71c4af2912 116 // external PWM controller chips for controlling device outputs, instead of using
mjr 26:cb71c4af2912 117 // the limited LedWiz emulation through the on-board GPIO ports as described above.
mjr 26:cb71c4af2912 118 // The software can control a set of daisy-chained TLC5940 chips, which provide
mjr 26:cb71c4af2912 119 // 16 PWM outputs per chip. Two of these chips give you the full complement
mjr 26:cb71c4af2912 120 // of 32 output ports of an actual LedWiz, and four give you 64 ports, which
mjr 33:d832bcab089e 121 // should be plenty for nearly any virtual pinball project. A private, extended
mjr 33:d832bcab089e 122 // version of the LedWiz protocol lets the host control the extra outputs, up to
mjr 33:d832bcab089e 123 // 128 outputs per KL25Z (8 TLC5940s). To take advantage of the extra outputs
mjr 33:d832bcab089e 124 // on the PC side, you need software that knows about the protocol extensions,
mjr 33:d832bcab089e 125 // which means you need the latest version of DirectOutput Framework (DOF). VP
mjr 33:d832bcab089e 126 // uses DOF for its output, so VP will be able to use the added ports without any
mjr 33:d832bcab089e 127 // extra work on your part. Older software (e.g., Future Pinball) that doesn't
mjr 33:d832bcab089e 128 // use DOF will still be able to use the LedWiz-compatible protocol, so it'll be
mjr 33:d832bcab089e 129 // able to control your first 32 ports (numbered 1-32 in the LedWiz scheme), but
mjr 33:d832bcab089e 130 // older software won't be able to address higher-numbered ports. That shouldn't
mjr 33:d832bcab089e 131 // be a problem because older software wouldn't know what to do with the extra
mjr 33:d832bcab089e 132 // devices anyway - FP, for example, is limited to a pre-defined set of outputs.
mjr 33:d832bcab089e 133 // As long as you put the most common devices on the first 32 outputs, and use
mjr 33:d832bcab089e 134 // higher numbered ports for the less common devices that older software can't
mjr 33:d832bcab089e 135 // use anyway, you'll get maximum functionality out of software new and old.
mjr 26:cb71c4af2912 136 //
mjr 35:e959ffba78fd 137 //
mjr 35:e959ffba78fd 138 //
mjr 33:d832bcab089e 139 // STATUS LIGHTS: The on-board LED on the KL25Z flashes to indicate the current
mjr 33:d832bcab089e 140 // device status. The flash patterns are:
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 yellow/green = everything's working, but the plunger hasn't
mjr 6:cc35eb643e8f 150 // been calibrated; follow the calibration procedure described above.
mjr 6:cc35eb643e8f 151 // This flash mode won't appear if the CCD has been disabled. Note
mjr 18:5e890ebd0023 152 // that the device can't tell whether a CCD is physically attached;
mjr 18:5e890ebd0023 153 // if you don't have a CCD attached, you can set the appropriate option
mjr 18:5e890ebd0023 154 // in config.h or use the Windows config tool to disable the CCD
mjr 18:5e890ebd0023 155 // software features.
mjr 6:cc35eb643e8f 156 //
mjr 35:e959ffba78fd 157 // alternating blue/green = everything's working, and the plunger has
mjr 35:e959ffba78fd 158 // been calibrated
mjr 10:976666ffa4ef 159 //
mjr 10:976666ffa4ef 160 //
mjr 35:e959ffba78fd 161 // USB PROTOCOL: please refer to USBProtocol.h for details on the USB
mjr 35:e959ffba78fd 162 // message protocol.
mjr 33:d832bcab089e 163
mjr 33:d832bcab089e 164
mjr 0:5acbbe3f4cf4 165 #include "mbed.h"
mjr 6:cc35eb643e8f 166 #include "math.h"
mjr 0:5acbbe3f4cf4 167 #include "USBJoystick.h"
mjr 0:5acbbe3f4cf4 168 #include "MMA8451Q.h"
mjr 1:d913e0afb2ac 169 #include "tsl1410r.h"
mjr 1:d913e0afb2ac 170 #include "FreescaleIAP.h"
mjr 2:c174f9ee414a 171 #include "crc32.h"
mjr 26:cb71c4af2912 172 #include "TLC5940.h"
mjr 34:6b981a2afab7 173 #include "74HC595.h"
mjr 35:e959ffba78fd 174 #include "nvm.h"
mjr 35:e959ffba78fd 175 #include "plunger.h"
mjr 35:e959ffba78fd 176 #include "ccdSensor.h"
mjr 35:e959ffba78fd 177 #include "potSensor.h"
mjr 35:e959ffba78fd 178 #include "nullSensor.h"
mjr 2:c174f9ee414a 179
mjr 21:5048e16cc9ef 180 #define DECL_EXTERNS
mjr 17:ab3cec0c8bf4 181 #include "config.h"
mjr 17:ab3cec0c8bf4 182
mjr 5:a70c0bce770d 183
mjr 5:a70c0bce770d 184 // ---------------------------------------------------------------------------
mjr 17:ab3cec0c8bf4 185 // utilities
mjr 17:ab3cec0c8bf4 186
mjr 17:ab3cec0c8bf4 187 // number of elements in an array
mjr 17:ab3cec0c8bf4 188 #define countof(x) (sizeof(x)/sizeof((x)[0]))
mjr 17:ab3cec0c8bf4 189
mjr 26:cb71c4af2912 190 // floating point square of a number
mjr 26:cb71c4af2912 191 inline float square(float x) { return x*x; }
mjr 26:cb71c4af2912 192
mjr 26:cb71c4af2912 193 // floating point rounding
mjr 26:cb71c4af2912 194 inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); }
mjr 26:cb71c4af2912 195
mjr 17:ab3cec0c8bf4 196
mjr 33:d832bcab089e 197 // --------------------------------------------------------------------------
mjr 33:d832bcab089e 198 //
mjr 33:d832bcab089e 199 // USB product version number
mjr 5:a70c0bce770d 200 //
mjr 35:e959ffba78fd 201 const uint16_t USB_VERSION_NO = 0x0008;
mjr 33:d832bcab089e 202
mjr 33:d832bcab089e 203 // --------------------------------------------------------------------------
mjr 33:d832bcab089e 204 //
mjr 6:cc35eb643e8f 205 // Joystick axis report range - we report from -JOYMAX to +JOYMAX
mjr 33:d832bcab089e 206 //
mjr 6:cc35eb643e8f 207 #define JOYMAX 4096
mjr 6:cc35eb643e8f 208
mjr 9:fd65b0a94720 209
mjr 17:ab3cec0c8bf4 210 // ---------------------------------------------------------------------------
mjr 17:ab3cec0c8bf4 211 //
mjr 17:ab3cec0c8bf4 212 // On-board RGB LED elements - we use these for diagnostic displays.
mjr 17:ab3cec0c8bf4 213 //
mjr 26:cb71c4af2912 214 // Note that LED3 (the blue segment) is hard-wired on the KL25Z to PTD1,
mjr 26:cb71c4af2912 215 // so PTD1 shouldn't be used for any other purpose (e.g., as a keyboard
mjr 26:cb71c4af2912 216 // input or a device output). (This is kind of unfortunate in that it's
mjr 26:cb71c4af2912 217 // one of only two ports exposed on the jumper pins that can be muxed to
mjr 26:cb71c4af2912 218 // SPI0 SCLK. This effectively limits us to PTC5 if we want to use the
mjr 26:cb71c4af2912 219 // SPI capability.)
mjr 26:cb71c4af2912 220 //
mjr 17:ab3cec0c8bf4 221 DigitalOut ledR(LED1), ledG(LED2), ledB(LED3);
mjr 17:ab3cec0c8bf4 222
mjr 9:fd65b0a94720 223
mjr 9:fd65b0a94720 224 // ---------------------------------------------------------------------------
mjr 5:a70c0bce770d 225 //
mjr 35:e959ffba78fd 226 // Wire protocol value translations. These translate byte values from
mjr 35:e959ffba78fd 227 // the USB protocol to local native format.
mjr 35:e959ffba78fd 228 //
mjr 35:e959ffba78fd 229
mjr 35:e959ffba78fd 230 // unsigned 16-bit integer
mjr 35:e959ffba78fd 231 inline uint16_t wireUI16(const uint8_t *b)
mjr 35:e959ffba78fd 232 {
mjr 35:e959ffba78fd 233 return b[0] | ((uint16_t)b[1] << 8);
mjr 35:e959ffba78fd 234 }
mjr 35:e959ffba78fd 235
mjr 35:e959ffba78fd 236 inline int16_t wireI16(const uint8_t *b)
mjr 35:e959ffba78fd 237 {
mjr 35:e959ffba78fd 238 return (int16_t)wireUI16(b);
mjr 35:e959ffba78fd 239 }
mjr 35:e959ffba78fd 240
mjr 35:e959ffba78fd 241 inline uint32_t wireUI32(const uint8_t *b)
mjr 35:e959ffba78fd 242 {
mjr 35:e959ffba78fd 243 return b[0] | ((uint32_t)b[1] << 8) | ((uint32_t)b[2] << 16) | ((uint32_t)b[3] << 24);
mjr 35:e959ffba78fd 244 }
mjr 35:e959ffba78fd 245
mjr 35:e959ffba78fd 246 inline int32_t wireI32(const uint8_t *b)
mjr 35:e959ffba78fd 247 {
mjr 35:e959ffba78fd 248 return (int32_t)wireUI32(b);
mjr 35:e959ffba78fd 249 }
mjr 35:e959ffba78fd 250
mjr 35:e959ffba78fd 251 inline PinName wirePinName(int c)
mjr 35:e959ffba78fd 252 {
mjr 35:e959ffba78fd 253 static const PinName p[] = {
mjr 35:e959ffba78fd 254 NC, PTA1, PTA2, PTA4, PTA5, PTA12, PTA13, PTA16, PTA17, PTB0, // 0-9
mjr 35:e959ffba78fd 255 PTB1, PTB2, PTB3, PTB8, PTB9, PTB10, PTB11, PTC0, PTC1, PTC2, // 10-19
mjr 35:e959ffba78fd 256 PTC3, PTC4, PTC5, PTC6, PTC7, PTC8, PTC9, PTC10, PTC11, PTC12, // 20-29
mjr 35:e959ffba78fd 257 PTC13, PTC16, PTC17, PTD0, PTD1, PTD2, PTD3, PTD4, PTD5, PTD6, // 30-39
mjr 35:e959ffba78fd 258 PTD7, PTE0, PTE1, PTE2, PTE3, PTE4, PTE5, PTE20, PTE21, PTE22, // 40-49
mjr 35:e959ffba78fd 259 PTE23, PTE29, PTE30, PTE31 // 50-53
mjr 35:e959ffba78fd 260 };
mjr 35:e959ffba78fd 261 return (c < countof(p) ? p[c] : NC);
mjr 35:e959ffba78fd 262 }
mjr 35:e959ffba78fd 263
mjr 35:e959ffba78fd 264
mjr 35:e959ffba78fd 265 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 266 //
mjr 29:582472d0bc57 267 // LedWiz emulation, and enhanced TLC5940 output controller
mjr 5:a70c0bce770d 268 //
mjr 26:cb71c4af2912 269 // There are two modes for this feature. The default mode uses the on-board
mjr 26:cb71c4af2912 270 // GPIO ports to implement device outputs - each LedWiz software port is
mjr 26:cb71c4af2912 271 // connected to a physical GPIO pin on the KL25Z. The KL25Z only has 10
mjr 26:cb71c4af2912 272 // PWM channels, so in this mode only 10 LedWiz ports will be dimmable; the
mjr 26:cb71c4af2912 273 // rest are strictly on/off. The KL25Z also has a limited number of GPIO
mjr 26:cb71c4af2912 274 // ports overall - not enough for the full complement of 32 LedWiz ports
mjr 26:cb71c4af2912 275 // and 24 VP joystick inputs, so it's necessary to trade one against the
mjr 26:cb71c4af2912 276 // other if both features are to be used.
mjr 26:cb71c4af2912 277 //
mjr 26:cb71c4af2912 278 // The alternative, enhanced mode uses external TLC5940 PWM controller
mjr 26:cb71c4af2912 279 // chips to control device outputs. In this mode, each LedWiz software
mjr 26:cb71c4af2912 280 // port is mapped to an output on one of the external TLC5940 chips.
mjr 26:cb71c4af2912 281 // Two 5940s is enough for the full set of 32 LedWiz ports, and we can
mjr 26:cb71c4af2912 282 // support even more chips for even more outputs (although doing so requires
mjr 26:cb71c4af2912 283 // breaking LedWiz compatibility, since the LedWiz USB protocol is hardwired
mjr 26:cb71c4af2912 284 // for 32 outputs). Every port in this mode has full PWM support.
mjr 26:cb71c4af2912 285 //
mjr 5:a70c0bce770d 286
mjr 29:582472d0bc57 287
mjr 26:cb71c4af2912 288 // Current starting output index for "PBA" messages from the PC (using
mjr 26:cb71c4af2912 289 // the LedWiz USB protocol). Each PBA message implicitly uses the
mjr 26:cb71c4af2912 290 // current index as the starting point for the ports referenced in
mjr 26:cb71c4af2912 291 // the message, and increases it (by 8) for the next call.
mjr 0:5acbbe3f4cf4 292 static int pbaIdx = 0;
mjr 0:5acbbe3f4cf4 293
mjr 26:cb71c4af2912 294 // Generic LedWiz output port interface. We create a cover class to
mjr 26:cb71c4af2912 295 // virtualize digital vs PWM outputs, and on-board KL25Z GPIO vs external
mjr 26:cb71c4af2912 296 // TLC5940 outputs, and give them all a common interface.
mjr 6:cc35eb643e8f 297 class LwOut
mjr 6:cc35eb643e8f 298 {
mjr 6:cc35eb643e8f 299 public:
mjr 26:cb71c4af2912 300 // Set the output intensity. 'val' is 0.0 for fully off, 1.0 for
mjr 26:cb71c4af2912 301 // fully on, and fractional values for intermediate intensities.
mjr 6:cc35eb643e8f 302 virtual void set(float val) = 0;
mjr 6:cc35eb643e8f 303 };
mjr 26:cb71c4af2912 304
mjr 35:e959ffba78fd 305 // LwOut class for virtual ports. This type of port is visible to
mjr 35:e959ffba78fd 306 // the host software, but isn't connected to any physical output.
mjr 35:e959ffba78fd 307 // This can be used for special software-only ports like the ZB
mjr 35:e959ffba78fd 308 // Launch Ball output, or simply for placeholders in the LedWiz port
mjr 35:e959ffba78fd 309 // numbering.
mjr 35:e959ffba78fd 310 class LwVirtualOut: public LwOut
mjr 33:d832bcab089e 311 {
mjr 33:d832bcab089e 312 public:
mjr 35:e959ffba78fd 313 LwVirtualOut() { }
mjr 33:d832bcab089e 314 virtual void set(float val) { }
mjr 33:d832bcab089e 315 };
mjr 26:cb71c4af2912 316
mjr 34:6b981a2afab7 317 // Active Low out. For any output marked as active low, we layer this
mjr 34:6b981a2afab7 318 // on top of the physical pin interface. This simply inverts the value of
mjr 34:6b981a2afab7 319 // the output value, so that 1.0 means fully off and 0.0 means fully on.
mjr 34:6b981a2afab7 320 class LwInvertedOut: public LwOut
mjr 34:6b981a2afab7 321 {
mjr 34:6b981a2afab7 322 public:
mjr 34:6b981a2afab7 323 LwInvertedOut(LwOut *o) : out(o) { }
mjr 34:6b981a2afab7 324 virtual void set(float val) { out->set(1.0 - val); }
mjr 34:6b981a2afab7 325
mjr 34:6b981a2afab7 326 private:
mjr 34:6b981a2afab7 327 LwOut *out;
mjr 34:6b981a2afab7 328 };
mjr 34:6b981a2afab7 329
mjr 26:cb71c4af2912 330
mjr 35:e959ffba78fd 331 //
mjr 35:e959ffba78fd 332 // The TLC5940 interface object. We'll set this up with the port
mjr 35:e959ffba78fd 333 // assignments set in config.h.
mjr 33:d832bcab089e 334 //
mjr 35:e959ffba78fd 335 TLC5940 *tlc5940 = 0;
mjr 35:e959ffba78fd 336 void init_tlc5940(Config &cfg)
mjr 35:e959ffba78fd 337 {
mjr 35:e959ffba78fd 338 if (cfg.tlc5940.nchips != 0)
mjr 35:e959ffba78fd 339 {
mjr 35:e959ffba78fd 340 tlc5940 = new TLC5940(cfg.tlc5940.sclk, cfg.tlc5940.sin, cfg.tlc5940.gsclk,
mjr 35:e959ffba78fd 341 cfg.tlc5940.blank, cfg.tlc5940.xlat, cfg.tlc5940.nchips);
mjr 35:e959ffba78fd 342 }
mjr 35:e959ffba78fd 343 }
mjr 26:cb71c4af2912 344
mjr 26:cb71c4af2912 345 // LwOut class for TLC5940 outputs. These are fully PWM capable.
mjr 26:cb71c4af2912 346 // The 'idx' value in the constructor is the output index in the
mjr 26:cb71c4af2912 347 // daisy-chained TLC5940 array. 0 is output #0 on the first chip,
mjr 26:cb71c4af2912 348 // 1 is #1 on the first chip, 15 is #15 on the first chip, 16 is
mjr 26:cb71c4af2912 349 // #0 on the second chip, 32 is #0 on the third chip, etc.
mjr 26:cb71c4af2912 350 class Lw5940Out: public LwOut
mjr 26:cb71c4af2912 351 {
mjr 26:cb71c4af2912 352 public:
mjr 26:cb71c4af2912 353 Lw5940Out(int idx) : idx(idx) { prv = -1; }
mjr 26:cb71c4af2912 354 virtual void set(float val)
mjr 26:cb71c4af2912 355 {
mjr 26:cb71c4af2912 356 if (val != prv)
mjr 35:e959ffba78fd 357 tlc5940->set(idx, (int)((prv = val) * 4095));
mjr 26:cb71c4af2912 358 }
mjr 26:cb71c4af2912 359 int idx;
mjr 26:cb71c4af2912 360 float prv;
mjr 26:cb71c4af2912 361 };
mjr 26:cb71c4af2912 362
mjr 33:d832bcab089e 363
mjr 34:6b981a2afab7 364 // 74HC595 interface object. Set this up with the port assignments in
mjr 34:6b981a2afab7 365 // config.h.
mjr 35:e959ffba78fd 366 HC595 *hc595 = 0;
mjr 35:e959ffba78fd 367
mjr 35:e959ffba78fd 368 // initialize the 74HC595 interface
mjr 35:e959ffba78fd 369 void init_hc595(Config &cfg)
mjr 35:e959ffba78fd 370 {
mjr 35:e959ffba78fd 371 if (cfg.hc595.nchips != 0)
mjr 35:e959ffba78fd 372 {
mjr 35:e959ffba78fd 373 hc595 = new HC595(cfg.hc595.nchips, cfg.hc595.sin, cfg.hc595.sclk, cfg.hc595.latch, cfg.hc595.ena);
mjr 35:e959ffba78fd 374 hc595->init();
mjr 35:e959ffba78fd 375 hc595->update();
mjr 35:e959ffba78fd 376 }
mjr 35:e959ffba78fd 377 }
mjr 34:6b981a2afab7 378
mjr 34:6b981a2afab7 379 // LwOut class for 74HC595 outputs. These are simple digial outs.
mjr 34:6b981a2afab7 380 // The 'idx' value in the constructor is the output index in the
mjr 34:6b981a2afab7 381 // daisy-chained 74HC595 array. 0 is output #0 on the first chip,
mjr 34:6b981a2afab7 382 // 1 is #1 on the first chip, 7 is #7 on the first chip, 8 is
mjr 34:6b981a2afab7 383 // #0 on the second chip, etc.
mjr 34:6b981a2afab7 384 class Lw595Out: public LwOut
mjr 33:d832bcab089e 385 {
mjr 33:d832bcab089e 386 public:
mjr 34:6b981a2afab7 387 Lw595Out(int idx) : idx(idx) { prv = -1; }
mjr 34:6b981a2afab7 388 virtual void set(float val)
mjr 34:6b981a2afab7 389 {
mjr 34:6b981a2afab7 390 if (val != prv)
mjr 35:e959ffba78fd 391 hc595->set(idx, (prv = val) == 0.0 ? 0 : 1);
mjr 34:6b981a2afab7 392 }
mjr 34:6b981a2afab7 393 int idx;
mjr 34:6b981a2afab7 394 float prv;
mjr 33:d832bcab089e 395 };
mjr 33:d832bcab089e 396
mjr 26:cb71c4af2912 397
mjr 26:cb71c4af2912 398 //
mjr 26:cb71c4af2912 399 // Default LedWiz mode - using on-board GPIO ports. In this mode, we
mjr 26:cb71c4af2912 400 // assign a KL25Z GPIO port to each LedWiz output. We have to use a
mjr 26:cb71c4af2912 401 // mix of PWM-capable and Digital-Only ports in this configuration,
mjr 26:cb71c4af2912 402 // since the KL25Z hardware only has 10 PWM channels, which isn't
mjr 26:cb71c4af2912 403 // enough to fill out the full complement of 32 LedWiz outputs.
mjr 26:cb71c4af2912 404 //
mjr 26:cb71c4af2912 405
mjr 26:cb71c4af2912 406 // LwOut class for a PWM-capable GPIO port
mjr 6:cc35eb643e8f 407 class LwPwmOut: public LwOut
mjr 6:cc35eb643e8f 408 {
mjr 6:cc35eb643e8f 409 public:
mjr 13:72dda449c3c0 410 LwPwmOut(PinName pin) : p(pin) { prv = -1; }
mjr 13:72dda449c3c0 411 virtual void set(float val)
mjr 13:72dda449c3c0 412 {
mjr 13:72dda449c3c0 413 if (val != prv)
mjr 13:72dda449c3c0 414 p.write(prv = val);
mjr 13:72dda449c3c0 415 }
mjr 6:cc35eb643e8f 416 PwmOut p;
mjr 13:72dda449c3c0 417 float prv;
mjr 6:cc35eb643e8f 418 };
mjr 26:cb71c4af2912 419
mjr 26:cb71c4af2912 420 // LwOut class for a Digital-Only (Non-PWM) GPIO port
mjr 6:cc35eb643e8f 421 class LwDigOut: public LwOut
mjr 6:cc35eb643e8f 422 {
mjr 6:cc35eb643e8f 423 public:
mjr 13:72dda449c3c0 424 LwDigOut(PinName pin) : p(pin) { prv = -1; }
mjr 13:72dda449c3c0 425 virtual void set(float val)
mjr 13:72dda449c3c0 426 {
mjr 13:72dda449c3c0 427 if (val != prv)
mjr 13:72dda449c3c0 428 p.write((prv = val) == 0.0 ? 0 : 1);
mjr 13:72dda449c3c0 429 }
mjr 6:cc35eb643e8f 430 DigitalOut p;
mjr 13:72dda449c3c0 431 float prv;
mjr 6:cc35eb643e8f 432 };
mjr 26:cb71c4af2912 433
mjr 29:582472d0bc57 434 // Array of output physical pin assignments. This array is indexed
mjr 29:582472d0bc57 435 // by LedWiz logical port number - lwPin[n] is the maping for LedWiz
mjr 35:e959ffba78fd 436 // port n (0-based).
mjr 35:e959ffba78fd 437 //
mjr 35:e959ffba78fd 438 // Each pin is handled by an interface object for the physical output
mjr 35:e959ffba78fd 439 // type for the port, as set in the configuration. The interface
mjr 35:e959ffba78fd 440 // objects handle the specifics of addressing the different hardware
mjr 35:e959ffba78fd 441 // types (GPIO PWM ports, GPIO digital ports, TLC5940 ports, and
mjr 35:e959ffba78fd 442 // 74HC595 ports).
mjr 33:d832bcab089e 443 static int numOutputs;
mjr 33:d832bcab089e 444 static LwOut **lwPin;
mjr 33:d832bcab089e 445
mjr 35:e959ffba78fd 446 // Number of LedWiz emulation outputs. This is the number of ports
mjr 35:e959ffba78fd 447 // accessible through the standard (non-extended) LedWiz protocol
mjr 35:e959ffba78fd 448 // messages. The protocol has a fixed set of 32 outputs, but we
mjr 35:e959ffba78fd 449 // might have fewer actual outputs. This is therefore set to the
mjr 35:e959ffba78fd 450 // lower of 32 or the actual number of outputs.
mjr 35:e959ffba78fd 451 static int numLwOutputs;
mjr 35:e959ffba78fd 452
mjr 33:d832bcab089e 453 // Current absolute brightness level for an output. This is a float
mjr 33:d832bcab089e 454 // value from 0.0 for fully off to 1.0 for fully on. This is the final
mjr 33:d832bcab089e 455 // derived value for the port. For outputs set by LedWiz messages,
mjr 33:d832bcab089e 456 // this is derived from the LedWiz state, and is updated on each pulse
mjr 33:d832bcab089e 457 // timer interrupt for lights in flashing states. For outputs set by
mjr 33:d832bcab089e 458 // extended protocol messages, this is simply the brightness last set.
mjr 33:d832bcab089e 459 static float *outLevel;
mjr 6:cc35eb643e8f 460
mjr 6:cc35eb643e8f 461 // initialize the output pin array
mjr 35:e959ffba78fd 462 void initLwOut(Config &cfg)
mjr 6:cc35eb643e8f 463 {
mjr 35:e959ffba78fd 464 // Count the outputs. The first disabled output determines the
mjr 35:e959ffba78fd 465 // total number of ports.
