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
main.cpp
- Committer:
- mjr
- Date:
- 2015-02-27
- Revision:
- 19:054f8af32fce
- Parent:
- 18:5e890ebd0023
- Child:
- 20:4c43877327ab
File content as of revision 19:054f8af32fce:
/* Copyright 2014 M J Roberts, MIT License * * Permission is hereby granted, free of charge, to any person obtaining a copy of this software * and associated documentation files (the "Software"), to deal in the Software without * restriction, including without limitation the rights to use, copy, modify, merge, publish, * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the * Software is furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all copies or * substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ // // Pinscape Controller // // "Pinscape" is the name of my custom-built virtual pinball cabinet, so I call this // software the Pinscape Controller. I wrote it to handle several tasks that I needed // for my cabinet. It runs on a Freescale KL25Z microcontroller, which is a small and // inexpensive device that attaches to the cabinet PC via a USB cable, and can attach // via custom wiring to sensors, buttons, and other devices in the cabinet. // // I designed the software and hardware in this project especially for my own // cabinet, but it uses standard interfaces in Windows and Visual Pinball, so it should // work in any VP-based cabinet, as long as you're using the usual VP software suite. // I've tried to document the hardware in enough detail for anyone else to duplicate // the entire project, and the full software is open source. // // The Freescale board appears to the host PC as a standard USB joystick. This works // with the built-in Windows joystick device drivers, so there's no need to install any // new drivers or other software on the PC. Windows should recognize the Freescale // as a joystick when you plug it into the USB port, and Windows shouldn't ask you to // install any drivers. If you bring up the Windows control panel for USB Game // Controllers, this device will appear as "Pinscape Controller". *Don't* do any // calibration with the Windows control panel or third-part calibration tools. The // software calibrates the accelerometer portion automatically, and has its own special // calibration procedure for the plunger sensor, if you're using that (see below). // // This software provides a whole bunch of separate features. You can use any of these // features individually or all together. If you're not using a particular feature, you // can simply omit the extra wiring and/or hardware for that feature. You can use // the nudging feature by itself without any extra hardware attached, since the // accelerometer is built in to the KL25Z board. // // - Nudge sensing via the KL25Z's on-board accelerometer. Nudging the cabinet // causes small accelerations that the accelerometer can detect; these are sent to // Visual Pinball via the joystick interface so that VP can simulate the effect // of the real physical nudges on its simulated ball. VP has native handling for // this type of input, so all you have to do is set some preferences in VP to tell // it that an accelerometer is attached. // // - Plunger position sensing via an attached TAOS TSL 1410R CCD linear array sensor. // To use this feature, you need to buy the TAOS device (it's not built in to the // KL25Z, obviously), wire it to the KL25Z (5 wire connections between the two // devices are required), and mount the TAOS sensor in your cabinet so that it's // positioned properly to capture images of the physical plunger shooter rod. // // The physical mounting and wiring details are desribed in the project // documentation. // // If the CCD is attached, the software constantly captures images from the CCD // and analyzes them to determine how far back the plunger is pulled. It reports // this to Visual Pinball via the joystick interface. This allows VP to make the // simulated on-screen plunger track the motion of the physical plunger in real // time. As with the nudge data, VP has native handling for the plunger input, // so you just need to set the VP preferences to tell it that an analog plunger // device is attached. One caveat, though: although VP itself has built-in // support for an analog plunger, not all existing tables take advantage of it. // Many existing tables have their own custom plunger scripting that doesn't // cooperate with the VP plunger input. All tables *can* be made to work with // the plunger, and in most cases it only requires some simple script editing, // but in some cases it requires some more extensive surgery. // // For best results, the plunger sensor should be calibrated. The calibration // is stored in non-volatile memory on board the KL25Z, so it's only necessary // to do the calibration once, when you first install everything. (You might // also want to re-calibrate if you physically remove and reinstall the CCD // sensor or the mechanical plunger, since their alignment shift change slightly // when you put everything back together.) You can optionally install a // dedicated momentary switch or pushbutton to activate the calibration mode; // this is describe in the project documentation. If you don't want to bother // with the extra button, you can also trigger calibration using the Windows // setup software, which you can find on the Pinscape project page. // // The calibration procedure is described in the project documentation. Briefly, // when you trigger calibration mode, the software will scan the CCD for about // 15 seconds, during which you should simply pull the physical plunger back // all the way, hold it for a moment, and then slowly return it to the rest // position. (DON'T just release it from the retracted position, since that // let it shoot forward too far. We want to measure the range from the park // position to the fully retracted position only.) // // - Button input wiring. 