mjr 35:e959ffba78fd 466 numOutputs = MAX_OUT_PORTS;
mjr 33:d832bcab089e 467 int i;
mjr 35:e959ffba78fd 468 for (i = 0 ; i < MAX_OUT_PORTS ; ++i)
mjr 6:cc35eb643e8f 469 {
mjr 35:e959ffba78fd 470 if (cfg.outPort[i].typ == PortTypeDisabled)
mjr 34:6b981a2afab7 471 {
mjr 35:e959ffba78fd 472 numOutputs = i;
mjr 34:6b981a2afab7 473 break;
mjr 34:6b981a2afab7 474 }
mjr 33:d832bcab089e 475 }
mjr 33:d832bcab089e 476
mjr 35:e959ffba78fd 477 // the real LedWiz protocol can access at most 32 ports, or the
mjr 35:e959ffba78fd 478 // actual number of outputs, whichever is lower
mjr 35:e959ffba78fd 479 numLwOutputs = (numOutputs < 32 ? numOutputs : 32);
mjr 35:e959ffba78fd 480
mjr 33:d832bcab089e 481 // allocate the pin array
mjr 33:d832bcab089e 482 lwPin = new LwOut*[numOutputs];
mjr 33:d832bcab089e 483
mjr 35:e959ffba78fd 484 // Allocate the current brightness array.
mjr 35:e959ffba78fd 485 outLevel = new float[numOutputs < 32 ? 32 : numOutputs];
mjr 33:d832bcab089e 486
mjr 35:e959ffba78fd 487 // create the pin interface object for each port
mjr 35:e959ffba78fd 488 for (i = 0 ; i < numOutputs ; ++i)
mjr 35:e959ffba78fd 489 {
mjr 35:e959ffba78fd 490 // get this item's values
mjr 35:e959ffba78fd 491 int typ = cfg.outPort[i].typ;
mjr 35:e959ffba78fd 492 int pin = cfg.outPort[i].pin;
mjr 35:e959ffba78fd 493 int flags = cfg.outPort[i].flags;
mjr 35:e959ffba78fd 494 int activeLow = flags & PortFlagActiveLow;
mjr 26:cb71c4af2912 495
mjr 35:e959ffba78fd 496 // create the pin interface object according to the port type
mjr 34:6b981a2afab7 497 switch (typ)
mjr 33:d832bcab089e 498 {
mjr 35:e959ffba78fd 499 case PortTypeGPIOPWM:
mjr 35:e959ffba78fd 500 // PWM GPIO port
mjr 35:e959ffba78fd 501 lwPin[i] = new LwPwmOut(wirePinName(pin));
mjr 34:6b981a2afab7 502 break;
mjr 34:6b981a2afab7 503
mjr 35:e959ffba78fd 504 case PortTypeGPIODig:
mjr 35:e959ffba78fd 505 // Digital GPIO port
mjr 35:e959ffba78fd 506 lwPin[i] = new LwDigOut(wirePinName(pin));
mjr 34:6b981a2afab7 507 break;
mjr 34:6b981a2afab7 508
mjr 35:e959ffba78fd 509 case PortTypeTLC5940:
mjr 35:e959ffba78fd 510 // TLC5940 port
mjr 35:e959ffba78fd 511 lwPin[i] = new Lw5940Out(pin);
mjr 34:6b981a2afab7 512 break;
mjr 34:6b981a2afab7 513
mjr 35:e959ffba78fd 514 case PortType74HC595:
mjr 35:e959ffba78fd 515 // 74HC595 port
mjr 35:e959ffba78fd 516 lwPin[i] = new Lw595Out(pin);
mjr 34:6b981a2afab7 517 break;
mjr 35:e959ffba78fd 518
mjr 35:e959ffba78fd 519 case PortTypeVirtual:
mjr 34:6b981a2afab7 520 default:
mjr 35:e959ffba78fd 521 // virtual or unknown
mjr 35:e959ffba78fd 522 lwPin[i] = new LwVirtualOut();
mjr 34:6b981a2afab7 523 break;
mjr 33:d832bcab089e 524 }
mjr 34:6b981a2afab7 525
mjr 34:6b981a2afab7 526 // if it's Active Low, layer an inverter
mjr 34:6b981a2afab7 527 if (activeLow)
mjr 34:6b981a2afab7 528 lwPin[i] = new LwInvertedOut(lwPin[i]);
mjr 34:6b981a2afab7 529
mjr 34:6b981a2afab7 530 // turn it off initially
mjr 33:d832bcab089e 531 lwPin[i]->set(0);
mjr 6:cc35eb643e8f 532 }
mjr 6:cc35eb643e8f 533 }
mjr 6:cc35eb643e8f 534
mjr 29:582472d0bc57 535 // LedWiz output states.
mjr 29:582472d0bc57 536 //
mjr 29:582472d0bc57 537 // The LedWiz protocol has two separate control axes for each output.
mjr 29:582472d0bc57 538 // One axis is its on/off state; the other is its "profile" state, which
mjr 29:582472d0bc57 539 // is either a fixed brightness or a blinking pattern for the light.
mjr 29:582472d0bc57 540 // The two axes are independent.
mjr 29:582472d0bc57 541 //
mjr 29:582472d0bc57 542 // Note that the LedWiz protocol can only address 32 outputs, so the
mjr 29:582472d0bc57 543 // wizOn and wizVal arrays have fixed sizes of 32 elements no matter
mjr 29:582472d0bc57 544 // how many physical outputs we're using.
mjr 29:582472d0bc57 545
mjr 0:5acbbe3f4cf4 546 // on/off state for each LedWiz output
mjr 1:d913e0afb2ac 547 static uint8_t wizOn[32];
mjr 0:5acbbe3f4cf4 548
mjr 29:582472d0bc57 549 // Profile (brightness/blink) state for each LedWiz output. If the
mjr 29:582472d0bc57 550 // output was last updated through an LedWiz protocol message, it
mjr 29:582472d0bc57 551 // will have one of these values:
mjr 29:582472d0bc57 552 //
mjr 29:582472d0bc57 553 // 0-48 = fixed brightness 0% to 100%
mjr 29:582472d0bc57 554 // 129 = ramp up / ramp down
mjr 29:582472d0bc57 555 // 130 = flash on / off
mjr 29:582472d0bc57 556 // 131 = on / ramp down
mjr 29:582472d0bc57 557 // 132 = ramp up / on
mjr 29:582472d0bc57 558 //
mjr 29:582472d0bc57 559 // Special value 255: If the output was updated through the
mjr 29:582472d0bc57 560 // extended protocol, we'll set the wizVal entry to 255, which has
mjr 29:582472d0bc57 561 // no meaning in the LedWiz protocol. This tells us that the value
mjr 29:582472d0bc57 562 // in outLevel[] was set directly from the extended protocol, so it
mjr 29:582472d0bc57 563 // shouldn't be derived from wizVal[].
mjr 29:582472d0bc57 564 //
mjr 1:d913e0afb2ac 565 static uint8_t wizVal[32] = {
mjr 13:72dda449c3c0 566 48, 48, 48, 48, 48, 48, 48, 48,
mjr 13:72dda449c3c0 567 48, 48, 48, 48, 48, 48, 48, 48,
mjr 13:72dda449c3c0 568 48, 48, 48, 48, 48, 48, 48, 48,
mjr 13:72dda449c3c0 569 48, 48, 48, 48, 48, 48, 48, 48
mjr 0:5acbbe3f4cf4 570 };
mjr 0:5acbbe3f4cf4 571
mjr 29:582472d0bc57 572 // LedWiz flash speed. This is a value from 1 to 7 giving the pulse
mjr 29:582472d0bc57 573 // rate for lights in blinking states.
mjr 29:582472d0bc57 574 static uint8_t wizSpeed = 2;
mjr 29:582472d0bc57 575
mjr 29:582472d0bc57 576 // Current LedWiz flash cycle counter.
mjr 29:582472d0bc57 577 static uint8_t wizFlashCounter = 0;
mjr 29:582472d0bc57 578
mjr 29:582472d0bc57 579 // Get the current brightness level for an LedWiz output.
mjr 1:d913e0afb2ac 580 static float wizState(int idx)
mjr 0:5acbbe3f4cf4 581 {
mjr 29:582472d0bc57 582 // if the output was last set with an extended protocol message,
mjr 29:582472d0bc57 583 // use the value set there, ignoring the output's LedWiz state
mjr 29:582472d0bc57 584 if (wizVal[idx] == 255)
mjr 29:582472d0bc57 585 return outLevel[idx];
mjr 29:582472d0bc57 586
mjr 29:582472d0bc57 587 // if it's off, show at zero intensity
mjr 29:582472d0bc57 588 if (!wizOn[idx])
mjr 29:582472d0bc57 589 return 0;
mjr 29:582472d0bc57 590
mjr 29:582472d0bc57 591 // check the state
mjr 29:582472d0bc57 592 uint8_t val = wizVal[idx];
mjr 29:582472d0bc57 593 if (val <= 48)
mjr 29:582472d0bc57 594 {
mjr 29:582472d0bc57 595 // PWM brightness/intensity level. Rescale from the LedWiz
mjr 29:582472d0bc57 596 // 0..48 integer range to our internal PwmOut 0..1 float range.
mjr 29:582472d0bc57 597 // Note that on the actual LedWiz, level 48 is actually about
mjr 29:582472d0bc57 598 // 98% on - contrary to the LedWiz documentation, level 49 is
mjr 29:582472d0bc57 599 // the true 100% level. (In the documentation, level 49 is
mjr 29:582472d0bc57 600 // simply not a valid setting.) Even so, we treat level 48 as
mjr 29:582472d0bc57 601 // 100% on to match the documentation. This won't be perfectly
mjr 29:582472d0bc57 602 // ocmpatible with the actual LedWiz, but it makes for such a
mjr 29:582472d0bc57 603 // small difference in brightness (if the output device is an
mjr 29:582472d0bc57 604 // LED, say) that no one should notice. It seems better to
mjr 29:582472d0bc57 605 // err in this direction, because while the difference in
mjr 29:582472d0bc57 606 // brightness when attached to an LED won't be noticeable, the
mjr 29:582472d0bc57 607 // difference in duty cycle when attached to something like a
mjr 29:582472d0bc57 608 // contactor *can* be noticeable - anything less than 100%
mjr 29:582472d0bc57 609 // can cause a contactor or relay to chatter. There's almost
mjr 29:582472d0bc57 610 // never a situation where you'd want values other than 0% and
mjr 29:582472d0bc57 611 // 100% for a contactor or relay, so treating level 48 as 100%
mjr 29:582472d0bc57 612 // makes us work properly with software that's expecting the
mjr 29:582472d0bc57 613 // documented LedWiz behavior and therefore uses level 48 to
mjr 29:582472d0bc57 614 // turn a contactor or relay fully on.
mjr 29:582472d0bc57 615 return val/48.0;
mjr 29:582472d0bc57 616 }
mjr 29:582472d0bc57 617 else if (val == 49)
mjr 13:72dda449c3c0 618 {
mjr 29:582472d0bc57 619 // 49 is undefined in the LedWiz documentation, but actually
mjr 29:582472d0bc57 620 // means 100% on. The documentation says that levels 1-48 are
mjr 29:582472d0bc57 621 // the full PWM range, but empirically it appears that the real
mjr 29:582472d0bc57 622 // range implemented in the firmware is 1-49. Some software on
mjr 29:582472d0bc57 623 // the PC side (notably DOF) is aware of this and uses level 49
mjr 29:582472d0bc57 624 // to mean "100% on". To ensure compatibility with existing
mjr 29:582472d0bc57 625 // PC-side software, we need to recognize level 49.
mjr 29:582472d0bc57 626 return 1.0;
mjr 29:582472d0bc57 627 }
mjr 29:582472d0bc57 628 else if (val == 129)
mjr 29:582472d0bc57 629 {
mjr 29:582472d0bc57 630 // 129 = ramp up / ramp down
mjr 30:6e9902f06f48 631 return wizFlashCounter < 128
mjr 30:6e9902f06f48 632 ? wizFlashCounter/128.0
mjr 30:6e9902f06f48 633 : (256 - wizFlashCounter)/128.0;
mjr 29:582472d0bc57 634 }
mjr 29:582472d0bc57 635 else if (val == 130)
mjr 29:582472d0bc57 636 {
mjr 29:582472d0bc57 637 // 130 = flash on / off
mjr 30:6e9902f06f48 638 return wizFlashCounter < 128 ? 1.0 : 0.0;
mjr 29:582472d0bc57 639 }
mjr 29:582472d0bc57 640 else if (val == 131)
mjr 29:582472d0bc57 641 {
mjr 29:582472d0bc57 642 // 131 = on / ramp down
mjr 30:6e9902f06f48 643 return wizFlashCounter < 128 ? 1.0 : (255 - wizFlashCounter)/128.0;
mjr 0:5acbbe3f4cf4 644 }
mjr 29:582472d0bc57 645 else if (val == 132)
mjr 29:582472d0bc57 646 {
mjr 29:582472d0bc57 647 // 132 = ramp up / on
mjr 30:6e9902f06f48 648 return wizFlashCounter < 128 ? wizFlashCounter/128.0 : 1.0;
mjr 29:582472d0bc57 649 }
mjr 29:582472d0bc57 650 else
mjr 13:72dda449c3c0 651 {
mjr 29:582472d0bc57 652 // Other values are undefined in the LedWiz documentation. Hosts
mjr 29:582472d0bc57 653 // *should* never send undefined values, since whatever behavior an
mjr 29:582472d0bc57 654 // LedWiz unit exhibits in response is accidental and could change
mjr 29:582472d0bc57 655 // in a future version. We'll treat all undefined values as equivalent
mjr 29:582472d0bc57 656 // to 48 (fully on).
mjr 29:582472d0bc57 657 return 1.0;
mjr 0:5acbbe3f4cf4 658 }
mjr 0:5acbbe3f4cf4 659 }
mjr 0:5acbbe3f4cf4 660
mjr 29:582472d0bc57 661 // LedWiz flash timer pulse. This fires periodically to update
mjr 29:582472d0bc57 662 // LedWiz flashing outputs. At the slowest pulse speed set via
mjr 29:582472d0bc57 663 // the SBA command, each waveform cycle has 256 steps, so we
mjr 29:582472d0bc57 664 // choose the pulse time base so that the slowest cycle completes
mjr 29:582472d0bc57 665 // in 2 seconds. This seems to roughly match the real LedWiz
mjr 29:582472d0bc57 666 // behavior. We run the pulse timer at the same rate regardless
mjr 29:582472d0bc57 667 // of the pulse speed; at higher pulse speeds, we simply use
mjr 29:582472d0bc57 668 // larger steps through the cycle on each interrupt. Running
mjr 29:582472d0bc57 669 // every 1/127 of a second = 8ms seems to be a pretty light load.
mjr 29:582472d0bc57 670 Timeout wizPulseTimer;
mjr 29:582472d0bc57 671 #define WIZ_PULSE_TIME_BASE (1.0/127.0)
mjr 29:582472d0bc57 672 static void wizPulse()
mjr 29:582472d0bc57 673 {
mjr 29:582472d0bc57 674 // increase the counter by the speed increment, and wrap at 256
mjr 29:582472d0bc57 675 wizFlashCounter += wizSpeed;
mjr 29:582472d0bc57 676 wizFlashCounter &= 0xff;
mjr 29:582472d0bc57 677
mjr 29:582472d0bc57 678 // if we have any flashing lights, update them
mjr 29:582472d0bc57 679 int ena = false;
mjr 35:e959ffba78fd 680 for (int i = 0 ; i < numLwOutputs ; ++i)
mjr 29:582472d0bc57 681 {
mjr 29:582472d0bc57 682 if (wizOn[i])
mjr 29:582472d0bc57 683 {
mjr 29:582472d0bc57 684 uint8_t s = wizVal[i];
mjr 29:582472d0bc57 685 if (s >= 129 && s <= 132)
mjr 29:582472d0bc57 686 {
mjr 29:582472d0bc57 687 lwPin[i]->set(wizState(i));
mjr 29:582472d0bc57 688 ena = true;
mjr 29:582472d0bc57 689 }
mjr 29:582472d0bc57 690 }
mjr 29:582472d0bc57 691 }
mjr 29:582472d0bc57 692
mjr 29:582472d0bc57 693 // Set up the next timer pulse only if we found anything flashing.
mjr 29:582472d0bc57 694 // To minimize overhead from this feature, we only enable the interrupt
mjr 29:582472d0bc57 695 // when we need it. This eliminates any performance penalty to other
mjr 29:582472d0bc57 696 // features when the host software doesn't care about the flashing
mjr 29:582472d0bc57 697 // modes. For example, DOF never uses these modes, so there's no
mjr 29:582472d0bc57 698 // need for them when running Visual Pinball.
mjr 29:582472d0bc57 699 if (ena)
mjr 29:582472d0bc57 700 wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE);
mjr 29:582472d0bc57 701 }
mjr 29:582472d0bc57 702
mjr 29:582472d0bc57 703 // Update the physical outputs connected to the LedWiz ports. This is
mjr 29:582472d0bc57 704 // called after any update from an LedWiz protocol message.
mjr 1:d913e0afb2ac 705 static void updateWizOuts()
mjr 1:d913e0afb2ac 706 {
mjr 29:582472d0bc57 707 // update each output
mjr 29:582472d0bc57 708 int pulse = false;
mjr 35:e959ffba78fd 709 for (int i = 0 ; i < numLwOutputs ; ++i)
mjr 29:582472d0bc57 710 {
mjr 29:582472d0bc57 711 pulse |= (wizVal[i] >= 129 && wizVal[i] <= 132);
mjr 6:cc35eb643e8f 712 lwPin[i]->set(wizState(i));
mjr 29:582472d0bc57 713 }
mjr 29:582472d0bc57 714
mjr 29:582472d0bc57 715 // if any outputs are set to flashing mode, and the pulse timer
mjr 29:582472d0bc57 716 // isn't running, turn it on
mjr 29:582472d0bc57 717 if (pulse)
mjr 29:582472d0bc57 718 wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE);
mjr 34:6b981a2afab7 719
mjr 34:6b981a2afab7 720 // flush changes to 74HC595 chips, if attached
mjr 35:e959ffba78fd 721 if (hc595 != 0)
mjr 35:e959ffba78fd 722 hc595->update();
mjr 1:d913e0afb2ac 723 }
mjr 34:6b981a2afab7 724
mjr 11:bd9da7088e6e 725 // ---------------------------------------------------------------------------
mjr 11:bd9da7088e6e 726 //
mjr 11:bd9da7088e6e 727 // Button input
mjr 11:bd9da7088e6e 728 //
mjr 11:bd9da7088e6e 729
mjr 18:5e890ebd0023 730 // button state
mjr 18:5e890ebd0023 731 struct ButtonState
mjr 18:5e890ebd0023 732 {
mjr 35:e959ffba78fd 733 ButtonState() : di(NULL), pressed(0), t(0), js(0), keymod(0), keycode(0) { }
mjr 35:e959ffba78fd 734
mjr 35:e959ffba78fd 735 // DigitalIn for the button
mjr 35:e959ffba78fd 736 DigitalIn *di;
mjr 35:e959ffba78fd 737
mjr 18:5e890ebd0023 738 // current on/off state
mjr 18:5e890ebd0023 739 int pressed;
mjr 18:5e890ebd0023 740
mjr 18:5e890ebd0023 741 // Sticky time remaining for current state. When a
mjr 18:5e890ebd0023 742 // state transition occurs, we set this to a debounce
mjr 18:5e890ebd0023 743 // period. Future state transitions will be ignored
mjr 18:5e890ebd0023 744 // until the debounce time elapses.
mjr 35:e959ffba78fd 745 float t;
mjr 35:e959ffba78fd 746
mjr 35:e959ffba78fd 747 // joystick button mask for the button, if mapped as a joystick button
mjr 35:e959ffba78fd 748 uint32_t js;
mjr 35:e959ffba78fd 749
mjr 35:e959ffba78fd 750 // keyboard modifier bits and scan code for the button, if mapped as a keyboard key
mjr 35:e959ffba78fd 751 uint8_t keymod;
mjr 35:e959ffba78fd 752 uint8_t keycode;
mjr 35:e959ffba78fd 753
mjr 35:e959ffba78fd 754 // media control key code
mjr 35:e959ffba78fd 755 uint8_t mediakey;
mjr 35:e959ffba78fd 756
mjr 35:e959ffba78fd 757
mjr 35:e959ffba78fd 758 } buttonState[MAX_BUTTONS];
mjr 18:5e890ebd0023 759
mjr 12:669df364a565 760 // timer for button reports
mjr 12:669df364a565 761 static Timer buttonTimer;
mjr 12:669df364a565 762
mjr 11:bd9da7088e6e 763 // initialize the button inputs
mjr 35:e959ffba78fd 764 void initButtons(Config &cfg, bool &kbKeys)
mjr 11:bd9da7088e6e 765 {
mjr 35:e959ffba78fd 766 // presume we'll find no keyboard keys
mjr 35:e959ffba78fd 767 kbKeys = false;
mjr 35:e959ffba78fd 768
mjr 11:bd9da7088e6e 769 // create the digital inputs
mjr 35:e959ffba78fd 770 ButtonState *bs = buttonState;
mjr 35:e959ffba78fd 771 for (int i = 0 ; i < MAX_BUTTONS ; ++i, ++bs)
mjr 11:bd9da7088e6e 772 {
mjr 35:e959ffba78fd 773 PinName pin = wirePinName(cfg.button[i].pin);
mjr 35:e959ffba78fd 774 if (pin != NC)
mjr 35:e959ffba78fd 775 {
mjr 35:e959ffba78fd 776 // set up the GPIO input pin for this button
mjr 35:e959ffba78fd 777 bs->di = new DigitalIn(pin);
mjr 35:e959ffba78fd 778
mjr 35:e959ffba78fd 779 // note if it's a keyboard key of some kind (including media keys)
mjr 35:e959ffba78fd 780 uint8_t val = cfg.button[i].val;
mjr 35:e959ffba78fd 781 switch (cfg.button[i].typ)
mjr 35:e959ffba78fd 782 {
mjr 35:e959ffba78fd 783 case BtnTypeJoystick:
mjr 35:e959ffba78fd 784 // joystick button - get the button bit mask
mjr 35:e959ffba78fd 785 bs->js = 1 << val;
mjr 35:e959ffba78fd 786 break;
mjr 35:e959ffba78fd 787
mjr 35:e959ffba78fd 788 case BtnTypeKey:
mjr 35:e959ffba78fd 789 // regular keyboard key - note the scan code
mjr 35:e959ffba78fd 790 bs->keycode = val;
mjr 35:e959ffba78fd 791 kbKeys = true;
mjr 35:e959ffba78fd 792 break;
mjr 35:e959ffba78fd 793
mjr 35:e959ffba78fd 794 case BtnTypeModKey:
mjr 35:e959ffba78fd 795 // keyboard mod key - note the modifier mask
mjr 35:e959ffba78fd 796 bs->keymod = val;
mjr 35:e959ffba78fd 797 kbKeys = true;
mjr 35:e959ffba78fd 798 break;
mjr 35:e959ffba78fd 799
mjr 35:e959ffba78fd 800 case BtnTypeMedia:
mjr 35:e959ffba78fd 801 // media key - note the code
mjr 35:e959ffba78fd 802 bs->mediakey = val;
mjr 35:e959ffba78fd 803 kbKeys = true;
mjr 35:e959ffba78fd 804 break;
mjr 35:e959ffba78fd 805 }
mjr 35:e959ffba78fd 806 }
mjr 11:bd9da7088e6e 807 }
mjr 12:669df364a565 808
mjr 12:669df364a565 809 // start the button timer
mjr 35:e959ffba78fd 810 buttonTimer.reset();
mjr 12:669df364a565 811 buttonTimer.start();
mjr 11:bd9da7088e6e 812 }
mjr 11:bd9da7088e6e 813
mjr 35:e959ffba78fd 814 // Button data
mjr 35:e959ffba78fd 815 uint32_t jsButtons = 0;
mjr 35:e959ffba78fd 816
mjr 35:e959ffba78fd 817 // Keyboard state
mjr 35:e959ffba78fd 818 struct
mjr 35:e959ffba78fd 819 {
mjr 35:e959ffba78fd 820 bool changed; // flag: changed since last report sent
mjr 35:e959ffba78fd 821 int nkeys; // number of active keys in the list
mjr 35:e959ffba78fd 822 uint8_t data[8]; // key state, in USB report format: byte 0 is the modifier key mask,
mjr 35:e959ffba78fd 823 // byte 1 is reserved, and bytes 2-7 are the currently pressed key codes
mjr 35:e959ffba78fd 824 } kbState = { false, 0, { 0, 0, 0, 0, 0, 0, 0, 0 } };
mjr 35:e959ffba78fd 825
mjr 35:e959ffba78fd 826 // Media key state
mjr 35:e959ffba78fd 827 struct
mjr 35:e959ffba78fd 828 {
mjr 35:e959ffba78fd 829 bool changed; // flag: changed since last report sent
mjr 35:e959ffba78fd 830 uint8_t data; // key state byte for USB reports
mjr 35:e959ffba78fd 831 } mediaState = { false, 0 };
mjr 11:bd9da7088e6e 832
mjr 18:5e890ebd0023 833 // read the button input state
mjr 35:e959ffba78fd 834 void readButtons(Config &cfg)
mjr 11:bd9da7088e6e 835 {
mjr 35:e959ffba78fd 836 // start with an empty list of USB key codes
mjr 35:e959ffba78fd 837 uint8_t modkeys = 0;
mjr 35:e959ffba78fd 838 uint8_t keys[7] = { 0, 0, 0, 0, 0, 0, 0 };
mjr 35:e959ffba78fd 839 int nkeys = 0;
mjr 11:bd9da7088e6e 840
mjr 35:e959ffba78fd 841 // clear the joystick buttons
mjr 35:e959ffba78fd 842 jsButtons = 0;
mjr 35:e959ffba78fd 843
mjr 35:e959ffba78fd 844 // start with no media keys pressed
mjr 35:e959ffba78fd 845 uint8_t mediakeys = 0;
mjr 35:e959ffba78fd 846
mjr 18:5e890ebd0023 847 // figure the time elapsed since the last scan
mjr 35:e959ffba78fd 848 float dt = buttonTimer.read();
mjr 18:5e890ebd0023 849
mjr 35:e959ffba78fd 850 // reset the time for the next scan
mjr 18:5e890ebd0023 851 buttonTimer.reset();
mjr 18:5e890ebd0023 852
mjr 11:bd9da7088e6e 853 // scan the button list
mjr 18:5e890ebd0023 854 ButtonState *bs = buttonState;
mjr 35:e959ffba78fd 855 for (int i = 0 ; i < MAX_BUTTONS ; ++i, ++bs)
mjr 11:bd9da7088e6e 856 {
mjr 18:5e890ebd0023 857 // read this button
mjr 35:e959ffba78fd 858 if (bs->di != 0)
mjr 18:5e890ebd0023 859 {
mjr 18:5e890ebd0023 860 // deduct the elapsed time since the last update
mjr 18:5e890ebd0023 861 // from the button's remaining sticky time
mjr 18:5e890ebd0023 862 bs->t -= dt;
mjr 18:5e890ebd0023 863 if (bs->t < 0)
mjr 18:5e890ebd0023 864 bs->t = 0;
mjr 18:5e890ebd0023 865
mjr 18:5e890ebd0023 866 // If the sticky time has elapsed, note the new physical
mjr 18:5e890ebd0023 867 // state of the button. If we still have sticky time
mjr 18:5e890ebd0023 868 // remaining, ignore the physical state; the last state
mjr 18:5e890ebd0023 869 // change persists until the sticky time elapses so that
mjr 18:5e890ebd0023 870 // we smooth out any "bounce" (electrical transients that
mjr 18:5e890ebd0023 871 // occur when the switch contact is opened or closed).