24 of the KL25Z's GPIO ports are mapped as digital inputs // for buttons and switches. The software reports these as joystick buttons when // it sends reports to the PC. These can be used to wire physical pinball-style // buttons in the cabinet (e.g., flipper buttons, the Start button) and miscellaneous // switches (such as a tilt bob) to the PC. Visual Pinball can use joystick buttons // for input - you just have to assign a VP function to each button using VP's // keyboard options dialog. To wire a button physically, connect one terminal of // the button switch to the KL25Z ground, and connect the other terminal to the // the GPIO port you wish to assign to the button. See the buttonMap[] array // below for the available GPIO ports and their assigned joystick button numbers. // If you're not using a GPIO port, you can just leave it unconnected - the digital // inputs have built-in pull-up resistors, so an unconnected port is the same as // an open switch (an "off" state for the button). // // - LedWiz emulation. The KL25Z can appear to the PC as an LedWiz device, and will // accept and process LedWiz commands from the host. The software can turn digital // output ports on and off, and can set varying PWM intensitiy levels on a subset // of ports. (The KL25Z can only provide 6 PWM ports. Intensity level settings on // other ports is ignored, so non-PWM ports can only be used for simple on/off // devices such as contactors and solenoids.) The KL25Z can only supply 4mA on its // output ports, so external hardware is required to take advantage of the LedWiz // emulation. Many different hardware designs are possible, but there's a simple // reference design in the documentation that uses a Darlington array IC to // increase the output from each port to 500mA (the same level as the LedWiz), // plus an extended design that adds an optocoupler and MOSFET to provide very // high power handling, up to about 45A or 150W, with voltages up to 100V. // That will handle just about any DC device directly (wtihout relays or other // amplifiers), and switches fast enough to support PWM devices. // // The device can report any desired LedWiz unit number to the host, which makes // it possible to use the LedWiz emulation on a machine that also has one or more // actual LedWiz devices intalled. The LedWiz design allows for up to 16 units // to be installed in one machine - each one is invidually addressable by its // distinct unit number. // // The LedWiz emulation features are of course optional. There's no need to // build any of the external port hardware (or attach anything to the output // ports at all) if the LedWiz features aren't needed. Most people won't have // any use for the LedWiz features. I built them mostly as a learning exercise, // but with a slight practical need for a handful of extra ports (I'm using the // cutting-edge 10-contactor setup, so my real LedWiz is full!). // // The on-board LED on the KL25Z flashes to indicate the current device status: // // two short red flashes = the device is powered but hasn't successfully // connected to the host via USB (either it's not physically connected // to the USB port, or there was a problem with the software handshake // with the USB device driver on the computer) // // short red flash = the host computer is in sleep/suspend mode // // long red/green = the LedWiz unti number has been changed, so a reset // is needed. You can simply unplug the device and plug it back in, // or presss and hold the reset button on the device for a few seconds. // // long yellow/green = everything's working, but the plunger hasn't // been calibrated; follow the calibration procedure described above. // This flash mode won't appear if the CCD has been disabled. Note // that the device can't tell whether a CCD is physically attached; // if you don't have a CCD attached, you can set the appropriate option // in config.h or use the Windows config tool to disable the CCD // software features. // // alternating blue/green = everything's working // // Software configuration: you can change option settings by sending special // USB commands from the PC. I've provided a Windows program for this purpose; // refer to the documentation for details. For reference, here's the format // of the USB command for option changes: // // length of report = 8 bytes // byte 0 = 65 (0x41) // byte 1 = 1 (0x01) // byte 2 = new LedWiz unit number, 0x01 to 0x0f // byte 3 = feature enable bit mask: // 0x01 = enable CCD (default = on) // // Plunger calibration mode: the host can activate plunger calibration mode // by sending this packet. This has the same effect as pressing and holding // the plunger calibration button for two seconds, to allow activating this // mode without attaching a physical button. // // length = 8 bytes // byte 0 = 65 (0x41) // byte 1 = 2 (0x02) // // Exposure reports: the host can request a report of the full set of pixel // values for the next frame by sending this special packet: // // length = 8 bytes // byte 0 = 65 (0x41) // byte 1 = 3 (0x03) // // We'll respond with a series of special reports giving the exposure status. // Each report has the following structure: // // bytes 0:1 = 11-bit index, with high 5 bits set to 10000. For // example, 0x04 0x80 indicates index 4. This is the // starting pixel number in the report. The first report // will be 0x00 0x80 to indicate pixel #0. // bytes 2:3 = 16-bit unsigned int brightness level of pixel at index // bytes 4:5 = brightness of pixel at index+1 // etc for the rest of the packet // // This still has the form of a joystick packet at the USB level, but // can be differentiated by the host via the status bits. It would have // been cleaner to use a different Report ID at the USB level, but this // would have necessitated a different container structure in the report // descriptor, which would have broken LedWiz compatibility. Given that // constraint, we have to re-use the joystick report type, making for // this somewhat kludgey approach. #include "mbed.h" #include "math.h" #include "USBJoystick.h" #include "MMA8451Q.h" #include "tsl1410r.h" #include "FreescaleIAP.h" #include "crc32.h" // our local configuration file #include "config.h" // --------------------------------------------------------------------------- // utilities // number of elements in an array #define countof(x) (sizeof(x)/sizeof((x)[0])) // --------------------------------------------------------------------------- // USB device vendor ID, product ID, and version. // // We use the vendor ID for the LedWiz, so that the PC-side software can // identify us as capable of performing LedWiz commands. The LedWiz uses // a product ID value from 0xF0 to 0xFF; the last four bits identify the // unit number (e.g., product ID 0xF7 means unit #7). This allows multiple // LedWiz units to be installed in a single PC; the software on the PC side // uses the unit number to route commands to the devices attached to each // unit. On the real LedWiz, the unit number must be set in the firmware // at the factory; it's not configurable by the end user. Most LedWiz's // ship with the unit number set to 0, but the vendor will set different // unit numbers if requested at the time of purchase. So if you have a // single LedWiz already installed in your cabinet, and you didn't ask for // a non-default unit number, your existing LedWiz will be unit 0. // // Note that the USB_PRODUCT_ID value set here omits the unit number. We // take the unit number from the saved configuration. We provide a // configuration command that can be sent via the USB connection to change // the unit number, so that users can select the unit number without having // to