mjr 18:5e890ebd0023 872 if (bs->t == 0)
mjr 18:5e890ebd0023 873 {
mjr 18:5e890ebd0023 874 // get the new physical state
mjr 35:e959ffba78fd 875 int pressed = !bs->di->read();
mjr 18:5e890ebd0023 876
mjr 18:5e890ebd0023 877 // update the button's logical state if this is a change
mjr 18:5e890ebd0023 878 if (pressed != bs->pressed)
mjr 18:5e890ebd0023 879 {
mjr 18:5e890ebd0023 880 // store the new state
mjr 18:5e890ebd0023 881 bs->pressed = pressed;
mjr 18:5e890ebd0023 882
mjr 18:5e890ebd0023 883 // start a new sticky period for debouncing this
mjr 18:5e890ebd0023 884 // state change
mjr 35:e959ffba78fd 885 bs->t = 0.005;
mjr 18:5e890ebd0023 886 }
mjr 18:5e890ebd0023 887 }
mjr 35:e959ffba78fd 888
mjr 35:e959ffba78fd 889 // if it's pressed, add it to the appropriate key state list
mjr 18:5e890ebd0023 890 if (bs->pressed)
mjr 35:e959ffba78fd 891 {
mjr 35:e959ffba78fd 892 // OR in the joystick button bit, mod key bits, and media key bits
mjr 35:e959ffba78fd 893 jsButtons |= bs->js;
mjr 35:e959ffba78fd 894 modkeys |= bs->keymod;
mjr 35:e959ffba78fd 895 mediakeys |= bs->mediakey;
mjr 35:e959ffba78fd 896
mjr 35:e959ffba78fd 897 // if it has a keyboard key, add the scan code to the active list
mjr 35:e959ffba78fd 898 if (bs->keycode != 0 && nkeys < 7)
mjr 35:e959ffba78fd 899 keys[nkeys++] = bs->keycode;
mjr 35:e959ffba78fd 900 }
mjr 18:5e890ebd0023 901 }
mjr 11:bd9da7088e6e 902 }
mjr 11:bd9da7088e6e 903
mjr 35:e959ffba78fd 904 // Check for changes to the keyboard keys
mjr 35:e959ffba78fd 905 if (kbState.data[0] != modkeys
mjr 35:e959ffba78fd 906 || kbState.nkeys != nkeys
mjr 35:e959ffba78fd 907 || memcmp(keys, &kbState.data[2], 6) != 0)
mjr 35:e959ffba78fd 908 {
mjr 35:e959ffba78fd 909 // we have changes - set the change flag and store the new key data
mjr 35:e959ffba78fd 910 kbState.changed = true;
mjr 35:e959ffba78fd 911 kbState.data[0] = modkeys;
mjr 35:e959ffba78fd 912 if (nkeys <= 6) {
mjr 35:e959ffba78fd 913 // 6 or fewer simultaneous keys - report the key codes
mjr 35:e959ffba78fd 914 kbState.nkeys = nkeys;
mjr 35:e959ffba78fd 915 memcpy(&kbState.data[2], keys, 6);
mjr 35:e959ffba78fd 916 }
mjr 35:e959ffba78fd 917 else {
mjr 35:e959ffba78fd 918 // more than 6 simultaneous keys - report rollover (all '1' key codes)
mjr 35:e959ffba78fd 919 kbState.nkeys = 6;
mjr 35:e959ffba78fd 920 memset(&kbState.data[2], 1, 6);
mjr 35:e959ffba78fd 921 }
mjr 35:e959ffba78fd 922 }
mjr 35:e959ffba78fd 923
mjr 35:e959ffba78fd 924 // Check for changes to media keys
mjr 35:e959ffba78fd 925 if (mediaState.data != mediakeys)
mjr 35:e959ffba78fd 926 {
mjr 35:e959ffba78fd 927 mediaState.changed = true;
mjr 35:e959ffba78fd 928 mediaState.data = mediakeys;
mjr 35:e959ffba78fd 929 }
mjr 11:bd9da7088e6e 930 }
mjr 11:bd9da7088e6e 931
mjr 5:a70c0bce770d 932 // ---------------------------------------------------------------------------
mjr 5:a70c0bce770d 933 //
mjr 5:a70c0bce770d 934 // Customization joystick subbclass
mjr 5:a70c0bce770d 935 //
mjr 5:a70c0bce770d 936
mjr 5:a70c0bce770d 937 class MyUSBJoystick: public USBJoystick
mjr 5:a70c0bce770d 938 {
mjr 5:a70c0bce770d 939 public:
mjr 35:e959ffba78fd 940 MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release,
mjr 35:e959ffba78fd 941 bool waitForConnect, bool enableJoystick, bool useKB)
mjr 35:e959ffba78fd 942 : USBJoystick(vendor_id, product_id, product_release, waitForConnect, enableJoystick, useKB)
mjr 5:a70c0bce770d 943 {
mjr 5:a70c0bce770d 944 suspended_ = false;
mjr 5:a70c0bce770d 945 }
mjr 5:a70c0bce770d 946
mjr 5:a70c0bce770d 947 // are we connected?
mjr 5:a70c0bce770d 948 int isConnected() { return configured(); }
mjr 5:a70c0bce770d 949
mjr 5:a70c0bce770d 950 // Are we in suspend mode?
mjr 5:a70c0bce770d 951 int isSuspended() const { return suspended_; }
mjr 5:a70c0bce770d 952
mjr 5:a70c0bce770d 953 protected:
mjr 5:a70c0bce770d 954 virtual void suspendStateChanged(unsigned int suspended)
mjr 5:a70c0bce770d 955 { suspended_ = suspended; }
mjr 5:a70c0bce770d 956
mjr 5:a70c0bce770d 957 // are we suspended?
mjr 5:a70c0bce770d 958 int suspended_;
mjr 5:a70c0bce770d 959 };
mjr 5:a70c0bce770d 960
mjr 5:a70c0bce770d 961 // ---------------------------------------------------------------------------
mjr 5:a70c0bce770d 962 //
mjr 5:a70c0bce770d 963 // Accelerometer (MMA8451Q)
mjr 5:a70c0bce770d 964 //
mjr 5:a70c0bce770d 965
mjr 5:a70c0bce770d 966 // The MMA8451Q is the KL25Z's on-board 3-axis accelerometer.
mjr 5:a70c0bce770d 967 //
mjr 5:a70c0bce770d 968 // This is a custom wrapper for the library code to interface to the
mjr 6:cc35eb643e8f 969 // MMA8451Q. This class encapsulates an interrupt handler and
mjr 6:cc35eb643e8f 970 // automatic calibration.
mjr 5:a70c0bce770d 971 //
mjr 5:a70c0bce770d 972 // We install an interrupt handler on the accelerometer "data ready"
mjr 6:cc35eb643e8f 973 // interrupt to ensure that we fetch each sample immediately when it
mjr 6:cc35eb643e8f 974 // becomes available. The accelerometer data rate is fiarly high
mjr 6:cc35eb643e8f 975 // (800 Hz), so it's not practical to keep up with it by polling.
mjr 6:cc35eb643e8f 976 // Using an interrupt handler lets us respond quickly and read
mjr 6:cc35eb643e8f 977 // every sample.
mjr 5:a70c0bce770d 978 //
mjr 6:cc35eb643e8f 979 // We automatically calibrate the accelerometer so that it's not
mjr 6:cc35eb643e8f 980 // necessary to get it exactly level when installing it, and so
mjr 6:cc35eb643e8f 981 // that it's also not necessary to calibrate it manually. There's
mjr 6:cc35eb643e8f 982 // lots of experience that tells us that manual calibration is a
mjr 6:cc35eb643e8f 983 // terrible solution, mostly because cabinets tend to shift slightly
mjr 6:cc35eb643e8f 984 // during use, requiring frequent recalibration. Instead, we
mjr 6:cc35eb643e8f 985 // calibrate automatically. We continuously monitor the acceleration
mjr 6:cc35eb643e8f 986 // data, watching for periods of constant (or nearly constant) values.
mjr 6:cc35eb643e8f 987 // Any time it appears that the machine has been at rest for a while
mjr 6:cc35eb643e8f 988 // (about 5 seconds), we'll average the readings during that rest
mjr 6:cc35eb643e8f 989 // period and use the result as the level rest position. This is
mjr 6:cc35eb643e8f 990 // is ongoing, so we'll quickly find the center point again if the
mjr 6:cc35eb643e8f 991 // machine is moved during play (by an especially aggressive bout
mjr 6:cc35eb643e8f 992 // of nudging, say).
mjr 5:a70c0bce770d 993 //
mjr 5:a70c0bce770d 994
mjr 17:ab3cec0c8bf4 995 // I2C address of the accelerometer (this is a constant of the KL25Z)
mjr 17:ab3cec0c8bf4 996 const int MMA8451_I2C_ADDRESS = (0x1d<<1);
mjr 17:ab3cec0c8bf4 997
mjr 17:ab3cec0c8bf4 998 // SCL and SDA pins for the accelerometer (constant for the KL25Z)
mjr 17:ab3cec0c8bf4 999 #define MMA8451_SCL_PIN PTE25
mjr 17:ab3cec0c8bf4 1000 #define MMA8451_SDA_PIN PTE24
mjr 17:ab3cec0c8bf4 1001
mjr 17:ab3cec0c8bf4 1002 // Digital in pin to use for the accelerometer interrupt. For the KL25Z,
mjr 17:ab3cec0c8bf4 1003 // this can be either PTA14 or PTA15, since those are the pins physically
mjr 17:ab3cec0c8bf4 1004 // wired on this board to the MMA8451 interrupt controller.
mjr 17:ab3cec0c8bf4 1005 #define MMA8451_INT_PIN PTA15
mjr 17:ab3cec0c8bf4 1006
mjr 17:ab3cec0c8bf4 1007
mjr 6:cc35eb643e8f 1008 // accelerometer input history item, for gathering calibration data
mjr 6:cc35eb643e8f 1009 struct AccHist
mjr 5:a70c0bce770d 1010 {
mjr 6:cc35eb643e8f 1011 AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; }
mjr 6:cc35eb643e8f 1012 void set(float x, float y, AccHist *prv)
mjr 6:cc35eb643e8f 1013 {
mjr 6:cc35eb643e8f 1014 // save the raw position
mjr 6:cc35eb643e8f 1015 this->x = x;
mjr 6:cc35eb643e8f 1016 this->y = y;
mjr 6:cc35eb643e8f 1017 this->d = distance(prv);
mjr 6:cc35eb643e8f 1018 }
mjr 6:cc35eb643e8f 1019
mjr 6:cc35eb643e8f 1020 // reading for this entry
mjr 5:a70c0bce770d 1021 float x, y;
mjr 5:a70c0bce770d 1022
mjr 6:cc35eb643e8f 1023 // distance from previous entry
mjr 6:cc35eb643e8f 1024 float d;
mjr 5:a70c0bce770d 1025
mjr 6:cc35eb643e8f 1026 // total and count of samples averaged over this period
mjr 6:cc35eb643e8f 1027 float xtot, ytot;
mjr 6:cc35eb643e8f 1028 int cnt;
mjr 6:cc35eb643e8f 1029
mjr 6:cc35eb643e8f 1030 void clearAvg() { xtot = ytot = 0.0; cnt = 0; }
mjr 6:cc35eb643e8f 1031 void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; }
mjr 6:cc35eb643e8f 1032 float xAvg() const { return xtot/cnt; }
mjr 6:cc35eb643e8f 1033 float yAvg() const { return ytot/cnt; }
mjr 5:a70c0bce770d 1034
mjr 6:cc35eb643e8f 1035 float distance(AccHist *p)
mjr 6:cc35eb643e8f 1036 { return sqrt(square(p->x - x) + square(p->y - y)); }
mjr 5:a70c0bce770d 1037 };
mjr 5:a70c0bce770d 1038
mjr 5:a70c0bce770d 1039 // accelerometer wrapper class
mjr 3:3514575d4f86 1040 class Accel
mjr 3:3514575d4f86 1041 {
mjr 3:3514575d4f86 1042 public:
mjr 3:3514575d4f86 1043 Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin)
mjr 3:3514575d4f86 1044 : mma_(sda, scl, i2cAddr), intIn_(irqPin)
mjr 3:3514575d4f86 1045 {
mjr 5:a70c0bce770d 1046 // remember the interrupt pin assignment
mjr 5:a70c0bce770d 1047 irqPin_ = irqPin;
mjr 5:a70c0bce770d 1048
mjr 5:a70c0bce770d 1049 // reset and initialize
mjr 5:a70c0bce770d 1050 reset();
mjr 5:a70c0bce770d 1051 }
mjr 5:a70c0bce770d 1052
mjr 5:a70c0bce770d 1053 void reset()
mjr 5:a70c0bce770d 1054 {
mjr 6:cc35eb643e8f 1055 // clear the center point
mjr 6:cc35eb643e8f 1056 cx_ = cy_ = 0.0;
mjr 6:cc35eb643e8f 1057
mjr 6:cc35eb643e8f 1058 // start the calibration timer
mjr 5:a70c0bce770d 1059 tCenter_.start();
mjr 5:a70c0bce770d 1060 iAccPrv_ = nAccPrv_ = 0;
mjr 6:cc35eb643e8f 1061
mjr 5:a70c0bce770d 1062 // reset and initialize the MMA8451Q
mjr 5:a70c0bce770d 1063 mma_.init();
mjr 6:cc35eb643e8f 1064
mjr 6:cc35eb643e8f 1065 // set the initial integrated velocity reading to zero
mjr 6:cc35eb643e8f 1066 vx_ = vy_ = 0;
mjr 3:3514575d4f86 1067
mjr 6:cc35eb643e8f 1068 // set up our accelerometer interrupt handling
mjr 6:cc35eb643e8f 1069 intIn_.rise(this, &Accel::isr);
mjr 5:a70c0bce770d 1070 mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2);
mjr 3:3514575d4f86 1071
mjr 3:3514575d4f86 1072 // read the current registers to clear the data ready flag
mjr 6:cc35eb643e8f 1073 mma_.getAccXYZ(ax_, ay_, az_);
mjr 3:3514575d4f86 1074
mjr 3:3514575d4f86 1075 // start our timers
mjr 3:3514575d4f86 1076 tGet_.start();
mjr 3:3514575d4f86 1077 tInt_.start();
mjr 3:3514575d4f86 1078 }
mjr 3:3514575d4f86 1079
mjr 9:fd65b0a94720 1080 void get(int &x, int &y)
mjr 3:3514575d4f86 1081 {
mjr 3:3514575d4f86 1082 // disable interrupts while manipulating the shared data
mjr 3:3514575d4f86 1083 __disable_irq();
mjr 3:3514575d4f86 1084
mjr 3:3514575d4f86 1085 // read the shared data and store locally for calculations
mjr 6:cc35eb643e8f 1086 float ax = ax_, ay = ay_;
mjr 6:cc35eb643e8f 1087 float vx = vx_, vy = vy_;
mjr 5:a70c0bce770d 1088
mjr 6:cc35eb643e8f 1089 // reset the velocity sum for the next run
mjr 6:cc35eb643e8f 1090 vx_ = vy_ = 0;
mjr 3:3514575d4f86 1091
mjr 3:3514575d4f86 1092 // get the time since the last get() sample
mjr 3:3514575d4f86 1093 float dt = tGet_.read_us()/1.0e6;
mjr 3:3514575d4f86 1094 tGet_.reset();
mjr 3:3514575d4f86 1095
mjr 3:3514575d4f86 1096 // done manipulating the shared data
mjr 3:3514575d4f86 1097 __enable_irq();
mjr 3:3514575d4f86 1098
mjr 6:cc35eb643e8f 1099 // adjust the readings for the integration time
mjr 6:cc35eb643e8f 1100 vx /= dt;
mjr 6:cc35eb643e8f 1101 vy /= dt;
mjr 6:cc35eb643e8f 1102
mjr 6:cc35eb643e8f 1103 // add this sample to the current calibration interval's running total
mjr 6:cc35eb643e8f 1104 AccHist *p = accPrv_ + iAccPrv_;
mjr 6:cc35eb643e8f 1105 p->addAvg(ax, ay);
mjr 6:cc35eb643e8f 1106
mjr 5:a70c0bce770d 1107 // check for auto-centering every so often
mjr 5:a70c0bce770d 1108 if (tCenter_.read_ms() > 1000)
mjr 5:a70c0bce770d 1109 {
mjr 5:a70c0bce770d 1110 // add the latest raw sample to the history list
mjr 6:cc35eb643e8f 1111 AccHist *prv = p;
mjr 5:a70c0bce770d 1112 iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv;
mjr 6:cc35eb643e8f 1113 p = accPrv_ + iAccPrv_;
mjr 6:cc35eb643e8f 1114 p->set(ax, ay, prv);
mjr 5:a70c0bce770d 1115
mjr 5:a70c0bce770d 1116 // if we have a full complement, check for stability
mjr 5:a70c0bce770d 1117 if (nAccPrv_ >= maxAccPrv)
mjr 5:a70c0bce770d 1118 {
mjr 5:a70c0bce770d 1119 // check if we've been stable for all recent samples
mjr 6:cc35eb643e8f 1120 static const float accTol = .01;
mjr 6:cc35eb643e8f 1121 AccHist *p0 = accPrv_;
mjr 6:cc35eb643e8f 1122 if (p0[0].d < accTol
mjr 6:cc35eb643e8f 1123 && p0[1].d < accTol
mjr 6:cc35eb643e8f 1124 && p0[2].d < accTol
mjr 6:cc35eb643e8f 1125 && p0[3].d < accTol
mjr 6:cc35eb643e8f 1126 && p0[4].d < accTol)
mjr 5:a70c0bce770d 1127 {
mjr 6:cc35eb643e8f 1128 // Figure the new calibration point as the average of
mjr 6:cc35eb643e8f 1129 // the samples over the rest period
mjr 6:cc35eb643e8f 1130 cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0;
mjr 6:cc35eb643e8f 1131 cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0;
mjr 5:a70c0bce770d 1132 }
mjr 5:a70c0bce770d 1133 }
mjr 5:a70c0bce770d 1134 else
mjr 5:a70c0bce770d 1135 {
mjr 5:a70c0bce770d 1136 // not enough samples yet; just up the count
mjr 5:a70c0bce770d 1137 ++nAccPrv_;
mjr 5:a70c0bce770d 1138 }
mjr 6:cc35eb643e8f 1139
mjr 6:cc35eb643e8f 1140 // clear the new item's running totals
mjr 6:cc35eb643e8f 1141 p->clearAvg();
mjr 5:a70c0bce770d 1142
mjr 5:a70c0bce770d 1143 // reset the timer
mjr 5:a70c0bce770d 1144 tCenter_.reset();
mjr 5:a70c0bce770d 1145 }
mjr 5:a70c0bce770d 1146
mjr 6:cc35eb643e8f 1147 // report our integrated velocity reading in x,y
mjr 6:cc35eb643e8f 1148 x = rawToReport(vx);
mjr 6:cc35eb643e8f 1149 y = rawToReport(vy);
mjr 5:a70c0bce770d 1150
mjr 6:cc35eb643e8f 1151 #ifdef DEBUG_PRINTF
mjr 6:cc35eb643e8f 1152 if (x != 0 || y != 0)
mjr 6:cc35eb643e8f 1153 printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt);
mjr 6:cc35eb643e8f 1154 #endif
mjr 3:3514575d4f86 1155 }
mjr 29:582472d0bc57 1156
mjr 3:3514575d4f86 1157 private:
mjr 6:cc35eb643e8f 1158 // adjust a raw acceleration figure to a usb report value
mjr 6:cc35eb643e8f 1159 int rawToReport(float v)
mjr 5:a70c0bce770d 1160 {
mjr 6:cc35eb643e8f 1161 // scale to the joystick report range and round to integer
mjr 6:cc35eb643e8f 1162 int i = int(round(v*JOYMAX));
mjr 5:a70c0bce770d 1163
mjr 6:cc35eb643e8f 1164 // if it's near the center, scale it roughly as 20*(i/20)^2,
mjr 6:cc35eb643e8f 1165 // to suppress noise near the rest position
mjr 6:cc35eb643e8f 1166 static const int filter[] = {
mjr 6:cc35eb643e8f 1167 -18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0,
mjr 6:cc35eb643e8f 1168 0,
mjr 6:cc35eb643e8f 1169 0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18
mjr 6:cc35eb643e8f 1170 };
mjr 6:cc35eb643e8f 1171 return (i > 20 || i < -20 ? i : filter[i+20]);
mjr 5:a70c0bce770d 1172 }
mjr 5:a70c0bce770d 1173
mjr 3:3514575d4f86 1174 // interrupt handler
mjr 3:3514575d4f86 1175 void isr()
mjr 3:3514575d4f86 1176 {
mjr 3:3514575d4f86 1177 // Read the axes. Note that we have to read all three axes
mjr 3:3514575d4f86 1178 // (even though we only really use x and y) in order to clear
mjr 3:3514575d4f86 1179 // the "data ready" status bit in the accelerometer. The
mjr 3:3514575d4f86 1180 // interrupt only occurs when the "ready" bit transitions from
mjr 3:3514575d4f86 1181 // off to on, so we have to make sure it's off.
mjr 5:a70c0bce770d 1182 float x, y, z;
mjr 5:a70c0bce770d 1183 mma_.getAccXYZ(x, y, z);
mjr 3:3514575d4f86 1184
mjr 3:3514575d4f86 1185 // calculate the time since the last interrupt
mjr 3:3514575d4f86 1186 float dt = tInt_.read_us()/1.0e6;
mjr 3:3514575d4f86 1187 tInt_.reset();
mjr 6:cc35eb643e8f 1188
mjr 6:cc35eb643e8f 1189 // integrate the time slice from the previous reading to this reading
mjr 6:cc35eb643e8f 1190 vx_ += (x + ax_ - 2*cx_)*dt/2;
mjr 6:cc35eb643e8f 1191 vy_ += (y + ay_ - 2*cy_)*dt/2;
mjr 3:3514575d4f86 1192
mjr 6:cc35eb643e8f 1193 // store the updates
mjr 6:cc35eb643e8f 1194 ax_ = x;
mjr 6:cc35eb643e8f 1195 ay_ = y;
mjr 6:cc35eb643e8f 1196 az_ = z;
mjr 3:3514575d4f86 1197 }
mjr 3:3514575d4f86 1198
mjr 3:3514575d4f86 1199 // underlying accelerometer object
mjr 3:3514575d4f86 1200 MMA8451Q mma_;
mjr 3:3514575d4f86 1201
mjr 5:a70c0bce770d 1202 // last raw acceleration readings
mjr 6:cc35eb643e8f 1203 float ax_, ay_, az_;
mjr 5:a70c0bce770d 1204
mjr 6:cc35eb643e8f 1205 // integrated velocity reading since last get()
mjr 6:cc35eb643e8f 1206 float vx_, vy_;
mjr 6:cc35eb643e8f 1207
mjr 3:3514575d4f86 1208 // timer for measuring time between get() samples
mjr 3:3514575d4f86 1209 Timer tGet_;
mjr 3:3514575d4f86 1210
mjr 3:3514575d4f86 1211 // timer for measuring time between interrupts
mjr 3:3514575d4f86 1212 Timer tInt_;
mjr 5:a70c0bce770d 1213
mjr 6:cc35eb643e8f 1214 // Calibration reference point for accelerometer. This is the
mjr 6:cc35eb643e8f 1215 // average reading on the accelerometer when in the neutral position
mjr 6:cc35eb643e8f 1216 // at rest.