install a different version of the software. We'll combine the base // product ID here with the unit number to get the actual product ID that // we send to the USB controller. const uint16_t USB_VENDOR_ID = 0xFAFA; const uint16_t USB_PRODUCT_ID = 0x00F0; const uint16_t USB_VERSION_NO = 0x0006; // Joystick axis report range - we report from -JOYMAX to +JOYMAX #define JOYMAX 4096 // -------------------------------------------------------------------------- // // Potentiometer configuration // #ifdef POT_SENSOR_ENABLED #define IF_POT(x) x #else #define IF_POT(x) #endif // --------------------------------------------------------------------------- // // On-board RGB LED elements - we use these for diagnostic displays. // DigitalOut ledR(LED1), ledG(LED2), ledB(LED3); // --------------------------------------------------------------------------- // // LedWiz emulation // static int pbaIdx = 0; // LedWiz output pin interface. We create a cover class to virtualize // digital vs PWM outputs and give them a common interface. The KL25Z // unfortunately doesn't have enough hardware PWM channels to support // PWM on all 32 LedWiz outputs, so we provide as many PWM channels as // we can (10), and fill out the rest of the outputs with plain digital // outs. class LwOut { public: virtual void set(float val) = 0; }; class LwPwmOut: public LwOut { public: LwPwmOut(PinName pin) : p(pin) { prv = -1; } virtual void set(float val) { if (val != prv) p.write(prv = val); } PwmOut p; float prv; }; class LwDigOut: public LwOut { public: LwDigOut(PinName pin) : p(pin) { prv = -1; } virtual void set(float val) { if (val != prv) p.write((prv = val) == 0.0 ? 0 : 1); } DigitalOut p; float prv; }; class LwUnusedOut: public LwOut { public: LwUnusedOut() { } virtual void set(float val) { } }; // output pin array static LwOut *lwPin[32]; // initialize the output pin array void initLwOut() { for (int i = 0 ; i < countof(lwPin) ; ++i) { PinName p = (i < countof(ledWizPortMap) ? ledWizPortMap[i].pin : NC); if (p == NC) lwPin[i] = new LwUnusedOut(); else if (ledWizPortMap[i].isPWM) lwPin[i] = new LwPwmOut(p); else lwPin[i] = new LwDigOut(p); } } // on/off state for each LedWiz output static uint8_t wizOn[32]; // profile (brightness/blink) state for each LedWiz output static uint8_t wizVal[32] = { 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48 }; static float wizState(int idx) { if (wizOn[idx]) { // on - map profile brightness state to PWM level uint8_t val = wizVal[idx]; if (val <= 48) { // PWM brightness/intensity level. Rescale from the LedWiz // 0..48 integer range to our internal PwmOut 0..1 float range. // Note that on the actual LedWiz, level 48 is actually about // 98% on - contrary to the LedWiz documentation, level 49 is // the true 100% level. (In the documentation, level 49 is // simply not a valid setting.) Even so, we treat level 48 as // 100% on to match the documentation. This won't be perfectly // ocmpatible with the actual LedWiz, but it makes for such a // small difference in brightness (if the output device is an // LED, say) that no one should notice. It seems better to // err in this direction, because while the difference in // brightness when attached to an LED won't be noticeable, the // difference in duty cycle when attached to something like a // contactor *can* be noticeable - anything less than 100% // can cause a contactor or relay to chatter. There's almost // never a situation where you'd want values other than 0% and // 100% for a contactor or relay, so treating level 48 as 100% // makes us work properly with software that's expecting the // documented LedWiz behavior and therefore uses level 48 to // turn a contactor or relay fully on. return val/48.0; } else if (val == 49) { // 49 is undefined in the LedWiz documentation, but actually // means 100% on. The documentation says that levels 1-48 are // the full PWM range, but empirically it appears that the real // range implemented in the firmware is 1-49. Some software on // the PC side (notably DOF) is aware of this and uses level 49 // to mean "100% on". To ensure compatibility with existing // PC-side software, we need to recognize level 49. return 1.0; } else if (val >= 129 && val <= 132) { // Values of 129-132 select different flashing modes. We don't // support any of these. Instead, simply treat them as fully on. // Note that DOF doesn't ever use modes 129-132, as it implements // all flashing modes itself on the host side, so this limitation // won't have any effect on DOF users. You can observe it using // LedBlinky, though. return 1.0; } else { // Other values are undefined in the LedWiz documentation. Hosts // *should* never send undefined values, since whatever behavior an // LedWiz unit exhibits in response is accidental and could change // in a future version. We'll treat all undefined values as equivalent // to 48 (fully on). // // NB: the 49 and 129-132 cases are broken out above for the sake // of documentation. We end up using 1.0 as the return value for // everything outside of the defined 0-48 range, so we could collapse // this whole thing to a single 'else' branch, but I wanted to call // out the specific reasons for handling the settings above as we do. return 1.0; } } else { // off - show at 0 intensity return 0.0; } } static void updateWizOuts() { for (int i = 0 ; i < 32 ; ++i) lwPin[i]->set(wizState(i)); } // --------------------------------------------------------------------------- // // Button input // // button input map array DigitalIn *buttonDigIn[32]; // button state struct ButtonState { // current on/off state int pressed; // Sticky time remaining for current state. When a // state transition occurs, we set this to a debounce // period. Future state transitions will be ignored // until the debounce time elapses. int t; } buttonState[32]; // timer for button reports static Timer buttonTimer; // initialize the button inputs void initButtons() { // create the digital inputs for (int i = 0 ; i < countof(buttonDigIn) ; ++i) { if (i < countof(buttonMap) && buttonMap[i] != NC) buttonDigIn[i] = new DigitalIn(buttonMap[i]); else buttonDigIn[i] = 0; } // start the button timer buttonTimer.start(); } // read the button input state uint32_t readButtons() { // start with all buttons off uint32_t buttons = 0; // figure the time elapsed since the last scan int dt = buttonTimer.read_ms(); // reset the timef for the next scan buttonTimer.reset(); // scan the button list uint32_t bit = 1; DigitalIn **di = buttonDigIn; ButtonState *bs = buttonState; for (int i = 0 ; i < countof(buttonDigIn) ; ++i, ++di, ++bs, bit <<= 1) { // read this button if (*di != 0) { // deduct the elapsed time since the last update // from the button's remaining sticky time bs->t -= dt; if (bs->t < 0) bs->t = 0; // If the sticky time has elapsed, note the new physical // state of the button. If we still have sticky time // remaining, ignore the physical state; the last state // change persists until the sticky time elapses so that // we smooth out any "bounce" (electrical transients that // occur when the switch contact is opened or closed). if (bs->t == 0) { // get the new physical state int pressed = !(*di)->read(); // update the button's logical state if this is a change if (pressed != bs->pressed) { // store the new state bs->pressed = pressed; // start a new sticky period for debouncing this // state change bs->t = 25; } } // if it's pressed, OR its bit into the state if (bs->pressed) buttons |= bit; } } // return the new button list return buttons; } // --------------------------------------------------------------------------- // // Customization joystick subbclass // class MyUSBJoystick: public USBJoystick { public: MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release) : USBJoystick(vendor_id, product_id, product_release, true) { suspended_ = false; } // are we connected? int isConnected() { return configured(); } // Are we in suspend mode? int isSuspended() const { return suspended_; } protected: virtual void suspendStateChanged(unsigned int suspended) { suspended_ = suspended; } // are we suspended? int suspended_; }; // --------------------------------------------------------------------------- // // Some simple math service routines // inline float square(float x) { return x*x; } inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); } // --------------------------------------------------------------------------- // // Accelerometer (MMA8451Q) // // The MMA8451Q is the KL25Z's on-board 3-axis accelerometer. // // This is a custom wrapper for the library code to interface to the // MMA8451Q. This class encapsulates an interrupt handler and // automatic calibration. // // We install an interrupt handler on the accelerometer "data ready" // interrupt to ensure that we fetch each sample immediately when it // becomes available. The accelerometer data rate is fiarly high // (800 Hz), so it's not practical to keep up with it by polling. // Using an interrupt handler lets us respond quickly and read // every sample. // // We automatically calibrate the accelerometer so that it's not // necessary to get it exactly level when installing it, and so // that it's also not necessary to calibrate it manually. There's // lots of experience that tells us that manual calibration is a // terrible solution, mostly because cabinets tend to shift slightly // during use, requiring frequent recalibration. Instead, we // calibrate automatically. We continuously monitor the acceleration // data, watching for periods of constant (or nearly constant) values. // Any time it appears that the machine has been at rest for a while // (about 5 seconds), we'll average the readings during that rest // period and use the result as the level rest position. This is // is ongoing, so we'll quickly find the center point again if the // machine is moved during play (by an especially aggressive bout // of nudging, say). // // I2C address of the accelerometer (this is a constant of the KL25Z) const int MMA8451_I2C_ADDRESS = (0x1d<<1); // SCL and SDA pins for the accelerometer (constant for the KL25Z) #define MMA8451_SCL_PIN PTE25 #define MMA8451_SDA_PIN PTE24 // Digital in pin to use for the accelerometer interrupt. For the KL25Z, // this can be either PTA14 or PTA15, since those are the pins physically // wired on this board to the MMA8451 interrupt controller. #define MMA8451_INT_PIN PTA15 // accelerometer input history item, for gathering calibration data struct AccHist { AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; } void set(float x, float y, AccHist *prv) { // save the raw position this->x = x; this->y = y; this->d = distance(prv); } // reading for this entry float x, y; // distance from previous entry float d; // total and count of samples averaged over this period float xtot, ytot; int cnt; void clearAvg() { xtot = ytot = 0.0; cnt = 0; } void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; } float xAvg() const { return xtot/cnt; } float yAvg() const { return ytot/cnt; } float distance(AccHist *p) { return sqrt(square(p->x - x) + square(p->y - y)); } }; // accelerometer wrapper class class Accel { public: Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin) : mma_(sda, scl, i2cAddr), intIn_(irqPin) { // remember the interrupt pin assignment irqPin_ = irqPin; // reset and initialize reset(); } void reset() { // clear the center point cx_ = cy_ = 0.0; // start the calibration timer tCenter_.start(); iAccPrv_ = nAccPrv_ = 0; // reset and initialize the MMA8451Q mma_.init(); // set the initial integrated velocity reading to zero vx_ = vy_ = 0; // set up our accelerometer interrupt handling intIn_.rise(this, &Accel::isr); mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2); // read the current registers to clear the data ready flag mma_.getAccXYZ(ax_, ay_, az_); // start our timers tGet_.start(); tInt_.start(); } void get(int &x, int &y) { // disable interrupts while manipulating the shared data __disable_irq(); // read the shared data and store locally for calculations float ax = ax_, ay = ay_; float vx = vx_, vy = vy_; // reset the velocity sum for the next run vx_ = vy_ = 0; // get the time since the last get() sample float dt = tGet_.read_us()/1.0e6; tGet_.reset(); // done manipulating the shared data __enable_irq(); // adjust the readings for the integration time vx /= dt; vy /= dt; // add this sample to the current calibration interval's running total AccHist *p = accPrv_ + iAccPrv_; p->addAvg(ax, ay); // check for auto-centering every so often if (tCenter_.read_ms() > 1000) { // add the latest raw sample to the history list AccHist *prv = p; iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv; p = accPrv_ + iAccPrv_; p->set(ax, ay, prv); // if we have a full complement, check for stability if (nAccPrv_ >= maxAccPrv) { // check if we've been stable for all recent samples static const float accTol = .01; AccHist *p0 = accPrv_; if (p0[0].d < accTol && p0[1].d < accTol && p0[2].d < accTol && p0[3].d < accTol && p0[4].d < accTol) { // Figure the new calibration point as the average of // the samples over the rest period cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0; cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0; } } else { // not enough samples yet; just up the count ++nAccPrv_; } // clear the new item's running totals p->clearAvg(); // reset the timer tCenter_.reset(); } // report our integrated velocity reading in x,y x = rawToReport(vx); y = rawToReport(vy); #ifdef DEBUG_PRINTF if (x != 0 || y != 0) printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt); #endif } private: // adjust a raw acceleration figure to a usb report