mjr 6:cc35eb643e8f 1217 float cx_, cy_;
mjr 5:a70c0bce770d 1218
mjr 5:a70c0bce770d 1219 // timer for atuo-centering
mjr 5:a70c0bce770d 1220 Timer tCenter_;
mjr 6:cc35eb643e8f 1221
mjr 6:cc35eb643e8f 1222 // Auto-centering history. This is a separate history list that
mjr 6:cc35eb643e8f 1223 // records results spaced out sparesely over time, so that we can
mjr 6:cc35eb643e8f 1224 // watch for long-lasting periods of rest. When we observe nearly
mjr 6:cc35eb643e8f 1225 // no motion for an extended period (on the order of 5 seconds), we
mjr 6:cc35eb643e8f 1226 // take this to mean that the cabinet is at rest in its neutral
mjr 6:cc35eb643e8f 1227 // position, so we take this as the calibration zero point for the
mjr 6:cc35eb643e8f 1228 // accelerometer. We update this history continuously, which allows
mjr 6:cc35eb643e8f 1229 // us to continuously re-calibrate the accelerometer. This ensures
mjr 6:cc35eb643e8f 1230 // that we'll automatically adjust to any actual changes in the
mjr 6:cc35eb643e8f 1231 // cabinet's orientation (e.g., if it gets moved slightly by an
mjr 6:cc35eb643e8f 1232 // especially strong nudge) as well as any systematic drift in the
mjr 6:cc35eb643e8f 1233 // accelerometer measurement bias (e.g., from temperature changes).
mjr 5:a70c0bce770d 1234 int iAccPrv_, nAccPrv_;
mjr 5:a70c0bce770d 1235 static const int maxAccPrv = 5;
mjr 6:cc35eb643e8f 1236 AccHist accPrv_[maxAccPrv];
mjr 6:cc35eb643e8f 1237
mjr 5:a70c0bce770d 1238 // interurupt pin name
mjr 5:a70c0bce770d 1239 PinName irqPin_;
mjr 5:a70c0bce770d 1240
mjr 5:a70c0bce770d 1241 // interrupt router
mjr 5:a70c0bce770d 1242 InterruptIn intIn_;
mjr 3:3514575d4f86 1243 };
mjr 3:3514575d4f86 1244
mjr 5:a70c0bce770d 1245
mjr 5:a70c0bce770d 1246 // ---------------------------------------------------------------------------
mjr 5:a70c0bce770d 1247 //
mjr 14:df700b22ca08 1248 // Clear the I2C bus for the MMA8451Q. This seems necessary some of the time
mjr 5:a70c0bce770d 1249 // for reasons that aren't clear to me. Doing a hard power cycle has the same
mjr 5:a70c0bce770d 1250 // effect, but when we do a soft reset, the hardware sometimes seems to leave
mjr 5:a70c0bce770d 1251 // the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through
mjr 14:df700b22ca08 1252 // the SCL line is supposed to clear this condition. I'm not convinced this
mjr 14:df700b22ca08 1253 // actually works with the way this component is wired on the KL25Z, but it
mjr 14:df700b22ca08 1254 // seems harmless, so we'll do it on reset in case it does some good. What
mjr 14:df700b22ca08 1255 // we really seem to need is a way to power cycle the MMA8451Q if it ever
mjr 14:df700b22ca08 1256 // gets stuck, but this is simply not possible in software on the KL25Z.
mjr 14:df700b22ca08 1257 //
mjr 14:df700b22ca08 1258 // If the accelerometer does get stuck, and a software reboot doesn't reset
mjr 14:df700b22ca08 1259 // it, the only workaround is to manually power cycle the whole KL25Z by
mjr 14:df700b22ca08 1260 // unplugging both of its USB connections.
mjr 5:a70c0bce770d 1261 //
mjr 5:a70c0bce770d 1262 void clear_i2c()
mjr 5:a70c0bce770d 1263 {
mjr 5:a70c0bce770d 1264 // assume a general-purpose output pin to the I2C clock
mjr 5:a70c0bce770d 1265 DigitalOut scl(MMA8451_SCL_PIN);
mjr 5:a70c0bce770d 1266 DigitalIn sda(MMA8451_SDA_PIN);
mjr 5:a70c0bce770d 1267
mjr 5:a70c0bce770d 1268 // clock the SCL 9 times
mjr 5:a70c0bce770d 1269 for (int i = 0 ; i < 9 ; ++i)
mjr 5:a70c0bce770d 1270 {
mjr 5:a70c0bce770d 1271 scl = 1;
mjr 5:a70c0bce770d 1272 wait_us(20);
mjr 5:a70c0bce770d 1273 scl = 0;
mjr 5:a70c0bce770d 1274 wait_us(20);
mjr 5:a70c0bce770d 1275 }
mjr 5:a70c0bce770d 1276 }
mjr 14:df700b22ca08 1277
mjr 14:df700b22ca08 1278 // ---------------------------------------------------------------------------
mjr 14:df700b22ca08 1279 //
mjr 33:d832bcab089e 1280 // Simple binary (on/off) input debouncer. Requires an input to be stable
mjr 33:d832bcab089e 1281 // for a given interval before allowing an update.
mjr 33:d832bcab089e 1282 //
mjr 33:d832bcab089e 1283 class Debouncer
mjr 33:d832bcab089e 1284 {
mjr 33:d832bcab089e 1285 public:
mjr 33:d832bcab089e 1286 Debouncer(bool initVal, float tmin)
mjr 33:d832bcab089e 1287 {
mjr 33:d832bcab089e 1288 t.start();
mjr 33:d832bcab089e 1289 this->stable = this->prv = initVal;
mjr 33:d832bcab089e 1290 this->tmin = tmin;
mjr 33:d832bcab089e 1291 }
mjr 33:d832bcab089e 1292
mjr 33:d832bcab089e 1293 // Get the current stable value
mjr 33:d832bcab089e 1294 bool val() const { return stable; }
mjr 33:d832bcab089e 1295
mjr 33:d832bcab089e 1296 // Apply a new sample. This tells us the new raw reading from the
mjr 33:d832bcab089e 1297 // input device.
mjr 33:d832bcab089e 1298 void sampleIn(bool val)
mjr 33:d832bcab089e 1299 {
mjr 33:d832bcab089e 1300 // If the new raw reading is different from the previous
mjr 33:d832bcab089e 1301 // raw reading, we've detected an edge - start the clock
mjr 33:d832bcab089e 1302 // on the sample reader.
mjr 33:d832bcab089e 1303 if (val != prv)
mjr 33:d832bcab089e 1304 {
mjr 33:d832bcab089e 1305 // we have an edge - reset the sample clock
mjr 33:d832bcab089e 1306 t.reset();
mjr 33:d832bcab089e 1307
mjr 33:d832bcab089e 1308 // this is now the previous raw sample for nxt time
mjr 33:d832bcab089e 1309 prv = val;
mjr 33:d832bcab089e 1310 }
mjr 33:d832bcab089e 1311 else if (val != stable)
mjr 33:d832bcab089e 1312 {
mjr 33:d832bcab089e 1313 // The new raw sample is the same as the last raw sample,
mjr 33:d832bcab089e 1314 // and different from the stable value. This means that
mjr 33:d832bcab089e 1315 // the sample value has been the same for the time currently
mjr 33:d832bcab089e 1316 // indicated by our timer. If enough time has elapsed to
mjr 33:d832bcab089e 1317 // consider the value stable, apply the new value.
mjr 33:d832bcab089e 1318 if (t.read() > tmin)
mjr 33:d832bcab089e 1319 stable = val;
mjr 33:d832bcab089e 1320 }
mjr 33:d832bcab089e 1321 }
mjr 33:d832bcab089e 1322
mjr 33:d832bcab089e 1323 private:
mjr 33:d832bcab089e 1324 // current stable value
mjr 33:d832bcab089e 1325 bool stable;
mjr 33:d832bcab089e 1326
mjr 33:d832bcab089e 1327 // last raw sample value
mjr 33:d832bcab089e 1328 bool prv;
mjr 33:d832bcab089e 1329
mjr 33:d832bcab089e 1330 // elapsed time since last raw input change
mjr 33:d832bcab089e 1331 Timer t;
mjr 33:d832bcab089e 1332
mjr 33:d832bcab089e 1333 // Minimum time interval for stability, in seconds. Input readings
mjr 33:d832bcab089e 1334 // must be stable for this long before the stable value is updated.
mjr 33:d832bcab089e 1335 float tmin;
mjr 33:d832bcab089e 1336 };
mjr 33:d832bcab089e 1337
mjr 33:d832bcab089e 1338
mjr 33:d832bcab089e 1339 // ---------------------------------------------------------------------------
mjr 33:d832bcab089e 1340 //
mjr 33:d832bcab089e 1341 // Turn off all outputs and restore everything to the default LedWiz
mjr 33:d832bcab089e 1342 // state. This sets outputs #1-32 to LedWiz profile value 48 (full
mjr 33:d832bcab089e 1343 // brightness) and switch state Off, sets all extended outputs (#33
mjr 33:d832bcab089e 1344 // and above) to zero brightness, and sets the LedWiz flash rate to 2.
mjr 33:d832bcab089e 1345 // This effectively restores the power-on conditions.
mjr 33:d832bcab089e 1346 //
mjr 33:d832bcab089e 1347 void allOutputsOff()
mjr 33:d832bcab089e 1348 {
mjr 33:d832bcab089e 1349 // reset all LedWiz outputs to OFF/48
mjr 35:e959ffba78fd 1350 for (int i = 0 ; i < numLwOutputs ; ++i)
mjr 33:d832bcab089e 1351 {
mjr 33:d832bcab089e 1352 outLevel[i] = 0;
mjr 33:d832bcab089e 1353 wizOn[i] = 0;
mjr 33:d832bcab089e 1354 wizVal[i] = 48;
mjr 33:d832bcab089e 1355 lwPin[i]->set(0);
mjr 33:d832bcab089e 1356 }
mjr 33:d832bcab089e 1357
mjr 33:d832bcab089e 1358 // reset all extended outputs (ports >32) to full off (brightness 0)
mjr 33:d832bcab089e 1359 for (int i = 32 ; i < numOutputs ; ++i)
mjr 33:d832bcab089e 1360 {
mjr 33:d832bcab089e 1361 outLevel[i] = 0;
mjr 33:d832bcab089e 1362 lwPin[i]->set(0);
mjr 33:d832bcab089e 1363 }
mjr 33:d832bcab089e 1364
mjr 33:d832bcab089e 1365 // restore default LedWiz flash rate
mjr 33:d832bcab089e 1366 wizSpeed = 2;
mjr 34:6b981a2afab7 1367
mjr 34:6b981a2afab7 1368 // flush changes to hc595, if applicable
mjr 35:e959ffba78fd 1369 if (hc595 != 0)
mjr 35:e959ffba78fd 1370 hc595->update();
mjr 33:d832bcab089e 1371 }
mjr 33:d832bcab089e 1372
mjr 33:d832bcab089e 1373 // ---------------------------------------------------------------------------
mjr 33:d832bcab089e 1374 //
mjr 33:d832bcab089e 1375 // TV ON timer. If this feature is enabled, we toggle a TV power switch
mjr 33:d832bcab089e 1376 // relay (connected to a GPIO pin) to turn on the cab's TV monitors shortly
mjr 33:d832bcab089e 1377 // after the system is powered. This is useful for TVs that don't remember
mjr 33:d832bcab089e 1378 // their power state and don't turn back on automatically after being
mjr 33:d832bcab089e 1379 // unplugged and plugged in again. This feature requires external
mjr 33:d832bcab089e 1380 // circuitry, which is built in to the expansion board and can also be
mjr 33:d832bcab089e 1381 // built separately - see the Build Guide for the circuit plan.
mjr 33:d832bcab089e 1382 //
mjr 33:d832bcab089e 1383 // Theory of operation: to use this feature, the cabinet must have a
mjr 33:d832bcab089e 1384 // secondary PC-style power supply (PSU2) for the feedback devices, and
mjr 33:d832bcab089e 1385 // this secondary supply must be plugged in to the same power strip or
mjr 33:d832bcab089e 1386 // switched outlet that controls power to the TVs. This lets us use PSU2
mjr 33:d832bcab089e 1387 // as a proxy for the TV power state - when PSU2 is on, the TV outlet is
mjr 33:d832bcab089e 1388 // powered, and when PSU2 is off, the TV outlet is off. We use a little
mjr 33:d832bcab089e 1389 // latch circuit powered by PSU2 to monitor the status. The latch has a
mjr 33:d832bcab089e 1390 // current state, ON or OFF, that we can read via a GPIO input pin, and
mjr 33:d832bcab089e 1391 // we can set the state to ON by pulsing a separate GPIO output pin. As
mjr 33:d832bcab089e 1392 // long as PSU2 is powered off, the latch stays in the OFF state, even if
mjr 33:d832bcab089e 1393 // we try to set it by pulsing the SET pin. When PSU2 is turned on after
mjr 33:d832bcab089e 1394 // being off, the latch starts receiving power but stays in the OFF state,
mjr 33:d832bcab089e 1395 // since this is the initial condition when the power first comes on. So
mjr 33:d832bcab089e 1396 // if our latch state pin is reading OFF, we know that PSU2 is either off
mjr 33:d832bcab089e 1397 // now or *was* off some time since we last checked. We use a timer to
mjr 33:d832bcab089e 1398 // check the state periodically. Each time we see the state is OFF, we
mjr 33:d832bcab089e 1399 // try pulsing the SET pin. If the state still reads as OFF, we know
mjr 33:d832bcab089e 1400 // that PSU2 is currently off; if the state changes to ON, though, we
mjr 33:d832bcab089e 1401 // know that PSU2 has gone from OFF to ON some time between now and the
mjr 33:d832bcab089e 1402 // previous check. When we see this condition, we start a countdown
mjr 33:d832bcab089e 1403 // timer, and pulse the TV switch relay when the countdown ends.
mjr 33:d832bcab089e 1404 //
mjr 33:d832bcab089e 1405 // This scheme might seem a little convoluted, but it neatly handles
mjr 33:d832bcab089e 1406 // all of the different cases that can occur:
mjr 33:d832bcab089e 1407 //
mjr 33:d832bcab089e 1408 // - Most cabinets systems are set up with "soft" PC power switches,
mjr 33:d832bcab089e 1409 // so that the PC goes into "Soft Off" mode (ACPI state S5, in Windows
mjr 33:d832bcab089e 1410 // parlance) when the user turns off the cabinet. In this state, the
mjr 33:d832bcab089e 1411 // motherboard supplies power to USB devices, so the KL25Z continues
mjr 33:d832bcab089e 1412 // running without interruption. The latch system lets us monitor
mjr 33:d832bcab089e 1413 // the power state even when we're never rebooted, since the latch
mjr 33:d832bcab089e 1414 // will turn off when PSU2 is off regardless of what the KL25Z is doing.
mjr 33:d832bcab089e 1415 //
mjr 33:d832bcab089e 1416 // - Some cabinet builders might prefer to use "hard" power switches,
mjr 33:d832bcab089e 1417 // cutting all power to the cabinet, including the PC motherboard (and
mjr 33:d832bcab089e 1418 // thus the KL25Z) every time the machine is turned off. This also
mjr 33:d832bcab089e 1419 // applies to the "soft" switch case above when the cabinet is unplugged,
mjr 33:d832bcab089e 1420 // a power outage occurs, etc. In these cases, the KL25Z will do a cold
mjr 33:d832bcab089e 1421 // boot when the PC is turned on. We don't know whether the KL25Z
mjr 33:d832bcab089e 1422 // will power up before or after PSU2, so it's not good enough to
mjr 33:d832bcab089e 1423 // observe the *current* state of PSU2 when we first check - if PSU2
mjr 33:d832bcab089e 1424 // were to come on first, checking the current state alone would fool
mjr 33:d832bcab089e 1425 // us into thinking that no action is required, because we would never
mjr 33:d832bcab089e 1426 // have known that PSU2 was ever off. The latch handles this case by
mjr 33:d832bcab089e 1427 // letting us see that PSU2 *was* off before we checked.
mjr 33:d832bcab089e 1428 //
mjr 33:d832bcab089e 1429 // - If the KL25Z is rebooted while the main system is running, or the
mjr 33:d832bcab089e 1430 // KL25Z is unplugged and plugged back in, we will correctly leave the
mjr 33:d832bcab089e 1431 // TVs as they are. The latch state is independent of the KL25Z's
mjr 33:d832bcab089e 1432 // power or software state, so it's won't affect the latch state when
mjr 33:d832bcab089e 1433 // the KL25Z is unplugged or rebooted; when we boot, we'll see that
mjr 33:d832bcab089e 1434 // the latch is already on and that we don't have to turn on the TVs.
mjr 33:d832bcab089e 1435 // This is important because TV ON buttons are usually on/off toggles,
mjr 33:d832bcab089e 1436 // so we don't want to push the button on a TV that's already on.
mjr 33:d832bcab089e 1437 //
mjr 33:d832bcab089e 1438 //
mjr 33:d832bcab089e 1439
mjr 33:d832bcab089e 1440 // Current PSU2 state:
mjr 33:d832bcab089e 1441 // 1 -> default: latch was on at last check, or we haven't checked yet
mjr 33:d832bcab089e 1442 // 2 -> latch was off at last check, SET pulsed high
mjr 33:d832bcab089e 1443 // 3 -> SET pulsed low, ready to check status
mjr 33:d832bcab089e 1444 // 4 -> TV timer countdown in progress
mjr 33:d832bcab089e 1445 // 5 -> TV relay on
mjr 33:d832bcab089e 1446 //
mjr 33:d832bcab089e 1447 int psu2_state = 1;
mjr 35:e959ffba78fd 1448
mjr 35:e959ffba78fd 1449 // PSU2 power sensing circuit connections
mjr 35:e959ffba78fd 1450 DigitalIn *psu2_status_sense;
mjr 35:e959ffba78fd 1451 DigitalOut *psu2_status_set;
mjr 35:e959ffba78fd 1452
mjr 35:e959ffba78fd 1453 // TV ON switch relay control
mjr 35:e959ffba78fd 1454 DigitalOut *tv_relay;
mjr 35:e959ffba78fd 1455
mjr 35:e959ffba78fd 1456 // Timer interrupt
mjr 35:e959ffba78fd 1457 Ticker tv_ticker;
mjr 35:e959ffba78fd 1458 float tv_delay_time;
mjr 33:d832bcab089e 1459 void TVTimerInt()
mjr 33:d832bcab089e 1460 {
mjr 35:e959ffba78fd 1461 // time since last state change
mjr 35:e959ffba78fd 1462 static Timer tv_timer;
mjr 35:e959ffba78fd 1463
mjr 33:d832bcab089e 1464 // Check our internal state
mjr 33:d832bcab089e 1465 switch (psu2_state)
mjr 33:d832bcab089e 1466 {
mjr 33:d832bcab089e 1467 case 1:
mjr 33:d832bcab089e 1468 // Default state. This means that the latch was on last
mjr 33:d832bcab089e 1469 // time we checked or that this is the first check. In
mjr 33:d832bcab089e 1470 // either case, if the latch is off, switch to state 2 and
mjr 33:d832bcab089e 1471 // try pulsing the latch. Next time we check, if the latch
mjr 33:d832bcab089e 1472 // stuck, it means that PSU2 is now on after being off.
mjr 35:e959ffba78fd 1473 if (!psu2_status_sense->read())
mjr 33:d832bcab089e 1474 {
mjr 33:d832bcab089e 1475 // switch to OFF state
mjr 33:d832bcab089e 1476 psu2_state = 2;
mjr 33:d832bcab089e 1477
mjr 33:d832bcab089e 1478 // try setting the latch
mjr 35:e959ffba78fd 1479 psu2_status_set->write(1);
mjr 33:d832bcab089e 1480 }
mjr 33:d832bcab089e 1481 break;
mjr 33:d832bcab089e 1482
mjr 33:d832bcab089e 1483 case 2:
mjr 33:d832bcab089e 1484 // PSU2 was off last time we checked, and we tried setting
mjr 33:d832bcab089e 1485 // the latch. Drop the SET signal and go to CHECK state.
mjr 35:e959ffba78fd 1486 psu2_status_set->write(0);
mjr 33:d832bcab089e 1487 psu2_state = 3;
mjr 33:d832bcab089e 1488 break;
mjr 33:d832bcab089e 1489
mjr 33:d832bcab089e 1490 case 3:
mjr 33:d832bcab089e 1491 // CHECK state: we pulsed SET, and we're now ready to see
mjr 33:d832bcab089e 1492 // if that stuck. If the latch is now on, PSU2 has transitioned
mjr 33:d832bcab089e 1493 // from OFF to ON, so start the TV countdown. If the latch is
mjr 33:d832bcab089e 1494 // off, our SET command didn't stick, so PSU2 is still off.
mjr 35:e959ffba78fd 1495 if (psu2_status_sense->read())
mjr 33:d832bcab089e 1496 {
mjr 33:d832bcab089e 1497 // The latch stuck, so PSU2 has transitioned from OFF
mjr 33:d832bcab089e 1498 // to ON. Start the TV countdown timer.
mjr 33:d832bcab089e 1499 tv_timer.reset();
mjr 33:d832bcab089e 1500 tv_timer.start();
mjr 33:d832bcab089e 1501 psu2_state = 4;
mjr 33:d832bcab089e 1502 }
mjr 33:d832bcab089e 1503 else
mjr 33:d832bcab089e 1504 {
mjr 33:d832bcab089e 1505 // The latch didn't stick, so PSU2 was still off at
mjr 33:d832bcab089e 1506 // our last check. Try pulsing it again in case PSU2
mjr 33:d832bcab089e 1507 // was turned on since the last check.
mjr 35:e959ffba78fd 1508 psu2_status_set->write(1);
mjr 33:d832bcab089e 1509 psu2_state = 2;
mjr 33:d832bcab089e 1510 }
mjr 33:d832bcab089e 1511 break;
mjr 33:d832bcab089e 1512
mjr 33:d832bcab089e 1513 case 4:
mjr 33:d832bcab089e 1514 // TV timer countdown in progress. If we've reached the
mjr 33:d832bcab089e 1515 // delay time, pulse the relay.
mjr 35:e959ffba78fd 1516 if (tv_timer.read() >= tv_delay_time)
mjr 33:d832bcab089e 1517 {
mjr 33:d832bcab089e 1518 // turn on the relay for one timer interval
mjr 35:e959ffba78fd 1519 tv_relay->write(1);
mjr 33:d832bcab089e 1520 psu2_state = 5;
mjr 33:d832bcab089e 1521 }
mjr 33:d832bcab089e 1522 break;
mjr 33:d832bcab089e 1523
mjr 33:d832bcab089e 1524 case 5:
mjr 33:d832bcab089e 1525 // TV timer relay on. We pulse this for one interval, so
mjr 33:d832bcab089e 1526 // it's now time to turn it off and return to the default state.
mjr 35:e959ffba78fd 1527 tv_relay->write(0);
mjr 33:d832bcab089e 1528 psu2_state = 1;
mjr 33:d832bcab089e 1529 break;
mjr 33:d832bcab089e 1530 }
mjr 33:d832bcab089e 1531 }
mjr 33:d832bcab089e 1532
mjr 35:e959ffba78fd 1533 // Start the TV ON checker. If the status sense circuit is enabled in
mjr 35:e959ffba78fd 1534 // the configuration, we'll set up the pin connections and start the
mjr 35:e959ffba78fd 1535 // interrupt handler that periodically checks the status. Does nothing
mjr 35:e959ffba78fd 1536 // if any of the pins are configured as NC.
mjr 35:e959ffba78fd 1537 void startTVTimer(Config &cfg)
mjr 35:e959ffba78fd 1538 {
mjr 35:e959ffba78fd 1539 // only start the timer if the status sense circuit pins are configured
mjr 35:e959ffba78fd 1540 if (cfg.TVON.statusPin != NC && cfg.TVON.latchPin != NC && cfg.TVON.relayPin != NC)
mjr 35:e959ffba78fd 1541 {
mjr 35:e959ffba78fd 1542 psu2_status_sense = new DigitalIn(cfg.TVON.statusPin);
mjr 35:e959ffba78fd 1543 psu2_status_set = new DigitalOut(cfg.TVON.latchPin);
mjr 35:e959ffba78fd 1544 tv_relay = new DigitalOut(cfg.TVON.relayPin);
mjr 35:e959ffba78fd 1545 tv_delay_time = cfg.TVON.delayTime;
mjr 35:e959ffba78fd 1546
mjr 35:e959ffba78fd 1547 // Set up our time routine to run every 1/4 second.
mjr 35:e959ffba78fd 1548 tv_ticker.attach(&TVTimerInt, 0.25);
mjr 35:e959ffba78fd 1549 }
mjr 35:e959ffba78fd 1550 }
mjr 35:e959ffba78fd 1551
mjr 35:e959ffba78fd 1552 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 1553 //
mjr 35:e959ffba78fd 1554 // In-memory configuration data structure. This is the live version in RAM
mjr 35:e959ffba78fd 1555 // that we use to determine how things are set up.
mjr 35:e959ffba78fd 1556 //
mjr 35:e959ffba78fd 1557 // When we save the configuration settings, we copy this structure to
mjr 35:e959ffba78fd 1558 // non-volatile flash memory. At startup, we check the flash location where
mjr 35:e959ffba78fd 1559 // we might have saved settings on a previous run, and it's valid, we copy
mjr 35:e959ffba78fd 1560 // the flash data to this structure. Firmware updates wipe the flash
mjr 35:e959ffba78fd 1561 // memory area, so you have to use the PC config tool to send the settings
mjr 35:e959ffba78fd 1562 // again each time the firmware is updated.
mjr 35:e959ffba78fd 1563 //
mjr 35:e959ffba78fd 1564 NVM nvm;
mjr 35:e959ffba78fd 1565
mjr 35:e959ffba78fd 1566 // For convenience, a macro for the Config part of the NVM structure
mjr 35:e959ffba78fd 1567 #define cfg (nvm.d.c)
mjr 35:e959ffba78fd 1568
mjr 35:e959ffba78fd 1569 // flash memory controller interface
mjr 35:e959ffba78fd 1570 FreescaleIAP iap;
mjr 35:e959ffba78fd 1571
mjr 35:e959ffba78fd 1572 // figure the flash address as a pointer along with the number of sectors
mjr 35:e959ffba78fd 1573 // required to store the structure
mjr 35:e959ffba78fd 1574 NVM *configFlashAddr(int &addr, int &numSectors)
mjr 35:e959ffba78fd 1575 {
mjr 35:e959ffba78fd 1576 // figure how many flash sectors we span, rounding up to whole sectors
mjr 35:e959ffba78fd 1577 numSectors = (sizeof(NVM) + SECTOR_SIZE - 1)/SECTOR_SIZE;
mjr 35:e959ffba78fd 1578
mjr 35:e959ffba78fd 1579 // figure the address - this is the highest flash address where the
mjr 35:e959ffba78fd 1580 // structure will fit with the start aligned on a sector boundary
mjr 35:e959ffba78fd 1581 addr = iap.flash_size() - (numSectors * SECTOR_SIZE);
mjr 35:e959ffba78fd 1582
mjr 35:e959ffba78fd 1583 // return the address as a pointer
mjr 35:e959ffba78fd 1584 return (NVM *)addr;
mjr 35:e959ffba78fd 1585 }
mjr 35:e959ffba78fd 1586
mjr 35:e959ffba78fd 1587 // figure the flash address as a pointer
mjr 35:e959ffba78fd 1588 NVM *configFlashAddr()
mjr 35:e959ffba78fd 1589 {
mjr 35:e959ffba78fd 1590 int addr, numSectors;
mjr 35:e959ffba78fd 1591 return configFlashAddr(addr, numSectors);
mjr 35:e959ffba78fd 1592 }
mjr 35:e959ffba78fd 1593
mjr 35:e959ffba78fd 1594 // Load the config from flash
mjr 35:e959ffba78fd 1595 void loadConfigFromFlash()
mjr 35:e959ffba78fd 1596 {
mjr 35:e959ffba78fd 1597 // We want to use the KL25Z's on-board flash to store our configuration
mjr 35:e959ffba78fd 1598 // data persistently, so that we can restore it across power cycles.
mjr 35:e959ffba78fd 1599 // Unfortunatly, the mbed platform doesn't explicitly support this.
mjr 35:e959ffba78fd 1600 // mbed treats the on-board flash as a raw storage device for linker
mjr 35:e959ffba78fd 1601 // output, and assumes that the linker output is the only thing
mjr 35:e959ffba78fd 1602 // stored there. There's no file system and no allowance for shared
mjr 35:e959ffba78fd 1603 // use for other purposes. Fortunately, the linker ues the space in
mjr 35:e959ffba78fd 1604 // the obvious way, storing the entire linked program in a contiguous
mjr 35:e959ffba78fd 1605 // block starting at the lowest flash address. This means that the
mjr 35:e959ffba78fd 1606 // rest of flash - from the end of the linked program to the highest
mjr 35:e959ffba78fd 1607 // flash address - is all unused free space. Writing our data there
mjr 35:e959ffba78fd 1608 // won't conflict with anything else. Since the linker doesn't give
mjr 35:e959ffba78fd 1609 // us any programmatic access to the total linker output size, it's
mjr 35:e959ffba78fd 1610 // safest to just store our config data at the very end of the flash
mjr 35:e959ffba78fd 1611 // region (i.e., the highest address). As long as it's smaller than
mjr 35:e959ffba78fd 1612 // the free space, it won't collide with the linker area.
mjr 35:e959ffba78fd 1613
mjr 35:e959ffba78fd 1614 // Figure how many sectors we need for our structure
mjr 35:e959ffba78fd 1615 NVM *flash = configFlashAddr();
mjr 35:e959ffba78fd 1616
mjr 35:e959ffba78fd 1617 // if the flash is valid, load it; otherwise initialize to defaults
mjr 35:e959ffba78fd 1618 if (flash->valid())
mjr 35:e959ffba78fd 1619 {
mjr 35:e959ffba78fd 1620 // flash is valid - load it into the RAM copy of the structure
mjr 35:e959ffba78fd 1621 memcpy(&nvm, flash, sizeof(NVM));
mjr 35:e959ffba78fd 1622 }
mjr 35:e959ffba78fd 1623 else
mjr 35:e959ffba78fd 1624 {
mjr 35:e959ffba78fd 1625 // flash is invalid - load factory settings nito RAM structure
mjr 35:e959ffba78fd 1626 cfg.setFactoryDefaults();
mjr 35:e959ffba78fd 1627 }
mjr 35:e959ffba78fd 1628 }
mjr 35:e959ffba78fd 1629
mjr 35:e959ffba78fd 1630 void saveConfigToFlash()
mjr 33:d832bcab089e 1631 {
mjr 35:e959ffba78fd 1632 int addr, sectors;
mjr 35:e959ffba78fd 1633 configFlashAddr(addr, sectors);
mjr 35:e959ffba78fd 1634 nvm.save(iap, addr);
mjr 35:e959ffba78fd 1635 }
mjr 35:e959ffba78fd 1636
mjr 35:e959ffba78fd 1637 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 1638 //
mjr 35:e959ffba78fd 1639 // Plunger Sensor
mjr 35:e959ffba78fd 1640 //
mjr 35:e959ffba78fd 1641
mjr 35:e959ffba78fd 1642 // the plunger sensor interface object
mjr 35:e959ffba78fd 1643 PlungerSensor *plungerSensor = 0;
mjr 35:e959ffba78fd 1644
mjr 35:e959ffba78fd 1645 // Create the plunger sensor based on the current configuration. If
mjr 35:e959ffba78fd 1646 // there's already a sensor object, we'll delete it.
mjr 35:e959ffba78fd 1647 void createPlunger()
mjr 35:e959ffba78fd 1648 {
mjr 35:e959ffba78fd 1649 // delete any existing sensor object
mjr 35:e959ffba78fd 1650 if (plungerSensor != 0)
mjr 35:e959ffba78fd 1651 delete plungerSensor;
mjr 35:e959ffba78fd 1652
mjr 35:e959ffba78fd 1653 // create the new sensor object according to the type
mjr 35:e959ffba78fd 1654 switch (cfg.plunger.sensorType)
mjr 35:e959ffba78fd 1655 {
mjr 35:e959ffba78fd 1656 case PlungerType_TSL1410RS:
mjr 35:e959ffba78fd 1657 // pins are: SI, CLOCK, AO
mjr 35:e959ffba78fd 1658 plungerSensor = new PlungerSensorTSL1410R(cfg.plunger.sensorPin[0], cfg.plunger.sensorPin[1], cfg.plunger.sensorPin[2], NC);
mjr 35:e959ffba78fd 1659 break;
mjr 35:e959ffba78fd 1660
mjr 35:e959ffba78fd 1661 case PlungerType_TSL1410RP:
mjr 35:e959ffba78fd 1662 // pins are: SI, CLOCK, AO1, AO2
mjr 35:e959ffba78fd 1663 plungerSensor = new PlungerSensorTSL1410R(cfg.plunger.sensorPin[0], cfg.plunger.sensorPin[1], cfg.plunger.sensorPin[2], cfg.plunger.sensorPin[3]);
mjr 35:e959ffba78fd 1664 break;
mjr 35:e959ffba78fd 1665
mjr 35:e959ffba78fd 1666 case PlungerType_TSL1412RS:
mjr 35:e959ffba78fd 1667 // pins are: SI, CLOCK, AO1, AO2
mjr 35:e959ffba78fd 1668 plungerSensor = new PlungerSensorTSL1412R(cfg.plunger.sensorPin[0], cfg.plunger.sensorPin[1], cfg.plunger.sensorPin[2], NC);
mjr 35:e959ffba78fd 1669 break;
mjr 35:e959ffba78fd 1670
mjr 35:e959ffba78fd 1671 case PlungerType_TSL1412RP:
mjr 35:e959ffba78fd 1672 // pins are: SI, CLOCK, AO1, AO2
mjr 35:e959ffba78fd 1673 plungerSensor = new PlungerSensorTSL1412R(cfg.plunger.sensorPin[0], cfg.plunger.sensorPin[1], cfg.plunger.sensorPin[2], cfg.plunger.sensorPin[3]);
mjr 35:e959ffba78fd 1674 break;
mjr 35:e959ffba78fd 1675
mjr 35:e959ffba78fd 1676 case PlungerType_Pot:
mjr 35:e959ffba78fd 1677 // pins are: AO
mjr 35:e959ffba78fd 1678 plungerSensor = new PlungerSensorPot(cfg.plunger.sensorPin[0]);
mjr 35:e959ffba78fd 1679 break;
mjr 35:e959ffba78fd 1680
mjr 35:e959ffba78fd 1681 case PlungerType_None:
mjr 35:e959ffba78fd 1682 default:
mjr 35:e959ffba78fd 1683 plungerSensor = new PlungerSensorNull();
mjr 35:e959ffba78fd 1684 break;
mjr 35:e959ffba78fd 1685 }
mjr 33:d832bcab089e 1686 }
mjr 33:d832bcab089e 1687
mjr 35:e959ffba78fd 1688 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 1689 //
mjr 35:e959ffba78fd 1690 // Reboot - resets the microcontroller
mjr 35:e959ffba78fd 1691 //
mjr 35:e959ffba78fd 1692 void reboot(USBJoystick &js)
mjr 35:e959ffba78fd 1693 {
mjr 35:e959ffba78fd 1694 // disconnect from USB
mjr 35:e959ffba78fd 1695 js.disconnect();
mjr 35:e959ffba78fd 1696
mjr 35:e959ffba78fd 1697 // wait a few seconds to make sure the host notices the disconnect
mjr 35:e959ffba78fd 1698 wait(5);
mjr 35:e959ffba78fd 1699
mjr 35:e959ffba78fd 1700 // reset the device
mjr 35:e959ffba78fd 1701 NVIC_SystemReset();
mjr 35:e959ffba78fd 1702 while (true) { }
mjr 35:e959ffba78fd 1703 }
mjr 35:e959ffba78fd 1704
mjr 35:e959ffba78fd 1705 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 1706 //
mjr 35:e959ffba78fd 1707 // Translate joystick readings from raw values to reported values, based
mjr 35:e959ffba78fd 1708 // on the orientation of the controller card in the cabinet.
mjr 35:e959ffba78fd 1709 //
mjr 35:e959ffba78fd 1710 void accelRotate(int &x, int &y)
mjr 35:e959ffba78fd 1711 {
mjr 35:e959ffba78fd 1712 int tmp;
mjr 35:e959ffba78fd 1713 switch (cfg.orientation)
mjr 35:e959ffba78fd 1714 {
mjr 35:e959ffba78fd 1715 case OrientationFront:
mjr 35:e959ffba78fd 1716 tmp = x;
mjr 35:e959ffba78fd 1717 x = y;
mjr 35:e959ffba78fd 1718 y = tmp;
mjr 35:e959ffba78fd 1719 break;
mjr 35:e959ffba78fd 1720
mjr 35:e959ffba78fd 1721 case OrientationLeft:
mjr 35:e959ffba78fd 1722 x = -x;
mjr 35:e959ffba78fd 1723 break;
mjr 35:e959ffba78fd 1724
mjr 35:e959ffba78fd 1725 case OrientationRight:
mjr 35:e959ffba78fd 1726 y = -y;
mjr 35:e959ffba78fd 1727 break;
mjr 35:e959ffba78fd 1728
mjr 35:e959ffba78fd 1729 case OrientationRear:
mjr 35:e959ffba78fd 1730 tmp = -x;
mjr 35:e959ffba78fd 1731 x = -y;
mjr 35:e959ffba78fd 1732 y = tmp;
mjr 35:e959ffba78fd 1733 break;
mjr 35:e959ffba78fd 1734 }
mjr 35:e959ffba78fd 1735 }
mjr 35:e959ffba78fd 1736
mjr 35:e959ffba78fd 1737 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 1738 //
mjr 35:e959ffba78fd 1739 // Device status. We report this on each update so that the host config
mjr 35:e959ffba78fd 1740 // tool can detect our current settings. This is a bit mask consisting
mjr 35:e959ffba78fd 1741 // of these bits:
mjr 35:e959ffba78fd 1742 // 0x0001 -> plunger sensor enabled
mjr 35:e959ffba78fd 1743 // 0x8000 -> RESERVED - must always be zero
mjr 35:e959ffba78fd 1744 //
mjr 35:e959ffba78fd 1745 // Note that the high bit (0x8000) must always be 0, since we use that
mjr 35:e959ffba78fd 1746 // to distinguish special request reply packets.
mjr 35:e959ffba78fd 1747 uint16_t statusFlags;
mjr 35:e959ffba78fd 1748
mjr 35:e959ffba78fd 1749 // flag: send a pixel dump after the next read
mjr 35:e959ffba78fd 1750 bool reportPix = false;
mjr 35:e959ffba78fd 1751
mjr 33:d832bcab089e 1752
mjr 35:e959ffba78fd 1753 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 1754 //
mjr 35:e959ffba78fd 1755 // Calibration button state:
mjr 35:e959ffba78fd 1756 // 0 = not pushed
mjr 35:e959ffba78fd 1757 // 1 = pushed, not yet debounced
mjr 35:e959ffba78fd 1758 // 2 = pushed, debounced, waiting for hold time
mjr 35:e959ffba78fd 1759 // 3 = pushed, hold time completed - in calibration mode
mjr 35:e959ffba78fd 1760 int calBtnState = 0;
mjr 35:e959ffba78fd 1761
mjr 35:e959ffba78fd 1762 // calibration button debounce timer
mjr 35:e959ffba78fd 1763 Timer calBtnTimer;
mjr 35:e959ffba78fd 1764
mjr 35:e959ffba78fd 1765 // calibration button light state
mjr 35:e959ffba78fd 1766 int calBtnLit = false;
mjr 35:e959ffba78fd 1767
mjr 35:e959ffba78fd 1768
mjr 35:e959ffba78fd 1769 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 1770 //
mjr 35:e959ffba78fd 1771 // Handle a configuration variable update. 'data' is the USB message we
mjr 35:e959ffba78fd 1772 // received from the host.
mjr 35:e959ffba78fd 1773 //
mjr 35:e959ffba78fd 1774 void configVarMsg(uint8_t *data)
mjr 35:e959ffba78fd 1775 {
mjr 35:e959ffba78fd 1776 switch (data[1])
mjr 35:e959ffba78fd 1777 {
mjr 35:e959ffba78fd 1778 case 1:
mjr 35:e959ffba78fd 1779 // USB identification (Vendor ID, Product ID)
mjr 35:e959ffba78fd 1780 cfg.usbVendorID = wireUI16(data+2);
mjr 35:e959ffba78fd 1781 cfg.usbProductID = wireUI16(data+4);
mjr 35:e959ffba78fd 1782 break;
mjr 35:e959ffba78fd 1783
mjr 35:e959ffba78fd 1784 case 2:
mjr 35:e959ffba78fd 1785 // Pinscape Controller unit number - note that data[2] contains
mjr 35:e959ffba78fd 1786 // the nominal unit number, 1-16
mjr 35:e959ffba78fd 1787 if (data[2] >= 1 && data[2] <= 16)
mjr 35:e959ffba78fd 1788 cfg.psUnitNo = data[2];
mjr 35:e959ffba78fd 1789 break;
mjr 35:e959ffba78fd 1790
mjr 35:e959ffba78fd 1791 case 3:
mjr 35:e959ffba78fd 1792 // Enable/disable joystick
mjr 35:e959ffba78fd 1793 cfg.joystickEnabled = data[2];
mjr 35:e959ffba78fd 1794 break;
mjr 35:e959ffba78fd 1795
mjr 35:e959ffba78fd 1796 case 4:
mjr 35:e959ffba78fd 1797 // Accelerometer orientation
mjr 35:e959ffba78fd 1798 cfg.orientation = data[2];
mjr 35:e959ffba78fd 1799 break;
mjr 35:e959ffba78fd 1800
mjr 35:e959ffba78fd 1801 case 5:
mjr 35:e959ffba78fd 1802 // Plunger sensor type
mjr 35:e959ffba78fd 1803 cfg.plunger.sensorType = data[2];
mjr 35:e959ffba78fd 1804 break;
mjr 35:e959ffba78fd 1805
mjr 35:e959ffba78fd 1806 case 6:
mjr 35:e959ffba78fd 1807 // Set plunger pin assignments
mjr 35:e959ffba78fd 1808 cfg.plunger.sensorPin[0] = wirePinName(data[2]);
mjr 35:e959ffba78fd 1809 cfg.plunger.sensorPin[1] = wirePinName(data[3]);
mjr 35:e959ffba78fd 1810 cfg.plunger.sensorPin[2] = wirePinName(data[4]);
mjr 35:e959ffba78fd 1811 cfg.plunger.sensorPin[3] = wirePinName(data[5]);
mjr 35:e959ffba78fd 1812 break;
mjr 35:e959ffba78fd 1813
mjr 35:e959ffba78fd 1814 case 7:
mjr 35:e959ffba78fd 1815 // Plunger calibration button and indicator light pin assignments
mjr 35:e959ffba78fd 1816 cfg.plunger.cal.btn = wirePinName(data[2]);
mjr 35:e959ffba78fd 1817 cfg.plunger.cal.led = wirePinName(data[3]);
mjr 35:e959ffba78fd 1818 break;
mjr 35:e959ffba78fd 1819
mjr 35:e959ffba78fd 1820 case 8:
mjr 35:e959ffba78fd 1821 // ZB Launch Ball setup
mjr 35:e959ffba78fd 1822 cfg.plunger.zbLaunchBall.port = (int)(unsigned char)data[2];
mjr 35:e959ffba78fd 1823 cfg.plunger.zbLaunchBall.btn = (int)(unsigned char)data[3];
mjr 35:e959ffba78fd 1824 cfg.plunger.zbLaunchBall.pushDistance = (float)wireUI16(data+4) / 1000.0;
mjr 35:e959ffba78fd 1825 break;
mjr 35:e959ffba78fd 1826
mjr 35:e959ffba78fd 1827 case 9:
mjr 35:e959ffba78fd 1828 // TV ON setup
mjr 35:e959ffba78fd 1829 cfg.TVON.statusPin = wirePinName(data[2]);
mjr 35:e959ffba78fd 1830 cfg.TVON.latchPin = wirePinName(data[3]);
mjr 35:e959ffba78fd 1831 cfg.TVON.relayPin = wirePinName(data[4]);
mjr 35:e959ffba78fd 1832 cfg.TVON.delayTime = (float)wireUI16(data+5) / 100.0;
mjr 35:e959ffba78fd 1833 break;
mjr 35:e959ffba78fd 1834
mjr 35:e959ffba78fd 1835 case 10:
mjr 35:e959ffba78fd 1836 // TLC5940NT PWM controller chip setup
mjr 35:e959ffba78fd 1837 cfg.tlc5940.nchips = (int)(unsigned char)data[2];
mjr 35:e959ffba78fd 1838 cfg.tlc5940.sin = wirePinName(data[3]);
mjr 35:e959ffba78fd 1839 cfg.tlc5940.sclk = wirePinName(data[4]);
mjr 35:e959ffba78fd 1840 cfg.tlc5940.xlat = wirePinName(data[5]);
mjr 35:e959ffba78fd 1841 cfg.tlc5940.blank = wirePinName(data[6]);
mjr 35:e959ffba78fd 1842 cfg.tlc5940.gsclk = wirePinName(data[7]);
mjr 35:e959ffba78fd 1843 break;
mjr 35:e959ffba78fd 1844
mjr 35:e959ffba78fd 1845 case 11:
mjr 35:e959ffba78fd 1846 // 74HC595 shift register chip setup
mjr 35:e959ffba78fd 1847 cfg.hc595.nchips = (int)(unsigned char)data[2];
mjr 35:e959ffba78fd 1848 cfg.hc595.sin = wirePinName(data[3]);
mjr 35:e959ffba78fd 1849 cfg.hc595.sclk = wirePinName(data[4]);
mjr 35:e959ffba78fd 1850 cfg.hc595.latch = wirePinName(data[5]);
mjr 35:e959ffba78fd 1851 cfg.hc595.ena = wirePinName(data[6]);
mjr 35:e959ffba78fd 1852 break;
mjr 35:e959ffba78fd 1853
mjr 35:e959ffba78fd 1854 case 12:
mjr 35:e959ffba78fd 1855 // button setup
mjr 35:e959ffba78fd 1856 {
mjr 35:e959ffba78fd 1857 // get the button number
mjr 35:e959ffba78fd 1858 int idx = data[2];
mjr 35:e959ffba78fd 1859
mjr 35:e959ffba78fd 1860 // if it's in range, set the button data
mjr 35:e959ffba78fd 1861 if (idx > 0 && idx <= MAX_BUTTONS)
mjr 35:e959ffba78fd 1862 {
mjr 35:e959ffba78fd 1863 // adjust to an array index
mjr 35:e959ffba78fd 1864 --idx;
mjr 35:e959ffba78fd 1865
mjr 35:e959ffba78fd 1866 // set the values
mjr 35:e959ffba78fd 1867 cfg.button[idx].pin = data[3];
mjr 35:e959ffba78fd 1868 cfg.button[idx].typ = data[4];
mjr 35:e959ffba78fd 1869 cfg.button[idx].val = data[5];
mjr 35:e959ffba78fd 1870 }
mjr 35:e959ffba78fd 1871 }
mjr 35:e959ffba78fd 1872 break;
mjr 35:e959ffba78fd 1873
mjr 35:e959ffba78fd 1874 case 13:
mjr 35:e959ffba78fd 1875 // LedWiz output port setup
mjr 35:e959ffba78fd 1876 {
mjr 35:e959ffba78fd 1877 // get the port number
mjr 35:e959ffba78fd 1878 int idx = data[2];
mjr 35:e959ffba78fd 1879
mjr 35:e959ffba78fd 1880 // if it's in range, set the port data
mjr 35:e959ffba78fd 1881 if (idx > 0 && idx <= MAX_OUT_PORTS)
mjr 35:e959ffba78fd 1882 {
mjr 35:e959ffba78fd 1883 // adjust to an array index
mjr 35:e959ffba78fd 1884 --idx;
mjr 35:e959ffba78fd 1885
mjr 35:e959ffba78fd 1886 // set the values
mjr 35:e959ffba78fd 1887 cfg.outPort[idx].typ = data[3];
mjr 35:e959ffba78fd 1888 cfg.outPort[idx].pin = data[4];
mjr 35:e959ffba78fd 1889 cfg.outPort[idx].flags = data[5];
mjr 35:e959ffba78fd 1890 }
mjr 35:e959ffba78fd 1891 }
mjr 35:e959ffba78fd 1892 break;
mjr 35:e959ffba78fd 1893 }
mjr 35:e959ffba78fd 1894 }
mjr 35:e959ffba78fd 1895
mjr 35:e959ffba78fd 1896 // ---------------------------------------------------------------------------
mjr 35:e959ffba78fd 1897 //
mjr 35:e959ffba78fd 1898 // Handle an input report from the USB host. Input reports use our extended
mjr 35:e959ffba78fd 1899 // LedWiz protocol.
mjr 33:d832bcab089e 1900 //
mjr 35:e959ffba78fd 1901 void handleInputMsg(HID_REPORT &report, USBJoystick &js, int &z)
mjr 35:e959ffba78fd 1902 {
mjr 35:e959ffba78fd 1903 // all Led-Wiz reports are exactly 8 bytes
mjr 35:e959ffba78fd 1904 if (report.length == 8)
mjr 35:e959ffba78fd 1905 {
mjr 35:e959ffba78fd 1906 // LedWiz commands come in two varieties: SBA and PBA. An
mjr 35:e959ffba78fd 1907 // SBA is marked by the first byte having value 64 (0x40). In
mjr 35:e959ffba78fd 1908 // the real LedWiz protocol, any other value in the first byte
mjr 35:e959ffba78fd 1909 // means it's a PBA message. However, *valid* PBA messages
mjr 35:e959ffba78fd 1910 // always have a first byte (and in fact all 8 bytes) in the
mjr 35:e959ffba78fd 1911 // range 0-49 or 129-132. Anything else is invalid. We take
mjr 35:e959ffba78fd 1912 // advantage of this to implement private protocol extensions.
mjr 35:e959ffba78fd 1913 // So our full protocol is as follows:
mjr 35:e959ffba78fd 1914 //
mjr 35:e959ffba78fd 1915 // first byte =
mjr 35:e959ffba78fd 1916 // 0-48 -> LWZ-PBA
mjr 35:e959ffba78fd 1917 // 64 -> LWZ SBA
mjr 35:e959ffba78fd 1918 // 65 -> private control message; second byte specifies subtype
mjr 35:e959ffba78fd 1919 // 129-132 -> LWZ-PBA
mjr 35:e959ffba78fd 1920 // 200-228 -> extended bank brightness set for outputs N to N+6, where
mjr 35:e959ffba78fd 1921 // N is (first byte - 200)*7
mjr 35:e959ffba78fd 1922 // other -> reserved for future use
mjr 35:e959ffba78fd 1923 //
mjr 35:e959ffba78fd 1924 uint8_t *data = report.data;
mjr 35:e959ffba78fd 1925 if (data[0] == 64)
mjr 35:e959ffba78fd 1926 {
mjr 35:e959ffba78fd 1927 // LWZ-SBA - first four bytes are bit-packed on/off flags
mjr 35:e959ffba78fd 1928 // for the outputs; 5th byte is the pulse speed (1-7)
mjr 35:e959ffba78fd 1929 //printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n",
mjr 35:e959ffba78fd 1930 // data[1], data[2], data[3], data[4], data[5]);
mjr 35:e959ffba78fd 1931
mjr 35:e959ffba78fd 1932 // update all on/off states
mjr 35:e959ffba78fd 1933 for (int i = 0, bit = 1, ri = 1 ; i < numLwOutputs ; ++i, bit <<= 1)
mjr 35:e959ffba78fd 1934 {
mjr 35:e959ffba78fd 1935 // figure the on/off state bit for this output
mjr 35:e959ffba78fd 1936 if (bit == 0x100) {
mjr 35:e959ffba78fd 1937 bit = 1;
mjr 35:e959ffba78fd 1938 ++ri;
mjr 35:e959ffba78fd 1939 }
mjr 35:e959ffba78fd 1940
mjr 35:e959ffba78fd 1941 // set the on/off state
mjr 35:e959ffba78fd 1942 wizOn[i] = ((data[ri] & bit) != 0);
mjr 35:e959ffba78fd 1943
mjr 35:e959ffba78fd 1944 // If the wizVal setting is 255, it means that this
mjr 35:e959ffba78fd 1945 // output was last set to a brightness value with the
mjr 35:e959ffba78fd 1946 // extended protocol. Return it to LedWiz control by
mjr 35:e959ffba78fd 1947 // rescaling the brightness setting to the LedWiz range
mjr 35:e959ffba78fd 1948 // and updating wizVal with the result. If it's any
mjr 35:e959ffba78fd 1949 // other value, it was previously set by a PBA message,
mjr 35:e959ffba78fd 1950 // so simply retain the last setting - in the normal
mjr 35:e959ffba78fd 1951 // LedWiz protocol, the "profile" (brightness) and on/off
mjr 35:e959ffba78fd 1952 // states are independent, so an SBA just turns an output
mjr 35:e959ffba78fd 1953 // on or off but retains its last brightness level.