value int rawToReport(float v) { // scale to the joystick report range and round to integer int i = int(round(v*JOYMAX)); // if it's near the center, scale it roughly as 20*(i/20)^2, // to suppress noise near the rest position static const int filter[] = { -18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18 }; return (i > 20 || i < -20 ? i : filter[i+20]); } // interrupt handler void isr() { // Read the axes. Note that we have to read all three axes // (even though we only really use x and y) in order to clear // the "data ready" status bit in the accelerometer. The // interrupt only occurs when the "ready" bit transitions from // off to on, so we have to make sure it's off. float x, y, z; mma_.getAccXYZ(x, y, z); // calculate the time since the last interrupt float dt = tInt_.read_us()/1.0e6; tInt_.reset(); // integrate the time slice from the previous reading to this reading vx_ += (x + ax_ - 2*cx_)*dt/2; vy_ += (y + ay_ - 2*cy_)*dt/2; // store the updates ax_ = x; ay_ = y; az_ = z; } // underlying accelerometer object MMA8451Q mma_; // last raw acceleration readings float ax_, ay_, az_; // integrated velocity reading since last get() float vx_, vy_; // timer for measuring time between get() samples Timer tGet_; // timer for measuring time between interrupts Timer tInt_; // Calibration reference point for accelerometer. This is the // average reading on the accelerometer when in the neutral position // at rest. float cx_, cy_; // timer for atuo-centering Timer tCenter_; // Auto-centering history. This is a separate history list that // records results spaced out sparesely over time, so that we can // watch for long-lasting periods of rest. When we observe nearly // no motion for an extended period (on the order of 5 seconds), we // take this to mean that the cabinet is at rest in its neutral // position, so we take this as the calibration zero point for the // accelerometer. We update this history continuously, which allows // us to continuously re-calibrate the accelerometer. This ensures // that we'll automatically adjust to any actual changes in the // cabinet's orientation (e.g., if it gets moved slightly by an // especially strong nudge) as well as any systematic drift in the // accelerometer measurement bias (e.g., from temperature changes). int iAccPrv_, nAccPrv_; static const int maxAccPrv = 5; AccHist accPrv_[maxAccPrv]; // interurupt pin name PinName irqPin_; // interrupt router InterruptIn intIn_; }; // --------------------------------------------------------------------------- // // Clear the I2C bus for the MMA8451Q. This seems necessary some of the time // for reasons that aren't clear to me. Doing a hard power cycle has the same // effect, but when we do a soft reset, the hardware sometimes seems to leave // the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through // the SCL line is supposed to clear this condition. I'm not convinced this // actually works with the way this component is wired on the KL25Z, but it // seems harmless, so we'll do it on reset in case it does some good. What // we really seem to need is a way to power cycle the MMA8451Q if it ever // gets stuck, but this is simply not possible in software on the KL25Z. // // If the accelerometer does get stuck, and a software reboot doesn't reset // it, the only workaround is to manually power cycle the whole KL25Z by // unplugging both of its USB connections. // void clear_i2c() { // assume a general-purpose output pin to the I2C clock DigitalOut scl(MMA8451_SCL_PIN); DigitalIn sda(MMA8451_SDA_PIN); // clock the SCL 9 times for (int i = 0 ; i < 9 ; ++i) { scl = 1; wait_us(20); scl = 0; wait_us(20); } } // --------------------------------------------------------------------------- // // Include the appropriate plunger sensor definition. This will define a // class called PlungerSensor, with a standard interface that we use in // the main loop below. This is *kind of* like a virtual class interface, // but it actually defines the methods statically, which is a little more // efficient at run-time. There's no need for a true virtual interface // because we don't need to be able to change sensor types on the fly. // #ifdef ENABLE_CCD_SENSOR #include "ccdSensor.h" #elif ENABLE_POT_SENSOR #include "potSensor.h" #else #include "nullSensor.h" #endif // --------------------------------------------------------------------------- // // Non-volatile memory (NVM) // // Structure defining our NVM storage layout. We store a small // amount of persistent data in flash memory to retain calibration // data when powered off. struct NVM { // checksum - we use this to determine if the flash record // has been properly initialized uint32_t checksum; // signature value static const uint32_t SIGNATURE = 0x4D4A522A; static const uint16_t VERSION = 0x0003; // Is the data structure valid? We test the signature and // checksum to determine if we've been properly stored. int valid() const { return (d.sig == SIGNATURE && d.vsn == VERSION && d.sz == sizeof(NVM) && checksum == CRC32(&d, sizeof(d))); } // save to non-volatile memory void save(FreescaleIAP &iap, int addr) { // update the checksum and structure size checksum = CRC32(&d, sizeof(d)); d.sz = sizeof(NVM); // erase the sector iap.erase_sector(addr); // save the data iap.program_flash(addr, this, sizeof(*this)); } // reset calibration data for calibration mode void resetPlunger() { // set extremes for the calibration data d.plungerMax = 0; d.plungerZero = npix; d.plungerMin = npix; } // stored data (excluding the checksum) struct { // Signature, structure version, and structure size - further verification // that we have valid initialized data. The size is a simple proxy for a // structure version, as the most common type of change to the structure as // the software evolves will be the addition of new elements. We also // provide an explicit version number that we can update manually if we // make any changes that don't affect the structure size but would affect // compatibility with a saved record (e.g., swapping two existing elements). uint32_t sig; uint16_t vsn; int sz; // has the plunger been manually calibrated? int plungerCal; // Plunger calibration min, zero, and max. The zero point is the // rest position (aka park position), where it's in equilibrium between // the main spring and the barrel spring. It can travel a small distance // forward of the rest position, because the barrel spring can be // compressed by the user pushing on the plunger or by the momentum // of a release motion. The minimum is the maximum forward point where // the barrel spring can't be compressed any further. int plungerMin; int plungerZero; int plungerMax; // is the plunger sensor enabled? int plungerEnabled; // LedWiz unit number uint8_t ledWizUnitNo; } d; }; // --------------------------------------------------------------------------- // // Main