mjr 35:e959ffba78fd 1954 if (wizVal[i] == 255)
mjr 35:e959ffba78fd 1955 wizVal[i] = (uint8_t)round(outLevel[i]*48);
mjr 35:e959ffba78fd 1956 }
mjr 35:e959ffba78fd 1957
mjr 35:e959ffba78fd 1958 // set the flash speed - enforce the value range 1-7
mjr 35:e959ffba78fd 1959 wizSpeed = data[5];
mjr 35:e959ffba78fd 1960 if (wizSpeed < 1)
mjr 35:e959ffba78fd 1961 wizSpeed = 1;
mjr 35:e959ffba78fd 1962 else if (wizSpeed > 7)
mjr 35:e959ffba78fd 1963 wizSpeed = 7;
mjr 35:e959ffba78fd 1964
mjr 35:e959ffba78fd 1965 // update the physical outputs
mjr 35:e959ffba78fd 1966 updateWizOuts();
mjr 35:e959ffba78fd 1967 if (hc595 != 0)
mjr 35:e959ffba78fd 1968 hc595->update();
mjr 35:e959ffba78fd 1969
mjr 35:e959ffba78fd 1970 // reset the PBA counter
mjr 35:e959ffba78fd 1971 pbaIdx = 0;
mjr 35:e959ffba78fd 1972 }
mjr 35:e959ffba78fd 1973 else if (data[0] == 65)
mjr 35:e959ffba78fd 1974 {
mjr 35:e959ffba78fd 1975 // Private control message. This isn't an LedWiz message - it's
mjr 35:e959ffba78fd 1976 // an extension for this device. 65 is an invalid PBA setting,
mjr 35:e959ffba78fd 1977 // and isn't used for any other LedWiz message, so we appropriate
mjr 35:e959ffba78fd 1978 // it for our own private use. The first byte specifies the
mjr 35:e959ffba78fd 1979 // message type.
mjr 35:e959ffba78fd 1980 if (data[1] == 1)
mjr 35:e959ffba78fd 1981 {
mjr 35:e959ffba78fd 1982 // 1 = Old Set Configuration:
mjr 35:e959ffba78fd 1983 // data[2] = LedWiz unit number (0x00 to 0x0f)
mjr 35:e959ffba78fd 1984 // data[3] = feature enable bit mask:
mjr 35:e959ffba78fd 1985 // 0x01 = enable plunger sensor
mjr 35:e959ffba78fd 1986
mjr 35:e959ffba78fd 1987 // get the new LedWiz unit number - this is 0-15, whereas we
mjr 35:e959ffba78fd 1988 // we save the *nominal* unit number 1-16 in the config
mjr 35:e959ffba78fd 1989 uint8_t newUnitNo = (data[2] & 0x0f) + 1;
mjr 33:d832bcab089e 1990
mjr 35:e959ffba78fd 1991 // we'll need a reset if the LedWiz unit number is changing
mjr 35:e959ffba78fd 1992 bool needReset = (newUnitNo != cfg.psUnitNo);
mjr 35:e959ffba78fd 1993
mjr 35:e959ffba78fd 1994 // set the configuration parameters from the message
mjr 35:e959ffba78fd 1995 cfg.psUnitNo = newUnitNo;
mjr 35:e959ffba78fd 1996 cfg.plunger.enabled = data[3] & 0x01;
mjr 35:e959ffba78fd 1997
mjr 35:e959ffba78fd 1998 // update the status flags
mjr 35:e959ffba78fd 1999 statusFlags = (statusFlags & ~0x01) | (data[3] & 0x01);
mjr 35:e959ffba78fd 2000
mjr 35:e959ffba78fd 2001 // if the plunger is no longer enabled, use 0 for z reports
mjr 35:e959ffba78fd 2002 if (!cfg.plunger.enabled)
mjr 35:e959ffba78fd 2003 z = 0;
mjr 35:e959ffba78fd 2004
mjr 35:e959ffba78fd 2005 // save the configuration
mjr 35:e959ffba78fd 2006 saveConfigToFlash();
mjr 35:e959ffba78fd 2007
mjr 35:e959ffba78fd 2008 // reboot if necessary
mjr 35:e959ffba78fd 2009 if (needReset)
mjr 35:e959ffba78fd 2010 reboot(js);
mjr 35:e959ffba78fd 2011 }
mjr 35:e959ffba78fd 2012 else if (data[1] == 2)
mjr 35:e959ffba78fd 2013 {
mjr 35:e959ffba78fd 2014 // 2 = Calibrate plunger
mjr 35:e959ffba78fd 2015 // (No parameters)
mjr 35:e959ffba78fd 2016
mjr 35:e959ffba78fd 2017 // enter calibration mode
mjr 35:e959ffba78fd 2018 calBtnState = 3;
mjr 35:e959ffba78fd 2019 calBtnTimer.reset();
mjr 35:e959ffba78fd 2020 cfg.plunger.cal.reset(plungerSensor->npix);
mjr 35:e959ffba78fd 2021 }
mjr 35:e959ffba78fd 2022 else if (data[1] == 3)
mjr 35:e959ffba78fd 2023 {
mjr 35:e959ffba78fd 2024 // 3 = pixel dump
mjr 35:e959ffba78fd 2025 // (No parameters)
mjr 35:e959ffba78fd 2026 reportPix = true;
mjr 35:e959ffba78fd 2027
mjr 35:e959ffba78fd 2028 // show purple until we finish sending the report
mjr 35:e959ffba78fd 2029 ledR = 0;
mjr 35:e959ffba78fd 2030 ledB = 0;
mjr 35:e959ffba78fd 2031 ledG = 1;
mjr 35:e959ffba78fd 2032 }
mjr 35:e959ffba78fd 2033 else if (data[1] == 4)
mjr 35:e959ffba78fd 2034 {
mjr 35:e959ffba78fd 2035 // 4 = hardware configuration query
mjr 35:e959ffba78fd 2036 // (No parameters)
mjr 35:e959ffba78fd 2037 wait_ms(1);
mjr 35:e959ffba78fd 2038 js.reportConfig(
mjr 35:e959ffba78fd 2039 numOutputs,
mjr 35:e959ffba78fd 2040 cfg.psUnitNo - 1, // report 0-15 range for unit number (we store 1-16 internally)
mjr 35:e959ffba78fd 2041 cfg.plunger.cal.zero, cfg.plunger.cal.max);
mjr 35:e959ffba78fd 2042 }
mjr 35:e959ffba78fd 2043 else if (data[1] == 5)
mjr 35:e959ffba78fd 2044 {
mjr 35:e959ffba78fd 2045 // 5 = all outputs off, reset to LedWiz defaults
mjr 35:e959ffba78fd 2046 allOutputsOff();
mjr 35:e959ffba78fd 2047 }
mjr 35:e959ffba78fd 2048 else if (data[1] == 6)
mjr 35:e959ffba78fd 2049 {
mjr 35:e959ffba78fd 2050 // 6 = Save configuration to flash.
mjr 35:e959ffba78fd 2051 saveConfigToFlash();
mjr 35:e959ffba78fd 2052
mjr 35:e959ffba78fd 2053 // Reboot the microcontroller. Nearly all config changes
mjr 35:e959ffba78fd 2054 // require a reset, and a reset only takes a few seconds,
mjr 35:e959ffba78fd 2055 // so we don't bother tracking whether or not a reboot is
mjr 35:e959ffba78fd 2056 // really needed.
mjr 35:e959ffba78fd 2057 reboot(js);
mjr 35:e959ffba78fd 2058 }
mjr 35:e959ffba78fd 2059 }
mjr 35:e959ffba78fd 2060 else if (data[0] == 66)
mjr 35:e959ffba78fd 2061 {
mjr 35:e959ffba78fd 2062 // Extended protocol - Set configuration variable.
mjr 35:e959ffba78fd 2063 // The second byte of the message is the ID of the variable
mjr 35:e959ffba78fd 2064 // to update, and the remaining bytes give the new value,
mjr 35:e959ffba78fd 2065 // in a variable-dependent format.
mjr 35:e959ffba78fd 2066 configVarMsg(data);
mjr 35:e959ffba78fd 2067 }
mjr 35:e959ffba78fd 2068 else if (data[0] >= 200 && data[0] <= 228)
mjr 35:e959ffba78fd 2069 {
mjr 35:e959ffba78fd 2070 // Extended protocol - Extended output port brightness update.
mjr 35:e959ffba78fd 2071 // data[0]-200 gives us the bank of 7 outputs we're setting:
mjr 35:e959ffba78fd 2072 // 200 is outputs 0-6, 201 is outputs 7-13, 202 is 14-20, etc.
mjr 35:e959ffba78fd 2073 // The remaining bytes are brightness levels, 0-255, for the
mjr 35:e959ffba78fd 2074 // seven outputs in the selected bank. The LedWiz flashing
mjr 35:e959ffba78fd 2075 // modes aren't accessible in this message type; we can only
mjr 35:e959ffba78fd 2076 // set a fixed brightness, but in exchange we get 8-bit
mjr 35:e959ffba78fd 2077 // resolution rather than the paltry 0-48 scale that the real
mjr 35:e959ffba78fd 2078 // LedWiz uses. There's no separate on/off status for outputs
mjr 35:e959ffba78fd 2079 // adjusted with this message type, either, as there would be
mjr 35:e959ffba78fd 2080 // for a PBA message - setting a non-zero value immediately
mjr 35:e959ffba78fd 2081 // turns the output, overriding the last SBA setting.
mjr 35:e959ffba78fd 2082 //
mjr 35:e959ffba78fd 2083 // For outputs 0-31, this overrides any previous PBA/SBA
mjr 35:e959ffba78fd 2084 // settings for the port. Any subsequent PBA/SBA message will
mjr 35:e959ffba78fd 2085 // in turn override the setting made here. It's simple - the
mjr 35:e959ffba78fd 2086 // most recent message of either type takes precedence. For
mjr 35:e959ffba78fd 2087 // outputs above the LedWiz range, PBA/SBA messages can't
mjr 35:e959ffba78fd 2088 // address those ports anyway.
mjr 35:e959ffba78fd 2089 int i0 = (data[0] - 200)*7;
mjr 35:e959ffba78fd 2090 int i1 = i0 + 7 < numOutputs ? i0 + 7 : numOutputs;
mjr 35:e959ffba78fd 2091 for (int i = i0 ; i < i1 ; ++i)
mjr 35:e959ffba78fd 2092 {
mjr 35:e959ffba78fd 2093 // set the brightness level for the output
mjr 35:e959ffba78fd 2094 float b = data[i-i0+1]/255.0;
mjr 35:e959ffba78fd 2095 outLevel[i] = b;
mjr 35:e959ffba78fd 2096
mjr 35:e959ffba78fd 2097 // if it's in the basic LedWiz output set, set the LedWiz
mjr 35:e959ffba78fd 2098 // profile value to 255, which means "use outLevel"
mjr 35:e959ffba78fd 2099 if (i < 32)
mjr 35:e959ffba78fd 2100 wizVal[i] = 255;
mjr 35:e959ffba78fd 2101
mjr 35:e959ffba78fd 2102 // set the output
mjr 35:e959ffba78fd 2103 lwPin[i]->set(b);
mjr 35:e959ffba78fd 2104 }
mjr 35:e959ffba78fd 2105
mjr 35:e959ffba78fd 2106 // update 74HC595 outputs, if attached
mjr 35:e959ffba78fd 2107 if (hc595 != 0)
mjr 35:e959ffba78fd 2108 hc595->update();
mjr 35:e959ffba78fd 2109 }
mjr 35:e959ffba78fd 2110 else
mjr 35:e959ffba78fd 2111 {
mjr 35:e959ffba78fd 2112 // Everything else is LWZ-PBA. This is a full "profile"
mjr 35:e959ffba78fd 2113 // dump from the host for one bank of 8 outputs. Each
mjr 35:e959ffba78fd 2114 // byte sets one output in the current bank. The current
mjr 35:e959ffba78fd 2115 // bank is implied; the bank starts at 0 and is reset to 0
mjr 35:e959ffba78fd 2116 // by any LWZ-SBA message, and is incremented to the next
mjr 35:e959ffba78fd 2117 // bank by each LWZ-PBA message. Our variable pbaIdx keeps
mjr 35:e959ffba78fd 2118 // track of our notion of the current bank. There's no direct
mjr 35:e959ffba78fd 2119 // way for the host to select the bank; it just has to count
mjr 35:e959ffba78fd 2120 // on us staying in sync. In practice, the host will always
mjr 35:e959ffba78fd 2121 // send a full set of 4 PBA messages in a row to set all 32
mjr 35:e959ffba78fd 2122 // outputs.
mjr 35:e959ffba78fd 2123 //
mjr 35:e959ffba78fd 2124 // Note that a PBA implicitly overrides our extended profile
mjr 35:e959ffba78fd 2125 // messages (message prefix 200-219), because this sets the
mjr 35:e959ffba78fd 2126 // wizVal[] entry for each output, and that takes precedence
mjr 35:e959ffba78fd 2127 // over the extended protocol settings.
mjr 35:e959ffba78fd 2128 //
mjr 35:e959ffba78fd 2129 //printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n",
mjr 35:e959ffba78fd 2130 // pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]);
mjr 35:e959ffba78fd 2131
mjr 35:e959ffba78fd 2132 // Update all output profile settings
mjr 35:e959ffba78fd 2133 for (int i = 0 ; i < 8 ; ++i)
mjr 35:e959ffba78fd 2134 wizVal[pbaIdx + i] = data[i];
mjr 35:e959ffba78fd 2135
mjr 35:e959ffba78fd 2136 // Update the physical LED state if this is the last bank.
mjr 35:e959ffba78fd 2137 // Note that hosts always send a full set of four PBA
mjr 35:e959ffba78fd 2138 // messages, so there's no need to do a physical update
mjr 35:e959ffba78fd 2139 // until we've received the last bank's PBA message.
mjr 35:e959ffba78fd 2140 if (pbaIdx == 24)
mjr 35:e959ffba78fd 2141 {
mjr 35:e959ffba78fd 2142 updateWizOuts();
mjr 35:e959ffba78fd 2143 if (hc595 != 0)
mjr 35:e959ffba78fd 2144 hc595->update();
mjr 35:e959ffba78fd 2145 pbaIdx = 0;
mjr 35:e959ffba78fd 2146 }
mjr 35:e959ffba78fd 2147 else
mjr 35:e959ffba78fd 2148 pbaIdx += 8;
mjr 35:e959ffba78fd 2149 }
mjr 35:e959ffba78fd 2150 }
mjr 35:e959ffba78fd 2151 }
mjr 17:ab3cec0c8bf4 2152
mjr 17:ab3cec0c8bf4 2153 // ---------------------------------------------------------------------------
mjr 17:ab3cec0c8bf4 2154 //
mjr 5:a70c0bce770d 2155 // Main program loop. This is invoked on startup and runs forever. Our
mjr 5:a70c0bce770d 2156 // main work is to read our devices (the accelerometer and the CCD), process
mjr 5:a70c0bce770d 2157 // the readings into nudge and plunger position data, and send the results
mjr 5:a70c0bce770d 2158 // to the host computer via the USB joystick interface. We also monitor
mjr 5:a70c0bce770d 2159 // the USB connection for incoming LedWiz commands and process those into
mjr 5:a70c0bce770d 2160 // port outputs.
mjr 5:a70c0bce770d 2161 //
mjr 0:5acbbe3f4cf4 2162 int main(void)
mjr 0:5acbbe3f4cf4 2163 {
mjr 1:d913e0afb2ac 2164 // turn off our on-board indicator LED
mjr 4:02c7cd7b2183 2165 ledR = 1;
mjr 4:02c7cd7b2183 2166 ledG = 1;
mjr 4:02c7cd7b2183 2167 ledB = 1;
mjr 1:d913e0afb2ac 2168
mjr 35:e959ffba78fd 2169 // clear the I2C bus for the accelerometer
mjr 35:e959ffba78fd 2170 clear_i2c();
mjr 35:e959ffba78fd 2171
mjr 35:e959ffba78fd 2172 // load the saved configuration
mjr 35:e959ffba78fd 2173 loadConfigFromFlash();
mjr 35:e959ffba78fd 2174
mjr 33:d832bcab089e 2175 // start the TV timer, if applicable
mjr 35:e959ffba78fd 2176 startTVTimer(cfg);
mjr 33:d832bcab089e 2177
mjr 33:d832bcab089e 2178 // we're not connected/awake yet
mjr 33:d832bcab089e 2179 bool connected = false;
mjr 33:d832bcab089e 2180 time_t connectChangeTime = time(0);
mjr 33:d832bcab089e 2181
mjr 35:e959ffba78fd 2182 // create the plunger sensor interface
mjr 35:e959ffba78fd 2183 createPlunger();
mjr 33:d832bcab089e 2184
mjr 35:e959ffba78fd 2185 // set up the TLC5940 interface and start the TLC5940 clock, if applicable
mjr 35:e959ffba78fd 2186 init_tlc5940(cfg);
mjr 34:6b981a2afab7 2187
mjr 34:6b981a2afab7 2188 // enable the 74HC595 chips, if present
mjr 35:e959ffba78fd 2189 init_hc595(cfg);
mjr 6:cc35eb643e8f 2190
mjr 35:e959ffba78fd 2191 // initialize the LedWiz ports
mjr 35:e959ffba78fd 2192 initLwOut(cfg);
mjr 2:c174f9ee414a 2193
mjr 35:e959ffba78fd 2194 // start the TLC5940 clock
mjr 35:e959ffba78fd 2195 if (tlc5940 != 0)
mjr 35:e959ffba78fd 2196 tlc5940->start();
mjr 35:e959ffba78fd 2197
mjr 35:e959ffba78fd 2198 // initialize the button input ports
mjr 35:e959ffba78fd 2199 bool kbKeys = false;
mjr 35:e959ffba78fd 2200 initButtons(cfg, kbKeys);
mjr 35:e959ffba78fd 2201
mjr 6:cc35eb643e8f 2202 // Create the joystick USB client. Note that we use the LedWiz unit
mjr 6:cc35eb643e8f 2203 // number from the saved configuration.
mjr 35:e959ffba78fd 2204 MyUSBJoystick js(cfg.usbVendorID, cfg.usbProductID, USB_VERSION_NO, true, cfg.joystickEnabled, kbKeys);
mjr 17:ab3cec0c8bf4 2205
mjr 17:ab3cec0c8bf4 2206 // last report timer - we use this to throttle reports, since VP
mjr 17:ab3cec0c8bf4 2207 // doesn't want to hear from us more than about every 10ms
mjr 17:ab3cec0c8bf4 2208 Timer reportTimer;
mjr 17:ab3cec0c8bf4 2209 reportTimer.start();
mjr 35:e959ffba78fd 2210
mjr 35:e959ffba78fd 2211 // set the initial status flags
mjr 35:e959ffba78fd 2212 statusFlags = (cfg.plunger.enabled ? 0x01 : 0x00);
mjr 17:ab3cec0c8bf4 2213
mjr 17:ab3cec0c8bf4 2214 // initialize the calibration buttons, if present
mjr 35:e959ffba78fd 2215 DigitalIn *calBtn = (cfg.plunger.cal.btn == NC ? 0 : new DigitalIn(cfg.plunger.cal.btn));
mjr 35:e959ffba78fd 2216 DigitalOut *calBtnLed = (cfg.plunger.cal.led == NC ? 0 : new DigitalOut(cfg.plunger.cal.led));
mjr 6:cc35eb643e8f 2217
mjr 35:e959ffba78fd 2218 // initialize the calibration button
mjr 1:d913e0afb2ac 2219 calBtnTimer.start();
mjr 35:e959ffba78fd 2220 calBtnState = 0;
mjr 1:d913e0afb2ac 2221
mjr 1:d913e0afb2ac 2222 // set up a timer for our heartbeat indicator
mjr 1:d913e0afb2ac 2223 Timer hbTimer;
mjr 1:d913e0afb2ac 2224 hbTimer.start();
mjr 1:d913e0afb2ac 2225 int hb = 0;
mjr 5:a70c0bce770d 2226 uint16_t hbcnt = 0;
mjr 1:d913e0afb2ac 2227
mjr 1:d913e0afb2ac 2228 // set a timer for accelerometer auto-centering
mjr 1:d913e0afb2ac 2229 Timer acTimer;
mjr 1:d913e0afb2ac 2230 acTimer.start();
mjr 1:d913e0afb2ac 2231
mjr 0:5acbbe3f4cf4 2232 // create the accelerometer object
mjr 5:a70c0bce770d 2233 Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN);
mjr 0:5acbbe3f4cf4 2234
mjr 17:ab3cec0c8bf4 2235 // last accelerometer report, in joystick units (we report the nudge
mjr 17:ab3cec0c8bf4 2236 // acceleration via the joystick x & y axes, per the VP convention)
mjr 17:ab3cec0c8bf4 2237 int x = 0, y = 0;
mjr 17:ab3cec0c8bf4 2238
mjr 17:ab3cec0c8bf4 2239 // last plunger report position, in 'npix' normalized pixel units
mjr 17:ab3cec0c8bf4 2240 int pos = 0;
mjr 17:ab3cec0c8bf4 2241
mjr 17:ab3cec0c8bf4 2242 // last plunger report, in joystick units (we report the plunger as the
mjr 17:ab3cec0c8bf4 2243 // "z" axis of the joystick, per the VP convention)
mjr 17:ab3cec0c8bf4 2244 int z = 0;
mjr 17:ab3cec0c8bf4 2245
mjr 17:ab3cec0c8bf4 2246 // most recent prior plunger readings, for tracking release events(z0 is
mjr 17:ab3cec0c8bf4 2247 // reading just before the last one we reported, z1 is the one before that,
mjr 17:ab3cec0c8bf4 2248 // z2 the next before that)
mjr 17:ab3cec0c8bf4 2249 int z0 = 0, z1 = 0, z2 = 0;
mjr 17:ab3cec0c8bf4 2250
mjr 17:ab3cec0c8bf4 2251 // Simulated "bounce" position when firing. We model the bounce off of
mjr 17:ab3cec0c8bf4 2252 // the barrel spring when the plunger is released as proportional to the
mjr 17:ab3cec0c8bf4 2253 // distance it was retracted just before being released.
mjr 17:ab3cec0c8bf4 2254 int zBounce = 0;
mjr 2:c174f9ee414a 2255
mjr 17:ab3cec0c8bf4 2256 // Simulated Launch Ball button state. If a "ZB Launch Ball" port is
mjr 17:ab3cec0c8bf4 2257 // defined for our LedWiz port mapping, any time that port is turned ON,
mjr 17:ab3cec0c8bf4 2258 // we'll simulate pushing the Launch Ball button if the player pulls
mjr 17:ab3cec0c8bf4 2259 // back and releases the plunger, or simply pushes on the plunger from
mjr 17:ab3cec0c8bf4 2260 // the rest position. This allows the plunger to be used in lieu of a
mjr 17:ab3cec0c8bf4 2261 // physical Launch Ball button for tables that don't have plungers.
mjr 17:ab3cec0c8bf4 2262 //
mjr 17:ab3cec0c8bf4 2263 // States:
mjr 17:ab3cec0c8bf4 2264 // 0 = default
mjr 17:ab3cec0c8bf4 2265 // 1 = cocked (plunger has been pulled back about 1" from state 0)
mjr 17:ab3cec0c8bf4 2266 // 2 = uncocked (plunger is pulled back less than 1" from state 1)
mjr 21:5048e16cc9ef 2267 // 3 = launching, plunger is forward beyond park position
mjr 21:5048e16cc9ef 2268 // 4 = launching, plunger is behind park position
mjr 21:5048e16cc9ef 2269 // 5 = pressed and holding (plunger has been pressed forward beyond
mjr 21:5048e16cc9ef 2270 // the park position from state 0)
mjr 17:ab3cec0c8bf4 2271 int lbState = 0;
mjr 6:cc35eb643e8f 2272
mjr 35:e959ffba78fd 2273 // button bit for ZB launch ball button
mjr 35:e959ffba78fd 2274 const uint32_t lbButtonBit = (1 << (cfg.plunger.zbLaunchBall.btn - 1));
mjr 35:e959ffba78fd 2275
mjr 17:ab3cec0c8bf4 2276 // Time since last lbState transition. Some of the states are time-
mjr 17:ab3cec0c8bf4 2277 // sensitive. In the "uncocked" state, we'll return to state 0 if
mjr 17:ab3cec0c8bf4 2278 // we remain in this state for more than a few milliseconds, since
mjr 17:ab3cec0c8bf4 2279 // it indicates that the plunger is being slowly returned to rest
mjr 17:ab3cec0c8bf4 2280 // rather than released. In the "launching" state, we need to release
mjr 17:ab3cec0c8bf4 2281 // the Launch Ball button after a moment, and we need to wait for
mjr 17:ab3cec0c8bf4 2282 // the plunger to come to rest before returning to state 0.