program loop. This is invoked on startup and runs forever. Our // main work is to read our devices (the accelerometer and the CCD), process // the readings into nudge and plunger position data, and send the results // to the host computer via the USB joystick interface. We also monitor // the USB connection for incoming LedWiz commands and process those into // port outputs. // int main(void) { // turn off our on-board indicator LED ledR = 1; ledG = 1; ledB = 1; // initialize the LedWiz ports initLwOut(); // initialize the button input ports initButtons(); // we don't need a reset yet bool needReset = false; // clear the I2C bus for the accelerometer clear_i2c(); // set up a flash memory controller FreescaleIAP iap; // use the last sector of flash for our non-volatile memory structure int flash_addr = (iap.flash_size() - SECTOR_SIZE); NVM *flash = (NVM *)flash_addr; NVM cfg; // check for valid flash bool flash_valid = flash->valid(); // if the flash is valid, load it; otherwise initialize to defaults if (flash_valid) { memcpy(&cfg, flash, sizeof(cfg)); printf("Flash restored: plunger cal=%d, min=%d, zero=%d, max=%d\r\n", cfg.d.plungerCal, cfg.d.plungerMin, cfg.d.plungerZero, cfg.d.plungerMax); } else { printf("Factory reset\r\n"); cfg.d.sig = cfg.SIGNATURE; cfg.d.vsn = cfg.VERSION; cfg.d.plungerCal = 0; cfg.d.plungerMin = 0; // assume we can go all the way forward... cfg.d.plungerMax = npix; // ...and all the way back cfg.d.plungerZero = npix/6; // the rest position is usually around 1/2" back cfg.d.ledWizUnitNo = DEFAULT_LEDWIZ_UNIT_NUMBER; cfg.d.plungerEnabled = true; } // Create the joystick USB client. Note that we use the LedWiz unit // number from the saved configuration. MyUSBJoystick js( USB_VENDOR_ID, USB_PRODUCT_ID | cfg.d.ledWizUnitNo, USB_VERSION_NO); // last report timer - we use this to throttle reports, since VP // doesn't want to hear from us more than about every 10ms Timer reportTimer; reportTimer.start(); // initialize the calibration buttons, if present DigitalIn *calBtn = (CAL_BUTTON_PIN == NC ? 0 : new DigitalIn(CAL_BUTTON_PIN)); DigitalOut *calBtnLed = (CAL_BUTTON_LED == NC ? 0 : new DigitalOut(CAL_BUTTON_LED)); // plunger calibration button debounce timer Timer calBtnTimer; calBtnTimer.start(); int calBtnLit = false; // Calibration button state: // 0 = not pushed // 1 = pushed, not yet debounced // 2 = pushed, debounced, waiting for hold time // 3 = pushed, hold time completed - in calibration mode int calBtnState = 0; // set up a timer for our heartbeat indicator Timer hbTimer; hbTimer.start(); int hb = 0; uint16_t hbcnt = 0; // set a timer for accelerometer auto-centering Timer acTimer; acTimer.start(); // create the accelerometer object Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN); // last accelerometer report, in joystick units (we report the nudge // acceleration via the joystick x & y axes, per the VP convention) int x = 0, y = 0; // create our plunger sensor object PlungerSensor plungerSensor; // last plunger report position, in 'npix' normalized pixel units int pos = 0; // last plunger report, in joystick units (we report the plunger as the // "z" axis of the joystick, per the VP convention) int z = 0; // most recent prior plunger readings, for tracking release events(z0 is // reading just before the last one we reported, z1 is the one before that, // z2 the next before that) int z0 = 0, z1 = 0, z2 = 0; // Simulated "bounce" position when firing. We model the bounce off of // the barrel spring when the plunger is released as proportional to the // distance it was retracted just before being released. int zBounce = 0; // Simulated Launch Ball button state. If a "ZB Launch Ball" port is // defined for our LedWiz port mapping, any time that port is turned ON, // we'll simulate pushing the Launch Ball button if the player pulls // back and releases the plunger, or simply pushes on the plunger from // the rest position. This allows the plunger to be used in lieu of a // physical Launch Ball button for tables that don't have plungers. // // States: // 0 = default // 1 = cocked (plunger has been pulled back about 1" from state 0) // 2 = uncocked (plunger is pulled back less than 1" from state 1) // 3 = launching (plunger has been released from state 1 or 2, or // pushed forward about 1/4" from state 0) // 4 = launching, plunger is no longer pushed forward int lbState = 0; // Time since last lbState transition. Some of the states are time- // sensitive. In the "uncocked" state, we'll return to state 0 if // we remain in this state for more than a few milliseconds, since // it indicates that the plunger is being slowly returned to rest // rather than released. In the "launching" state, we need to release // the Launch Ball button after a moment, and we need to wait for // the plunger to come to rest before returning to state 0. Timer lbTimer; lbTimer.start(); // Launch Ball simulated push timer. We start this when we simulate // the button push, and turn off the simulated button when enough time // has elapsed. Timer lbBtnTimer; // Simulated button states. This is a vector of button states // for the simulated buttons. We combine this with the physical // button states on each USB joystick report, so we will report // a button as pressed if either the physical button is being pressed // or we're simulating a press on the button. This is used for the // simulated Launch Ball button. uint32_t simButtons = 0; // Firing in progress: we set this when we detect the start of rapid // plunger movement from a retracted position towards the rest position. // // When we detect a firing event, we send VP a series of synthetic // reports simulating the idealized plunger motion. The actual physical // motion is much too fast to report to VP; in the time between two USB // reports, the plunger can shoot all the way forward, rebound off of // the barrel spring, bounce back part way, and bounce forward again, // or even do all of this more than once. This means that sampling the // physical motion at the USB report rate would create a misleading // picture of the plunger motion, since our samples would catch the // plunger at random points in this oscillating motion. From the // user's perspective, the physical action that occurred is simply that // the plunger was released from a particular distance, so it's this // high-level event that we want to convey to VP. To do this, we // synthesize a series of reports to convey an idealized version of // the release motion that's perfectly synchronized to the VP reports. // Essentially we pretend that our USB position samples are exactly // aligned in time with (1) the point of retraction just before the // user released the plunger, (2) the point of maximum forward motion // just after the