mjr 17:ab3cec0c8bf4 2283 Timer lbTimer;
mjr 17:ab3cec0c8bf4 2284 lbTimer.start();
mjr 17:ab3cec0c8bf4 2285
mjr 18:5e890ebd0023 2286 // Launch Ball simulated push timer. We start this when we simulate
mjr 18:5e890ebd0023 2287 // the button push, and turn off the simulated button when enough time
mjr 18:5e890ebd0023 2288 // has elapsed.
mjr 18:5e890ebd0023 2289 Timer lbBtnTimer;
mjr 18:5e890ebd0023 2290
mjr 17:ab3cec0c8bf4 2291 // Simulated button states. This is a vector of button states
mjr 17:ab3cec0c8bf4 2292 // for the simulated buttons. We combine this with the physical
mjr 17:ab3cec0c8bf4 2293 // button states on each USB joystick report, so we will report
mjr 17:ab3cec0c8bf4 2294 // a button as pressed if either the physical button is being pressed
mjr 17:ab3cec0c8bf4 2295 // or we're simulating a press on the button. This is used for the
mjr 17:ab3cec0c8bf4 2296 // simulated Launch Ball button.
mjr 17:ab3cec0c8bf4 2297 uint32_t simButtons = 0;
mjr 6:cc35eb643e8f 2298
mjr 6:cc35eb643e8f 2299 // Firing in progress: we set this when we detect the start of rapid
mjr 6:cc35eb643e8f 2300 // plunger movement from a retracted position towards the rest position.
mjr 17:ab3cec0c8bf4 2301 //
mjr 17:ab3cec0c8bf4 2302 // When we detect a firing event, we send VP a series of synthetic
mjr 17:ab3cec0c8bf4 2303 // reports simulating the idealized plunger motion. The actual physical
mjr 17:ab3cec0c8bf4 2304 // motion is much too fast to report to VP; in the time between two USB
mjr 17:ab3cec0c8bf4 2305 // reports, the plunger can shoot all the way forward, rebound off of
mjr 17:ab3cec0c8bf4 2306 // the barrel spring, bounce back part way, and bounce forward again,
mjr 17:ab3cec0c8bf4 2307 // or even do all of this more than once. This means that sampling the
mjr 17:ab3cec0c8bf4 2308 // physical motion at the USB report rate would create a misleading
mjr 17:ab3cec0c8bf4 2309 // picture of the plunger motion, since our samples would catch the
mjr 17:ab3cec0c8bf4 2310 // plunger at random points in this oscillating motion. From the
mjr 17:ab3cec0c8bf4 2311 // user's perspective, the physical action that occurred is simply that
mjr 17:ab3cec0c8bf4 2312 // the plunger was released from a particular distance, so it's this
mjr 17:ab3cec0c8bf4 2313 // high-level event that we want to convey to VP. To do this, we
mjr 17:ab3cec0c8bf4 2314 // synthesize a series of reports to convey an idealized version of
mjr 17:ab3cec0c8bf4 2315 // the release motion that's perfectly synchronized to the VP reports.
mjr 17:ab3cec0c8bf4 2316 // Essentially we pretend that our USB position samples are exactly
mjr 17:ab3cec0c8bf4 2317 // aligned in time with (1) the point of retraction just before the
mjr 17:ab3cec0c8bf4 2318 // user released the plunger, (2) the point of maximum forward motion
mjr 17:ab3cec0c8bf4 2319 // just after the user released the plunger (the point of maximum
mjr 17:ab3cec0c8bf4 2320 // compression as the plunger bounces off of the barrel spring), and
mjr 17:ab3cec0c8bf4 2321 // (3) the plunger coming to rest at the park position. This series
mjr 17:ab3cec0c8bf4 2322 // of reports is synthetic in the sense that it's not what we actually
mjr 17:ab3cec0c8bf4 2323 // see on the CCD at the times of these reports - the true plunger
mjr 17:ab3cec0c8bf4 2324 // position is oscillating at high speed during this period. But at
mjr 17:ab3cec0c8bf4 2325 // the same time it conveys a more faithful picture of the true physical
mjr 17:ab3cec0c8bf4 2326 // motion to VP, and allows VP to reproduce the true physical motion
mjr 17:ab3cec0c8bf4 2327 // more faithfully in its simulation model, by correcting for the
mjr 17:ab3cec0c8bf4 2328 // relatively low sampling rate in the communication path between the
mjr 17:ab3cec0c8bf4 2329 // real plunger and VP's model plunger.
mjr 17:ab3cec0c8bf4 2330 //
mjr 17:ab3cec0c8bf4 2331 // If 'firing' is non-zero, it's the index of our current report in
mjr 17:ab3cec0c8bf4 2332 // the synthetic firing report series.
mjr 9:fd65b0a94720 2333 int firing = 0;
mjr 2:c174f9ee414a 2334
mjr 2:c174f9ee414a 2335 // start the first CCD integration cycle
mjr 35:e959ffba78fd 2336 plungerSensor->init();
mjr 10:976666ffa4ef 2337
mjr 1:d913e0afb2ac 2338 // we're all set up - now just loop, processing sensor reports and
mjr 1:d913e0afb2ac 2339 // host requests
mjr 0:5acbbe3f4cf4 2340 for (;;)
mjr 0:5acbbe3f4cf4 2341 {
mjr 18:5e890ebd0023 2342 // Look for an incoming report. Process a few input reports in
mjr 18:5e890ebd0023 2343 // a row, but stop after a few so that a barrage of inputs won't
mjr 20:4c43877327ab 2344 // starve our output event processing. Also, pause briefly between
mjr 20:4c43877327ab 2345 // reads; allowing reads to occur back-to-back seems to occasionally
mjr 20:4c43877327ab 2346 // stall the USB pipeline (for reasons unknown; I'd fix the underlying
mjr 20:4c43877327ab 2347 // problem if I knew what it was).
mjr 0:5acbbe3f4cf4 2348 HID_REPORT report;
mjr 20:4c43877327ab 2349 for (int rr = 0 ; rr < 4 && js.readNB(&report) ; ++rr, wait_ms(1))
mjr 0:5acbbe3f4cf4 2350 {
mjr 35:e959ffba78fd 2351 handleInputMsg(report, js, z);
mjr 0:5acbbe3f4cf4 2352 }
mjr 1:d913e0afb2ac 2353
mjr 1:d913e0afb2ac 2354 // check for plunger calibration
mjr 17:ab3cec0c8bf4 2355 if (calBtn != 0 && !calBtn->read())
mjr 0:5acbbe3f4cf4 2356 {
mjr 1:d913e0afb2ac 2357 // check the state
mjr 1:d913e0afb2ac 2358 switch (calBtnState)
mjr 0:5acbbe3f4cf4 2359 {
mjr 1:d913e0afb2ac 2360 case 0:
mjr 1:d913e0afb2ac 2361 // button not yet pushed - start debouncing
mjr 1:d913e0afb2ac 2362 calBtnTimer.reset();
mjr 1:d913e0afb2ac 2363 calBtnState = 1;
mjr 1:d913e0afb2ac 2364 break;
mjr 1:d913e0afb2ac 2365
mjr 1:d913e0afb2ac 2366 case 1:
mjr 1:d913e0afb2ac 2367 // pushed, not yet debounced - if the debounce time has
mjr 1:d913e0afb2ac 2368 // passed, start the hold period
mjr 9:fd65b0a94720 2369 if (calBtnTimer.read_ms() > 50)
mjr 1:d913e0afb2ac 2370 calBtnState = 2;
mjr 1:d913e0afb2ac 2371 break;
mjr 1:d913e0afb2ac 2372
mjr 1:d913e0afb2ac 2373 case 2:
mjr 1:d913e0afb2ac 2374 // in the hold period - if the button has been held down
mjr 1:d913e0afb2ac 2375 // for the entire hold period, move to calibration mode
mjr 9:fd65b0a94720 2376 if (calBtnTimer.read_ms() > 2050)
mjr 1:d913e0afb2ac 2377 {
mjr 1:d913e0afb2ac 2378 // enter calibration mode
mjr 1:d913e0afb2ac 2379 calBtnState = 3;
mjr 9:fd65b0a94720 2380 calBtnTimer.reset();
mjr 35:e959ffba78fd 2381
mjr 35:e959ffba78fd 2382 // reset the plunger calibration limits
mjr 35:e959ffba78fd 2383 cfg.plunger.cal.reset(plungerSensor->npix);
mjr 1:d913e0afb2ac 2384 }
mjr 1:d913e0afb2ac 2385 break;
mjr 2:c174f9ee414a 2386
mjr 2:c174f9ee414a 2387 case 3:
mjr 9:fd65b0a94720 2388 // Already in calibration mode - pushing the button here
mjr 9:fd65b0a94720 2389 // doesn't change the current state, but we won't leave this
mjr 9:fd65b0a94720 2390 // state as long as it's held down. So nothing changes here.
mjr 2:c174f9ee414a 2391 break;
mjr 0:5acbbe3f4cf4 2392 }
mjr 0:5acbbe3f4cf4 2393 }
mjr 1:d913e0afb2ac 2394 else
mjr 1:d913e0afb2ac 2395 {
mjr 2:c174f9ee414a 2396 // Button released. If we're in calibration mode, and
mjr 2:c174f9ee414a 2397 // the calibration time has elapsed, end the calibration
mjr 2:c174f9ee414a 2398 // and save the results to flash.
mjr 2:c174f9ee414a 2399 //
mjr 2:c174f9ee414a 2400 // Otherwise, return to the base state without saving anything.
mjr 2:c174f9ee414a 2401 // If the button is released before we make it to calibration
mjr 2:c174f9ee414a 2402 // mode, it simply cancels the attempt.
mjr 9:fd65b0a94720 2403 if (calBtnState == 3 && calBtnTimer.read_ms() > 15000)
mjr 2:c174f9ee414a 2404 {
mjr 2:c174f9ee414a 2405 // exit calibration mode
mjr 1:d913e0afb2ac 2406 calBtnState = 0;
mjr 2:c174f9ee414a 2407
mjr 6:cc35eb643e8f 2408 // save the updated configuration
mjr 35:e959ffba78fd 2409 cfg.plunger.cal.calibrated = 1;
mjr 35:e959ffba78fd 2410 saveConfigToFlash();
mjr 2:c174f9ee414a 2411 }
mjr 2:c174f9ee414a 2412 else if (calBtnState != 3)
mjr 2:c174f9ee414a 2413 {
mjr 2:c174f9ee414a 2414 // didn't make it to calibration mode - cancel the operation
mjr 1:d913e0afb2ac 2415 calBtnState = 0;
mjr 2:c174f9ee414a 2416 }
mjr 1:d913e0afb2ac 2417 }
mjr 1:d913e0afb2ac 2418
mjr 1:d913e0afb2ac 2419 // light/flash the calibration button light, if applicable
mjr 1:d913e0afb2ac 2420 int newCalBtnLit = calBtnLit;
mjr 1:d913e0afb2ac 2421 switch (calBtnState)
mjr 0:5acbbe3f4cf4 2422 {
mjr 1:d913e0afb2ac 2423 case 2:
mjr 1:d913e0afb2ac 2424 // in the hold period - flash the light
mjr 9:fd65b0a94720 2425 newCalBtnLit = ((calBtnTimer.read_ms()/250) & 1);
mjr 1:d913e0afb2ac 2426 break;
mjr 1:d913e0afb2ac 2427
mjr 1:d913e0afb2ac 2428 case 3:
mjr 1:d913e0afb2ac 2429 // calibration mode - show steady on
mjr 1:d913e0afb2ac 2430 newCalBtnLit = true;
mjr 1:d913e0afb2ac 2431 break;
mjr 1:d913e0afb2ac 2432
mjr 1:d913e0afb2ac 2433 default:
mjr 1:d913e0afb2ac 2434 // not calibrating/holding - show steady off
mjr 1:d913e0afb2ac 2435 newCalBtnLit = false;
mjr 1:d913e0afb2ac 2436 break;
mjr 1:d913e0afb2ac 2437 }
mjr 3:3514575d4f86 2438
mjr 3:3514575d4f86 2439 // light or flash the external calibration button LED, and
mjr 3:3514575d4f86 2440 // do the same with the on-board blue LED
mjr 1:d913e0afb2ac 2441 if (calBtnLit != newCalBtnLit)
mjr 1:d913e0afb2ac 2442 {
mjr 1:d913e0afb2ac 2443 calBtnLit = newCalBtnLit;
mjr 2:c174f9ee414a 2444 if (calBtnLit) {
mjr 17:ab3cec0c8bf4 2445 if (calBtnLed != 0)
mjr 17:ab3cec0c8bf4 2446 calBtnLed->write(1);
mjr 4:02c7cd7b2183 2447 ledR = 1;
mjr 4:02c7cd7b2183 2448 ledG = 1;
mjr 9:fd65b0a94720 2449 ledB = 0;
mjr 2:c174f9ee414a 2450 }
mjr 2:c174f9ee414a 2451 else {
mjr 17:ab3cec0c8bf4 2452 if (calBtnLed != 0)
mjr 17:ab3cec0c8bf4 2453 calBtnLed->write(0);
mjr 4:02c7cd7b2183 2454 ledR = 1;
mjr 4:02c7cd7b2183 2455 ledG = 1;
mjr 9:fd65b0a94720 2456 ledB = 1;
mjr 2:c174f9ee414a 2457 }
mjr 1:d913e0afb2ac 2458 }
mjr 1:d913e0afb2ac 2459
mjr 17:ab3cec0c8bf4 2460 // If the plunger is enabled, and we're not already in a firing event,
mjr 17:ab3cec0c8bf4 2461 // and the last plunger reading had the plunger pulled back at least
mjr 17:ab3cec0c8bf4 2462 // a bit, watch for plunger release events until it's time for our next
mjr 17:ab3cec0c8bf4 2463 // USB report.
mjr 35:e959ffba78fd 2464 if (!firing && cfg.plunger.enabled && z >= JOYMAX/6)
mjr 17:ab3cec0c8bf4 2465 {
mjr 17:ab3cec0c8bf4 2466 // monitor the plunger until it's time for our next report
mjr 17:ab3cec0c8bf4 2467 while (reportTimer.read_ms() < 15)
mjr 17:ab3cec0c8bf4 2468 {
mjr 17:ab3cec0c8bf4 2469 // do a fast low-res scan; if it's at or past the zero point,
mjr 17:ab3cec0c8bf4 2470 // start a firing event
mjr 35:e959ffba78fd 2471 int pos0;
mjr 35:e959ffba78fd 2472 if (plungerSensor->lowResScan(pos0) && pos0 <= cfg.plunger.cal.zero)
mjr 17:ab3cec0c8bf4 2473 firing = 1;
mjr 17:ab3cec0c8bf4 2474 }
mjr 17:ab3cec0c8bf4 2475 }
mjr 17:ab3cec0c8bf4 2476
mjr 6:cc35eb643e8f 2477 // read the plunger sensor, if it's enabled
mjr 35:e959ffba78fd 2478 if (cfg.plunger.enabled)
mjr 6:cc35eb643e8f 2479 {
mjr 6:cc35eb643e8f 2480 // start with the previous reading, in case we don't have a
mjr 6:cc35eb643e8f 2481 // clear result on this frame
mjr 6:cc35eb643e8f 2482 int znew = z;
mjr 35:e959ffba78fd 2483 if (plungerSensor->highResScan(pos))
mjr 6:cc35eb643e8f 2484 {
mjr 17:ab3cec0c8bf4 2485 // We got a new reading. If we're in calibration mode, use it
mjr 17:ab3cec0c8bf4 2486 // to figure the new calibration, otherwise adjust the new reading
mjr 17:ab3cec0c8bf4 2487 // for the established calibration.
mjr 17:ab3cec0c8bf4 2488 if (calBtnState == 3)
mjr 6:cc35eb643e8f 2489 {
mjr 17:ab3cec0c8bf4 2490 // Calibration mode. If this reading is outside of the current
mjr 17:ab3cec0c8bf4 2491 // calibration bounds, expand the bounds.
mjr 35:e959ffba78fd 2492 if (pos < cfg.plunger.cal.min)
mjr 35:e959ffba78fd 2493 cfg.plunger.cal.min = pos;
mjr 35:e959ffba78fd 2494 if (pos < cfg.plunger.cal.zero)
mjr 35:e959ffba78fd 2495 cfg.plunger.cal.zero = pos;
mjr 35:e959ffba78fd 2496 if (pos > cfg.plunger.cal.max)
mjr 35:e959ffba78fd 2497 cfg.plunger.cal.max = pos;
mjr 6:cc35eb643e8f 2498
mjr 17:ab3cec0c8bf4 2499 // normalize to the full physical range while calibrating
mjr 35:e959ffba78fd 2500 znew = int(round(float(pos)/plungerSensor->npix * JOYMAX));
mjr 17:ab3cec0c8bf4 2501 }
mjr 17:ab3cec0c8bf4 2502 else
mjr 17:ab3cec0c8bf4 2503 {
mjr 17:ab3cec0c8bf4 2504 // Not in calibration mode, so normalize the new reading to the
mjr 17:ab3cec0c8bf4 2505 // established calibration range.
mjr 17:ab3cec0c8bf4 2506 //
mjr 17:ab3cec0c8bf4 2507 // Note that negative values are allowed. Zero represents the
mjr 17:ab3cec0c8bf4 2508 // "park" position, where the plunger sits when at rest. A mechanical
mjr 23:14f8c5004cd0 2509 // plunger has a small amount of travel in the "push" direction,
mjr 17:ab3cec0c8bf4 2510 // since the barrel spring can be compressed slightly. Negative
mjr 17:ab3cec0c8bf4 2511 // values represent travel in the push direction.
mjr 35:e959ffba78fd 2512 if (pos > cfg.plunger.cal.max)
mjr 35:e959ffba78fd 2513 pos = cfg.plunger.cal.max;
mjr 35:e959ffba78fd 2514 znew = int(round(float(pos - cfg.plunger.cal.zero)
mjr 35:e959ffba78fd 2515 / (cfg.plunger.cal.max - cfg.plunger.cal.zero + 1) * JOYMAX));
mjr 6:cc35eb643e8f 2516 }
mjr 6:cc35eb643e8f 2517 }
mjr 7:100a25f8bf56 2518
mjr 17:ab3cec0c8bf4 2519 // If we're not already in a firing event, check to see if the
mjr 17:ab3cec0c8bf4 2520 // new position is forward of the last report. If it is, a firing
mjr 17:ab3cec0c8bf4 2521 // event might have started during the high-res scan. This might
mjr 17:ab3cec0c8bf4 2522 // seem unlikely given that the scan only takes about 5ms, but that
mjr 17:ab3cec0c8bf4 2523 // 5ms represents about 25-30% of our total time between reports,
mjr 17:ab3cec0c8bf4 2524 // there's about a 1 in 4 chance that a release starts during a
mjr 17:ab3cec0c8bf4 2525 // scan.
mjr 17:ab3cec0c8bf4 2526 if (!firing && z0 > 0 && znew < z0)
mjr 17:ab3cec0c8bf4 2527 {
mjr 17:ab3cec0c8bf4 2528 // The plunger has moved forward since the previous report.
mjr 17:ab3cec0c8bf4 2529 // Watch it for a few more ms to see if we can get a stable
mjr 17:ab3cec0c8bf4 2530 // new position.
mjr 35:e959ffba78fd 2531 int pos0;
mjr 35:e959ffba78fd 2532 if (plungerSensor->lowResScan(pos0))
mjr 17:ab3cec0c8bf4 2533 {
mjr 35:e959ffba78fd 2534 int pos1 = pos0;
mjr 35:e959ffba78fd 2535 Timer tw;
mjr 35:e959ffba78fd 2536 tw.start();
mjr 35:e959ffba78fd 2537 while (tw.read_ms() < 6)
mjr 17:ab3cec0c8bf4 2538 {
mjr 35:e959ffba78fd 2539 // read the new position
mjr 35:e959ffba78fd 2540 int pos2;
mjr 35:e959ffba78fd 2541 if (plungerSensor->lowResScan(pos2))
mjr 35:e959ffba78fd 2542 {
mjr 35:e959ffba78fd 2543 // If it's stable over consecutive readings, stop looping.
mjr 35:e959ffba78fd 2544 // (Count it as stable if the position is within about 1/8".
mjr 35:e959ffba78fd 2545 // pos1 and pos2 are reported in pixels, so they range from
mjr 35:e959ffba78fd 2546 // 0 to npix. The overall travel of a standard plunger is
mjr 35:e959ffba78fd 2547 // about 3.2", so we have (npix/3.2) pixels per inch, hence
mjr 35:e959ffba78fd 2548 // 1/8" is (npix/3.2)*(1/8) pixels.)
mjr 35:e959ffba78fd 2549 if (abs(pos2 - pos1) < int(plungerSensor->npix/(3.2*8)))
mjr 35:e959ffba78fd 2550 break;
mjr 35:e959ffba78fd 2551
mjr 35:e959ffba78fd 2552 // If we've crossed the rest position, and we've moved by
mjr 35:e959ffba78fd 2553 // a minimum distance from where we starting this loop, begin
mjr 35:e959ffba78fd 2554 // a firing event. (We require a minimum distance to prevent
mjr 35:e959ffba78fd 2555 // spurious firing from random analog noise in the readings
mjr 35:e959ffba78fd 2556 // when the plunger is actually just sitting still at the
mjr 35:e959ffba78fd 2557 // rest position. If it's at rest, it's normal to see small
mjr 35:e959ffba78fd 2558 // random fluctuations in the analog reading +/- 1% or so
mjr 35:e959ffba78fd 2559 // from the 0 point, especially with a sensor like a
mjr 35:e959ffba78fd 2560 // potentionemeter that reports the position as a single
mjr 35:e959ffba78fd 2561 // analog voltage.) Note that we compare the latest reading
mjr 35:e959ffba78fd 2562 // to the first reading of the loop - we don't require the
mjr 35:e959ffba78fd 2563 // threshold motion over consecutive readings, but any time
mjr 35:e959ffba78fd 2564 // over the stability wait loop.
mjr 35:e959ffba78fd 2565 if (pos1 < cfg.plunger.cal.zero
mjr 35:e959ffba78fd 2566 && abs(pos2 - pos0) > int(plungerSensor->npix/(3.2*8)))
mjr 35:e959ffba78fd 2567 {
mjr 35:e959ffba78fd 2568 firing = 1;
mjr 35:e959ffba78fd 2569 break;
mjr 35:e959ffba78fd 2570 }
mjr 35:e959ffba78fd 2571
mjr 35:e959ffba78fd 2572 // the new reading is now the prior reading
mjr 35:e959ffba78fd 2573 pos1 = pos2;
mjr 35:e959ffba78fd 2574 }
mjr 17:ab3cec0c8bf4 2575 }
mjr 17:ab3cec0c8bf4 2576 }
mjr 17:ab3cec0c8bf4 2577 }
mjr 17:ab3cec0c8bf4 2578
mjr 17:ab3cec0c8bf4 2579 // Check for a simulated Launch Ball button press, if enabled
mjr 35:e959ffba78fd 2580 if (cfg.plunger.zbLaunchBall.port != 0)
mjr 17:ab3cec0c8bf4 2581 {
mjr 18:5e890ebd0023 2582 const int cockThreshold = JOYMAX/3;
mjr 35:e959ffba78fd 2583 const int pushThreshold = int(-JOYMAX/3 * cfg.plunger.zbLaunchBall.pushDistance);
mjr 17:ab3cec0c8bf4 2584 int newState = lbState;
mjr 17:ab3cec0c8bf4 2585 switch (lbState)
mjr 17:ab3cec0c8bf4 2586 {
mjr 17:ab3cec0c8bf4 2587 case 0:
mjr 17:ab3cec0c8bf4 2588 // Base state. If the plunger is pulled back by an inch
mjr 17:ab3cec0c8bf4 2589 // or more, go to "cocked" state. If the plunger is pushed
mjr 21:5048e16cc9ef 2590 // forward by 1/4" or more, go to "pressed" state.
mjr 18:5e890ebd0023 2591 if (znew >= cockThreshold)
mjr 17:ab3cec0c8bf4 2592 newState = 1;
mjr 18:5e890ebd0023 2593 else if (znew <= pushThreshold)
mjr 21:5048e16cc9ef 2594 newState = 5;
mjr 17:ab3cec0c8bf4 2595 break;
mjr 17:ab3cec0c8bf4 2596
mjr 17:ab3cec0c8bf4 2597 case 1:
mjr 17:ab3cec0c8bf4 2598 // Cocked state. If a firing event is now in progress,
mjr 17:ab3cec0c8bf4 2599 // go to "launch" state. Otherwise, if the plunger is less
mjr 17:ab3cec0c8bf4 2600 // than 1" retracted, go to "uncocked" state - the player
mjr 17:ab3cec0c8bf4 2601 // might be slowly returning the plunger to rest so as not
mjr 17:ab3cec0c8bf4 2602 // to trigger a launch.