user released the plunger (the point of maximum // compression as the plunger bounces off of the barrel spring), and // (3) the plunger coming to rest at the park position. This series // of reports is synthetic in the sense that it's not what we actually // see on the CCD at the times of these reports - the true plunger // position is oscillating at high speed during this period. But at // the same time it conveys a more faithful picture of the true physical // motion to VP, and allows VP to reproduce the true physical motion // more faithfully in its simulation model, by correcting for the // relatively low sampling rate in the communication path between the // real plunger and VP's model plunger. // // If 'firing' is non-zero, it's the index of our current report in // the synthetic firing report series. int firing = 0; // start the first CCD integration cycle plungerSensor.init(); // Device status. We report this on each update so that the host config // tool can detect our current settings. This is a bit mask consisting // of these bits: // 0x01 -> plunger sensor enabled uint16_t statusFlags = (cfg.d.plungerEnabled ? 0x01 : 0x00); // flag: send a pixel dump after the next read bool reportPix = false; // we're all set up - now just loop, processing sensor reports and // host requests for (;;) { // Look for an incoming report. Process a few input reports in // a row, but stop after a few so that a barrage of inputs won't // starve our output event processing. HID_REPORT report; for (int rr = 0 ; rr < 4 && js.readNB(&report) ; ++rr) { // all Led-Wiz reports are 8 bytes exactly if (report.length == 8) { uint8_t *data = report.data; if (data[0] == 64) { // LWZ-SBA - first four bytes are bit-packed on/off flags // for the outputs; 5th byte is the pulse speed (0-7) //printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n", // data[1], data[2], data[3], data[4], data[5]); // update all on/off states for (int i = 0, bit = 1, ri = 1 ; i < 32 ; ++i, bit <<= 1) { if (bit == 0x100) { bit = 1; ++ri; } wizOn[i] = ((data[ri] & bit) != 0); } // update the physical outputs updateWizOuts(); // reset the PBA counter pbaIdx = 0; } else if (data[0] == 65) { // Private control message. This isn't an LedWiz message - it's // an extension for this device. 65 is an invalid PBA setting, // and isn't used for any other LedWiz message, so we appropriate // it for our own private use. The first byte specifies the // message type. if (data[1] == 1) { // 1 = Set Configuration: // data[2] = LedWiz unit number (0x00 to 0x0f) // data[3] = feature enable bit mask: // 0x01 = enable CCD // we'll need a reset if the LedWiz unit number is changing uint8_t newUnitNo = data[2] & 0x0f; needReset |= (newUnitNo != cfg.d.ledWizUnitNo); // set the configuration parameters from the message cfg.d.ledWizUnitNo = newUnitNo; cfg.d.plungerEnabled = data[3] & 0x01; // update the status flags statusFlags = (statusFlags & ~0x01) | (data[3] & 0x01); // if the ccd is no longer enabled, use 0 for z reports if (!cfg.d.plungerEnabled) z = 0; // save the configuration cfg.save(iap, flash_addr); } else if (data[1] == 2) { // 2 = Calibrate plunger // (No parameters) // enter calibration mode calBtnState = 3; calBtnTimer.reset(); cfg.resetPlunger(); } else if (data[1] == 3) { // 3 = pixel dump // (No parameters) reportPix = true; // show purple until we finish sending the report ledR = 0; ledB = 0; ledG = 1; } } else { // LWZ-PBA - full state dump; each byte is one output // in the current bank. pbaIdx keeps track of the bank; // this is incremented implicitly by each PBA message. //printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n", // pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); // update all output profile settings for (int i = 0 ; i < 8 ; ++i) wizVal[pbaIdx + i] = data[i]; // update the physical LED state if this is the last bank if (pbaIdx == 24) { updateWizOuts(); pbaIdx = 0; } else pbaIdx += 8; } } } // check for plunger calibration if (calBtn != 0 && !calBtn->read()) { // check the state switch (calBtnState) { case 0: // button not yet pushed - start debouncing calBtnTimer.reset(); calBtnState = 1; break; case 1: // pushed, not yet debounced - if the debounce time has // passed, start the hold period if (calBtnTimer.read_ms() > 50) calBtnState = 2; break; case 2: // in the hold period - if the button has been held down // for the entire hold period, move to calibration mode if (calBtnTimer.read_ms() > 2050) { // enter calibration mode calBtnState = 3; calBtnTimer.reset(); cfg.resetPlunger(); } break; case 3: // Already in calibration mode - pushing the button here // doesn't change the current state, but we won't leave this // state as long as it's held down. So nothing changes here. break; } } else { // Button released. If we're in calibration mode, and // the calibration time has elapsed, end the calibration // and save the results to flash. // // Otherwise, return to the base state without saving anything. // If the button is released before we make it to calibration // mode, it simply cancels the attempt. if (calBtnState == 3 && calBtnTimer.read_ms() > 15000) { // exit calibration mode calBtnState = 0; // save the updated configuration cfg.d.plungerCal = 1; cfg.save(iap, flash_addr); // the flash state is now valid flash_valid = true; } else if (calBtnState != 3) { // didn't make it to calibration mode - cancel the operation calBtnState = 0; } } // light/flash the calibration button light, if applicable int newCalBtnLit = calBtnLit; switch (calBtnState) { case 2: // in the hold period - flash the light newCalBtnLit = ((calBtnTimer.read_ms()/250) & 1); break; case 3: // calibration mode - show steady on newCalBtnLit = true; break; default: // not calibrating/holding - show steady off newCalBtnLit = false; break; } // light or flash the external calibration button LED, and // do the same with the on-board blue LED if (calBtnLit != newCalBtnLit) { calBtnLit = newCalBtnLit; if (calBtnLit) { if (calBtnLed != 0) calBtnLed->write(1); ledR = 1; ledG = 1; ledB = 0; } else { if (calBtnLed != 0) calBtnLed->write(0); ledR = 1; ledG = 1; ledB = 1; } } // If the plunger is enabled, and we're not already in a firing event, // and the last plunger reading had the plunger pulled back at least // a bit, watch for plunger release events until it's time for our next // USB report. if (!firing && cfg.d.plungerEnabled && z >= JOYMAX/6) { // monitor the plunger until it's time for our next report while (reportTimer.read_ms() < 15) { // do a fast low-res scan; if it's at or past the zero point, // start a firing event if (plungerSensor.lowResScan() <= cfg.d.plungerZero) firing = 1; } } // read the plunger sensor, if it's enabled if (cfg.d.plungerEnabled) { // start with the previous reading, in case we don't have a // clear result on this frame