mjr 17:ab3cec0c8bf4 2603 if (firing || znew <= 0)
mjr 17:ab3cec0c8bf4 2604 newState = 3;
mjr 18:5e890ebd0023 2605 else if (znew < cockThreshold)
mjr 17:ab3cec0c8bf4 2606 newState = 2;
mjr 17:ab3cec0c8bf4 2607 break;
mjr 17:ab3cec0c8bf4 2608
mjr 17:ab3cec0c8bf4 2609 case 2:
mjr 17:ab3cec0c8bf4 2610 // Uncocked state. If the plunger is more than an inch
mjr 17:ab3cec0c8bf4 2611 // retracted, return to cocked state. If we've been in
mjr 17:ab3cec0c8bf4 2612 // the uncocked state for more than half a second, return
mjr 18:5e890ebd0023 2613 // to the base state. This allows the user to return the
mjr 18:5e890ebd0023 2614 // plunger to rest without triggering a launch, by moving
mjr 18:5e890ebd0023 2615 // it at manual speed to the rest position rather than
mjr 18:5e890ebd0023 2616 // releasing it.
mjr 18:5e890ebd0023 2617 if (znew >= cockThreshold)
mjr 17:ab3cec0c8bf4 2618 newState = 1;
mjr 17:ab3cec0c8bf4 2619 else if (lbTimer.read_ms() > 500)
mjr 17:ab3cec0c8bf4 2620 newState = 0;
mjr 17:ab3cec0c8bf4 2621 break;
mjr 17:ab3cec0c8bf4 2622
mjr 17:ab3cec0c8bf4 2623 case 3:
mjr 17:ab3cec0c8bf4 2624 // Launch state. If the plunger is no longer pushed
mjr 17:ab3cec0c8bf4 2625 // forward, switch to launch rest state.
mjr 18:5e890ebd0023 2626 if (znew >= 0)
mjr 17:ab3cec0c8bf4 2627 newState = 4;
mjr 17:ab3cec0c8bf4 2628 break;
mjr 17:ab3cec0c8bf4 2629
mjr 17:ab3cec0c8bf4 2630 case 4:
mjr 17:ab3cec0c8bf4 2631 // Launch rest state. If the plunger is pushed forward
mjr 17:ab3cec0c8bf4 2632 // again, switch back to launch state. If not, and we've
mjr 17:ab3cec0c8bf4 2633 // been in this state for at least 200ms, return to the
mjr 17:ab3cec0c8bf4 2634 // default state.
mjr 18:5e890ebd0023 2635 if (znew <= pushThreshold)
mjr 17:ab3cec0c8bf4 2636 newState = 3;
mjr 17:ab3cec0c8bf4 2637 else if (lbTimer.read_ms() > 200)
mjr 17:ab3cec0c8bf4 2638 newState = 0;
mjr 17:ab3cec0c8bf4 2639 break;
mjr 21:5048e16cc9ef 2640
mjr 21:5048e16cc9ef 2641 case 5:
mjr 21:5048e16cc9ef 2642 // Press-and-Hold state. If the plunger is no longer pushed
mjr 21:5048e16cc9ef 2643 // forward, AND it's been at least 50ms since we generated
mjr 21:5048e16cc9ef 2644 // the simulated Launch Ball button press, return to the base
mjr 21:5048e16cc9ef 2645 // state. The minimum time is to ensure that VP has a chance
mjr 21:5048e16cc9ef 2646 // to see the button press and to avoid transient key bounce
mjr 21:5048e16cc9ef 2647 // effects when the plunger position is right on the threshold.
mjr 21:5048e16cc9ef 2648 if (znew > pushThreshold && lbTimer.read_ms() > 50)
mjr 21:5048e16cc9ef 2649 newState = 0;
mjr 21:5048e16cc9ef 2650 break;
mjr 17:ab3cec0c8bf4 2651 }
mjr 17:ab3cec0c8bf4 2652
mjr 17:ab3cec0c8bf4 2653 // change states if desired
mjr 17:ab3cec0c8bf4 2654 if (newState != lbState)
mjr 17:ab3cec0c8bf4 2655 {
mjr 21:5048e16cc9ef 2656 // If we're entering Launch state OR we're entering the
mjr 21:5048e16cc9ef 2657 // Press-and-Hold state, AND the ZB Launch Ball LedWiz signal
mjr 21:5048e16cc9ef 2658 // is turned on, simulate a Launch Ball button press.
mjr 21:5048e16cc9ef 2659 if (((newState == 3 && lbState != 4) || newState == 5)
mjr 35:e959ffba78fd 2660 && wizOn[cfg.plunger.zbLaunchBall.port-1])
mjr 18:5e890ebd0023 2661 {
mjr 18:5e890ebd0023 2662 lbBtnTimer.reset();
mjr 18:5e890ebd0023 2663 lbBtnTimer.start();
mjr 18:5e890ebd0023 2664 simButtons |= lbButtonBit;
mjr 18:5e890ebd0023 2665 }
mjr 21:5048e16cc9ef 2666
mjr 17:ab3cec0c8bf4 2667 // if we're switching to state 0, release the button
mjr 17:ab3cec0c8bf4 2668 if (newState == 0)
mjr 35:e959ffba78fd 2669 simButtons &= ~(1 << (cfg.plunger.zbLaunchBall.btn - 1));
mjr 17:ab3cec0c8bf4 2670
mjr 17:ab3cec0c8bf4 2671 // switch to the new state
mjr 17:ab3cec0c8bf4 2672 lbState = newState;
mjr 17:ab3cec0c8bf4 2673
mjr 17:ab3cec0c8bf4 2674 // start timing in the new state
mjr 17:ab3cec0c8bf4 2675 lbTimer.reset();
mjr 17:ab3cec0c8bf4 2676 }
mjr 21:5048e16cc9ef 2677
mjr 21:5048e16cc9ef 2678 // If the Launch Ball button press is in effect, but the
mjr 21:5048e16cc9ef 2679 // ZB Launch Ball LedWiz signal is no longer turned on, turn
mjr 21:5048e16cc9ef 2680 // off the button.
mjr 21:5048e16cc9ef 2681 //
mjr 21:5048e16cc9ef 2682 // If we're in one of the Launch states (state #3 or #4),
mjr 21:5048e16cc9ef 2683 // and the button has been on for long enough, turn it off.
mjr 21:5048e16cc9ef 2684 // The Launch mode is triggered by a pull-and-release gesture.
mjr 21:5048e16cc9ef 2685 // From the user's perspective, this is just a single gesture
mjr 21:5048e16cc9ef 2686 // that should trigger just one momentary press on the Launch
mjr 21:5048e16cc9ef 2687 // Ball button. Physically, though, the plunger usually
mjr 21:5048e16cc9ef 2688 // bounces back and forth for 500ms or so before coming to
mjr 21:5048e16cc9ef 2689 // rest after this gesture. That's what the whole state
mjr 21:5048e16cc9ef 2690 // #3-#4 business is all about - we stay in this pair of
mjr 21:5048e16cc9ef 2691 // states until the plunger comes to rest. As long as we're
mjr 21:5048e16cc9ef 2692 // in these states, we won't send duplicate button presses.
mjr 21:5048e16cc9ef 2693 // But we also don't want the one button press to continue
mjr 21:5048e16cc9ef 2694 // the whole time, so we'll time it out now.
mjr 21:5048e16cc9ef 2695 //
mjr 21:5048e16cc9ef 2696 // (This could be written as one big 'if' condition, but
mjr 21:5048e16cc9ef 2697 // I'm breaking it out verbosely like this to make it easier
mjr 21:5048e16cc9ef 2698 // for human readers such as myself to comprehend the logic.)
mjr 21:5048e16cc9ef 2699 if ((simButtons & lbButtonBit) != 0)
mjr 18:5e890ebd0023 2700 {
mjr 21:5048e16cc9ef 2701 int turnOff = false;
mjr 21:5048e16cc9ef 2702
mjr 21:5048e16cc9ef 2703 // turn it off if the ZB Launch Ball signal is off
mjr 35:e959ffba78fd 2704 if (!wizOn[cfg.plunger.zbLaunchBall.port-1])
mjr 21:5048e16cc9ef 2705 turnOff = true;
mjr 21:5048e16cc9ef 2706
mjr 21:5048e16cc9ef 2707 // also turn it off if we're in state 3 or 4 ("Launch"),
mjr 21:5048e16cc9ef 2708 // and the button has been on long enough
mjr 21:5048e16cc9ef 2709 if ((lbState == 3 || lbState == 4) && lbBtnTimer.read_ms() > 250)
mjr 21:5048e16cc9ef 2710 turnOff = true;
mjr 21:5048e16cc9ef 2711
mjr 21:5048e16cc9ef 2712 // if we decided to turn off the button, do so
mjr 21:5048e16cc9ef 2713 if (turnOff)
mjr 21:5048e16cc9ef 2714 {
mjr 21:5048e16cc9ef 2715 lbBtnTimer.stop();
mjr 21:5048e16cc9ef 2716 simButtons &= ~lbButtonBit;
mjr 21:5048e16cc9ef 2717 }
mjr 18:5e890ebd0023 2718 }
mjr 17:ab3cec0c8bf4 2719 }
mjr 17:ab3cec0c8bf4 2720
mjr 17:ab3cec0c8bf4 2721 // If a firing event is in progress, generate synthetic reports to
mjr 17:ab3cec0c8bf4 2722 // describe an idealized version of the plunger motion to VP rather
mjr 17:ab3cec0c8bf4 2723 // than reporting the actual physical plunger position.
mjr 6:cc35eb643e8f 2724 //
mjr 17:ab3cec0c8bf4 2725 // We use the synthetic reports during a release event because the
mjr 17:ab3cec0c8bf4 2726 // physical plunger motion when released is too fast for VP to track.
mjr 17:ab3cec0c8bf4 2727 // VP only syncs its internal physics model with the outside world
mjr 17:ab3cec0c8bf4 2728 // about every 10ms. In that amount of time, the plunger moves
mjr 17:ab3cec0c8bf4 2729 // fast enough when released that it can shoot all the way forward,
mjr 17:ab3cec0c8bf4 2730 // bounce off of the barrel spring, and rebound part of the way
mjr 17:ab3cec0c8bf4 2731 // back. The result is the classic analog-to-digital problem of
mjr 17:ab3cec0c8bf4 2732 // sample aliasing. If we happen to time our sample during the
mjr 17:ab3cec0c8bf4 2733 // release motion so that we catch the plunger at the peak of a
mjr 17:ab3cec0c8bf4 2734 // bounce, the digital signal incorrectly looks like the plunger
mjr 17:ab3cec0c8bf4 2735 // is moving slowly forward - VP thinks we went from fully
mjr 17:ab3cec0c8bf4 2736 // retracted to half retracted in the sample interval, whereas
mjr 17:ab3cec0c8bf4 2737 // we actually traveled all the way forward and half way back,
mjr 17:ab3cec0c8bf4 2738 // so the speed VP infers is about 1/3 of the actual speed.
mjr 9:fd65b0a94720 2739 //
mjr 17:ab3cec0c8bf4 2740 // To correct this, we take advantage of our ability to sample
mjr 17:ab3cec0c8bf4 2741 // the CCD image several times in the course of a VP report. If
mjr 17:ab3cec0c8bf4 2742 // we catch the plunger near the origin after we've seen it
mjr 17:ab3cec0c8bf4 2743 // retracted, we go into Release Event mode. During this mode,
mjr 17:ab3cec0c8bf4 2744 // we stop reporting the true physical plunger position, and
mjr 17:ab3cec0c8bf4 2745 // instead report an idealized pattern: we report the plunger
mjr 17:ab3cec0c8bf4 2746 // immediately shooting forward to a position in front of the
mjr 17:ab3cec0c8bf4 2747 // park position that's in proportion to how far back the plunger
mjr 17:ab3cec0c8bf4 2748 // was just before the release, and we then report it stationary
mjr 17:ab3cec0c8bf4 2749 // at the park position. We continue to report the stationary
mjr 17:ab3cec0c8bf4 2750 // park position until the actual physical plunger motion has
mjr 17:ab3cec0c8bf4 2751 // stabilized on a new position. We then exit Release Event
mjr 17:ab3cec0c8bf4 2752 // mode and return to reporting the true physical position.
mjr 17:ab3cec0c8bf4 2753 if (firing)
mjr 6:cc35eb643e8f 2754 {
mjr 17:ab3cec0c8bf4 2755 // Firing in progress. Keep reporting the park position
mjr 17:ab3cec0c8bf4 2756 // until the physical plunger position comes to rest.
mjr 17:ab3cec0c8bf4 2757 const int restTol = JOYMAX/24;
mjr 17:ab3cec0c8bf4 2758 if (firing == 1)
mjr 6:cc35eb643e8f 2759 {
mjr 17:ab3cec0c8bf4 2760 // For the first couple of frames, show the plunger shooting
mjr 17:ab3cec0c8bf4 2761 // forward past the zero point, to simulate the momentum carrying
mjr 17:ab3cec0c8bf4 2762 // it forward to bounce off of the barrel spring. Show the
mjr 17:ab3cec0c8bf4 2763 // bounce as proportional to the distance it was retracted
mjr 17:ab3cec0c8bf4 2764 // in the prior report.
mjr 17:ab3cec0c8bf4 2765 z = zBounce = -z0/6;
mjr 17:ab3cec0c8bf4 2766 ++firing;
mjr 6:cc35eb643e8f 2767 }
mjr 17:ab3cec0c8bf4 2768 else if (firing == 2)
mjr 9:fd65b0a94720 2769 {
mjr 17:ab3cec0c8bf4 2770 // second frame - keep the bounce a little longer
mjr 17:ab3cec0c8bf4 2771 z = zBounce;
mjr 17:ab3cec0c8bf4 2772 ++firing;
mjr 17:ab3cec0c8bf4 2773 }
mjr 17:ab3cec0c8bf4 2774 else if (firing > 4
mjr 17:ab3cec0c8bf4 2775 && abs(znew - z0) < restTol
mjr 17:ab3cec0c8bf4 2776 && abs(znew - z1) < restTol
mjr 17:ab3cec0c8bf4 2777 && abs(znew - z2) < restTol)
mjr 17:ab3cec0c8bf4 2778 {
mjr 17:ab3cec0c8bf4 2779 // The physical plunger has come to rest. Exit firing
mjr 17:ab3cec0c8bf4 2780 // mode and resume reporting the actual position.
mjr 17:ab3cec0c8bf4 2781 firing = false;
mjr 17:ab3cec0c8bf4 2782 z = znew;
mjr 9:fd65b0a94720 2783 }
mjr 9:fd65b0a94720 2784 else
mjr 9:fd65b0a94720 2785 {
mjr 17:ab3cec0c8bf4 2786 // until the physical plunger comes to rest, simply
mjr 17:ab3cec0c8bf4 2787 // report the park position
mjr 9:fd65b0a94720 2788 z = 0;
mjr 17:ab3cec0c8bf4 2789 ++firing;
mjr 9:fd65b0a94720 2790 }
mjr 6:cc35eb643e8f 2791 }
mjr 6:cc35eb643e8f 2792 else
mjr 6:cc35eb643e8f 2793 {
mjr 17:ab3cec0c8bf4 2794 // not in firing mode - report the true physical position
mjr 17:ab3cec0c8bf4 2795 z = znew;
mjr 6:cc35eb643e8f 2796 }
mjr 17:ab3cec0c8bf4 2797
mjr 17:ab3cec0c8bf4 2798 // shift the new reading into the recent history buffer
mjr 6:cc35eb643e8f 2799 z2 = z1;
mjr 6:cc35eb643e8f 2800 z1 = z0;
mjr 6:cc35eb643e8f 2801 z0 = znew;
mjr 2:c174f9ee414a 2802 }
mjr 6:cc35eb643e8f 2803
mjr 11:bd9da7088e6e 2804 // update the buttons
mjr 35:e959ffba78fd 2805 readButtons(cfg);
mjr 17:ab3cec0c8bf4 2806
mjr 17:ab3cec0c8bf4 2807 // If it's been long enough since our last USB status report,
mjr 17:ab3cec0c8bf4 2808 // send the new report. We throttle the report rate because
mjr 17:ab3cec0c8bf4 2809 // it can overwhelm the PC side if we report too frequently.
mjr 17:ab3cec0c8bf4 2810 // VP only wants to sync with the real world in 10ms intervals,
mjr 35:e959ffba78fd 2811 // so reporting more frequently creates I/O overhead without
mjr 35:e959ffba78fd 2812 // doing anything to improve the simulation.
mjr 35:e959ffba78fd 2813 if (cfg.joystickEnabled && reportTimer.read_ms() > 15)
mjr 17:ab3cec0c8bf4 2814 {
mjr 17:ab3cec0c8bf4 2815 // read the accelerometer
mjr 17:ab3cec0c8bf4 2816 int xa, ya;
mjr 17:ab3cec0c8bf4 2817 accel.get(xa, ya);
mjr 17:ab3cec0c8bf4 2818
mjr 17:ab3cec0c8bf4 2819 // confine the results to our joystick axis range
mjr 17:ab3cec0c8bf4 2820 if (xa < -JOYMAX) xa = -JOYMAX;
mjr 17:ab3cec0c8bf4 2821 if (xa > JOYMAX) xa = JOYMAX;
mjr 17:ab3cec0c8bf4 2822 if (ya < -JOYMAX) ya = -JOYMAX;
mjr 17:ab3cec0c8bf4 2823 if (ya > JOYMAX) ya = JOYMAX;
mjr 17:ab3cec0c8bf4 2824
mjr 17:ab3cec0c8bf4 2825 // store the updated accelerometer coordinates
mjr 17:ab3cec0c8bf4 2826 x = xa;
mjr 17:ab3cec0c8bf4 2827 y = ya;
mjr 17:ab3cec0c8bf4 2828
mjr 21:5048e16cc9ef 2829 // Report the current plunger position UNLESS the ZB Launch Ball
mjr 21:5048e16cc9ef 2830 // signal is on, in which case just report a constant 0 value.
mjr 21:5048e16cc9ef 2831 // ZB Launch Ball turns off the plunger position because it
mjr 21:5048e16cc9ef 2832 // tells us that the table has a Launch Ball button instead of
mjr 21:5048e16cc9ef 2833 // a traditional plunger.
mjr 35:e959ffba78fd 2834 int zrep = (cfg.plunger.zbLaunchBall.port != 0 && wizOn[cfg.plunger.zbLaunchBall.port-1] ? 0 : z);
mjr 35:e959ffba78fd 2835
mjr 35:e959ffba78fd 2836 // rotate X and Y according to the device orientation in the cabinet
mjr 35:e959ffba78fd 2837 accelRotate(x, y);
mjr 35:e959ffba78fd 2838
mjr 35:e959ffba78fd 2839 // send the joystick report
mjr 35:e959ffba78fd 2840 js.update(x, y, zrep, jsButtons | simButtons, statusFlags);
mjr 21:5048e16cc9ef 2841
mjr 35:e959ffba78fd 2842 // send the keyboard report(s), if applicable
mjr 35:e959ffba78fd 2843 bool waitBeforeMedia = false;
mjr 35:e959ffba78fd 2844 if (kbState.changed)
mjr 35:e959ffba78fd 2845 {
mjr 35:e959ffba78fd 2846 js.kbUpdate(kbState.data);
mjr 35:e959ffba78fd 2847 kbState.changed = false;
mjr 35:e959ffba78fd 2848 waitBeforeMedia = true;
mjr 35:e959ffba78fd 2849 }
mjr 35:e959ffba78fd 2850 if (mediaState.changed)
mjr 35:e959ffba78fd 2851 {
mjr 35:e959ffba78fd 2852 // just sent a key report - give the channel a moment to clear before
mjr 35:e959ffba78fd 2853 // sending another report on its heels, to avoid clogging the pipe
mjr 35:e959ffba78fd 2854 if (waitBeforeMedia)
mjr 35:e959ffba78fd 2855 wait_us(1);
mjr 35:e959ffba78fd 2856
mjr 35:e959ffba78fd 2857 // send the media key report
mjr 35:e959ffba78fd 2858 js.mediaUpdate(mediaState.data);
mjr 35:e959ffba78fd 2859 mediaState.changed = false;
mjr 35:e959ffba78fd 2860 }
mjr 17:ab3cec0c8bf4 2861
mjr 17:ab3cec0c8bf4 2862 // we've just started a new report interval, so reset the timer
mjr 17:ab3cec0c8bf4 2863 reportTimer.reset();
mjr 17:ab3cec0c8bf4 2864 }
mjr 21:5048e16cc9ef 2865
mjr 10:976666ffa4ef 2866 // If we're in pixel dump mode, report all pixel exposure values
mjr 10:976666ffa4ef 2867 if (reportPix)
mjr 10:976666ffa4ef 2868 {
mjr 17:ab3cec0c8bf4 2869 // send the report
mjr 35:e959ffba78fd 2870 plungerSensor->sendExposureReport(js);
mjr 17:ab3cec0c8bf4 2871
mjr 10:976666ffa4ef 2872 // we have satisfied this request
mjr 10:976666ffa4ef 2873 reportPix = false;
mjr 10:976666ffa4ef 2874 }
mjr 10:976666ffa4ef 2875
mjr 35:e959ffba78fd 2876 // If joystick reports are turned off, send a generic status report
mjr 35:e959ffba78fd 2877 // periodically for the sake of the Windows config tool.
mjr 35:e959ffba78fd 2878 if (!cfg.joystickEnabled && reportTimer.read_ms() > 200)
mjr 21:5048e16cc9ef 2879 {
mjr 21:5048e16cc9ef 2880 js.updateStatus(0);
mjr 21:5048e16cc9ef 2881 }
mjr 21:5048e16cc9ef 2882
mjr 6:cc35eb643e8f 2883 #ifdef DEBUG_PRINTF
mjr 6:cc35eb643e8f 2884 if (x != 0 || y != 0)
mjr 6:cc35eb643e8f 2885 printf("%d,%d\r\n", x, y);
mjr 6:cc35eb643e8f 2886 #endif
mjr 6:cc35eb643e8f 2887
mjr 33:d832bcab089e 2888 // check for connection status changes
mjr 33:d832bcab089e 2889 int newConnected = js.isConnected() && !js.isSuspended();
mjr 33:d832bcab089e 2890 if (newConnected != connected)
mjr 33:d832bcab089e 2891 {
mjr 33:d832bcab089e 2892 // give it a few seconds to stabilize
mjr 33:d832bcab089e 2893 time_t tc = time(0);
mjr 33:d832bcab089e 2894 if (tc - connectChangeTime > 3)
mjr 33:d832bcab089e 2895 {
mjr 33:d832bcab089e 2896 // note the new status
mjr 33:d832bcab089e 2897 connected = newConnected;
mjr 33:d832bcab089e 2898 connectChangeTime = tc;
mjr 33:d832bcab089e 2899
mjr 33:d832bcab089e 2900 // if we're no longer connected, turn off all outputs
mjr 33:d832bcab089e 2901 if (!connected)
mjr 33:d832bcab089e 2902 allOutputsOff();
mjr 33:d832bcab089e 2903 }
mjr 33:d832bcab089e 2904 }
mjr 33:d832bcab089e 2905
mjr 6:cc35eb643e8f 2906 // provide a visual status indication on the on-board LED
mjr 5:a70c0bce770d 2907 if (calBtnState < 2 && hbTimer.read_ms() > 1000)
mjr 1:d913e0afb2ac 2908 {
mjr 33:d832bcab089e 2909 if (!newConnected)
mjr 2:c174f9ee414a 2910 {
mjr 5:a70c0bce770d 2911 // suspended - turn off the LED
mjr 4:02c7cd7b2183 2912 ledR = 1;
mjr 4:02c7cd7b2183 2913 ledG = 1;
mjr 4:02c7cd7b2183 2914 ledB = 1;
mjr 5:a70c0bce770d 2915
mjr 5:a70c0bce770d 2916 // show a status flash every so often
mjr 5:a70c0bce770d 2917 if (hbcnt % 3 == 0)
mjr 5:a70c0bce770d 2918 {
mjr 6:cc35eb643e8f 2919 // disconnected = red/red flash; suspended = red
mjr 5:a70c0bce770d 2920 for (int n = js.isConnected() ? 1 : 2 ; n > 0 ; --n)
mjr 5:a70c0bce770d 2921 {
mjr 5:a70c0bce770d 2922 ledR = 0;
mjr 5:a70c0bce770d 2923 wait(0.05);
mjr 5:a70c0bce770d 2924 ledR = 1;
mjr 5:a70c0bce770d 2925 wait(0.25);
mjr 5:a70c0bce770d 2926 }
mjr 5:a70c0bce770d 2927 }
mjr 2:c174f9ee414a 2928 }
mjr 35:e959ffba78fd 2929 else if (cfg.plunger.enabled && !cfg.plunger.cal.calibrated)
mjr 6:cc35eb643e8f 2930 {
mjr 6:cc35eb643e8f 2931 // connected, plunger calibration needed - flash yellow/green
mjr 6:cc35eb643e8f 2932 hb = !hb;
mjr 6:cc35eb643e8f 2933 ledR = (hb ? 0 : 1);
mjr 6:cc35eb643e8f 2934 ledG = 0;
mjr 6:cc35eb643e8f 2935 ledB = 1;
mjr 6:cc35eb643e8f 2936 }
mjr 6:cc35eb643e8f 2937 else
mjr 6:cc35eb643e8f 2938 {
mjr 6:cc35eb643e8f 2939 // connected - flash blue/green
mjr 2:c174f9ee414a 2940 hb = !hb;
mjr 4:02c7cd7b2183 2941 ledR = 1;
mjr 4:02c7cd7b2183 2942 ledG = (hb ? 0 : 1);
mjr 4:02c7cd7b2183 2943 ledB = (hb ? 1 : 0);
mjr 2:c174f9ee414a 2944 }
mjr 1:d913e0afb2ac 2945
mjr 1:d913e0afb2ac 2946 // reset the heartbeat timer
mjr 1:d913e0afb2ac 2947 hbTimer.reset();
mjr 5:a70c0bce770d 2948 ++hbcnt;
mjr 1:d913e0afb2ac 2949 }
mjr 1:d913e0afb2ac 2950 }
mjr 0:5acbbe3f4cf4 2951 }