int znew = z; if (plungerSensor.highResScan(pos)) { // We got a new reading. If we're in calibration mode, use it // to figure the new calibration, otherwise adjust the new reading // for the established calibration. if (calBtnState == 3) { // Calibration mode. If this reading is outside of the current // calibration bounds, expand the bounds. if (pos < cfg.d.plungerMin) cfg.d.plungerMin = pos; if (pos < cfg.d.plungerZero) cfg.d.plungerZero = pos; if (pos > cfg.d.plungerMax) cfg.d.plungerMax = pos; // normalize to the full physical range while calibrating znew = int(round(float(pos)/npix * JOYMAX)); } else { // Not in calibration mode, so normalize the new reading to the // established calibration range. // // Note that negative values are allowed. Zero represents the // "park" position, where the plunger sits when at rest. A mechanical // plunger has a smmall amount of travel in the "push" direction, // since the barrel spring can be compressed slightly. Negative // values represent travel in the push direction. if (pos > cfg.d.plungerMax) pos = cfg.d.plungerMax; znew = int(round(float(pos - cfg.d.plungerZero) / (cfg.d.plungerMax - cfg.d.plungerZero + 1) * JOYMAX)); } } // If we're not already in a firing event, check to see if the // new position is forward of the last report. If it is, a firing // event might have started during the high-res scan. This might // seem unlikely given that the scan only takes about 5ms, but that // 5ms represents about 25-30% of our total time between reports, // there's about a 1 in 4 chance that a release starts during a // scan. if (!firing && z0 > 0 && znew < z0) { // The plunger has moved forward since the previous report. // Watch it for a few more ms to see if we can get a stable // new position. int pos1 = plungerSensor.lowResScan(); Timer tw; tw.start(); while (tw.read_ms() < 6) { // if we've crossed the rest position, it's a firing event if (pos1 < cfg.d.plungerZero) { firing = 1; break; } // read the new position int pos2 = plungerSensor.lowResScan(); // if it's stable, stop looping if (abs(pos2 - pos1) < int(npix/(3.2*8))) break; // the new reading is now the prior reading pos1 = pos2; } } // Check for a simulated Launch Ball button press, if enabled if (ZBLaunchBallPort != 0) { const int cockThreshold = JOYMAX/3; const int pushThreshold = int(-JOYMAX/3 * LaunchBallPushDistance); int newState = lbState; switch (lbState) { case 0: // Base state. If the plunger is pulled back by an inch // or more, go to "cocked" state. If the plunger is pushed // forward by 1/4" or more, go to "launch" state. if (znew >= cockThreshold) newState = 1; else if (znew <= pushThreshold) newState = 3; break; case 1: // Cocked state. If a firing event is now in progress, // go to "launch" state. Otherwise, if the plunger is less // than 1" retracted, go to "uncocked" state - the player // might be slowly returning the plunger to rest so as not // to trigger a launch. if (firing || znew <= 0) newState = 3; else if (znew < cockThreshold) newState = 2; break; case 2: // Uncocked state. If the plunger is more than an inch // retracted, return to cocked state. If we've been in // the uncocked state for more than half a second, return // to the base state. This allows the user to return the // plunger to rest without triggering a launch, by moving // it at manual speed to the rest position rather than // releasing it. if (znew >= cockThreshold) newState = 1; else if (lbTimer.read_ms() > 500) newState = 0; break; case 3: // Launch state. If the plunger is no longer pushed // forward, switch to launch rest state. if (znew >= 0) newState = 4; break; case 4: // Launch rest state. If the plunger is pushed forward // again, switch back to launch state. If not, and we've // been in this state for at least 200ms, return to the // default state. if (znew <= pushThreshold) newState = 3; else if (lbTimer.read_ms() > 200) newState = 0; break; } // change states if desired const uint32_t lbButtonBit = (1 << (LaunchBallButton - 1)); if (newState != lbState) { // if we're entering Launch state, and the ZB Launch Ball // LedWiz signal is turned on, simulate a Launch Ball button // press if (newState == 3 && lbState != 4 && wizOn[ZBLaunchBallPort-1]) { lbBtnTimer.reset(); lbBtnTimer.start(); simButtons |= lbButtonBit; } // if we're switching to state 0, release the button if (newState == 0) simButtons &= ~(1 << (LaunchBallButton - 1)); // switch to the new state lbState = newState; // start timing in the new state lbTimer.reset(); } // if the simulated Launch Ball button press is in effect, // and either it's been in effect too long or the ZB Launch // Ball signal is no longer active, turn off the button if ((simButtons & lbButtonBit) != 0 && (!wizOn[ZBLaunchBallPort-1] || lbBtnTimer.read_ms() > 250)) { lbBtnTimer.stop(); simButtons &= ~lbButtonBit; } } // If a firing event is in progress, generate synthetic reports to // describe an idealized version of the plunger motion to VP rather // than reporting the actual physical plunger position. // // We use the synthetic reports during a release event because the // physical plunger motion when released is too fast for VP to track. // VP only syncs its internal physics model with the outside world // about every 10ms. In that amount of time, the plunger moves // fast enough when released that it can shoot all the way forward, // bounce off of the barrel spring, and rebound part of the way // back. The result is the classic analog-to-digital problem of // sample aliasing. If we happen to time our sample during the // release motion so that we catch the plunger at the peak of a // bounce, the digital signal incorrectly looks like the plunger // is moving slowly forward - VP thinks we went from fully // retracted to half retracted in the sample interval, whereas // we actually traveled all the way forward and half way back, // so the speed VP infers is about 1/3 of the actual speed. // // To correct this, we take advantage of our ability to sample // the CCD image several times in the course of a VP report. If // we catch the plunger near the origin after we've seen it // retracted, we go into Release Event mode. During this mode, // we stop reporting the true physical plunger position, and // instead report an idealized pattern: we report the plunger // immediately shooting forward to a position in front of the // park position that's in proportion to how far back the plunger // was just before the release, and we then report it stationary // at the park position. We continue to report the stationary // park position until the actual physical plunger motion has // stabilized on a new position. We then exit Release Event // mode and return to reporting the true physical position. if (firing) { // Firing in progress. Keep reporting the park position // until the physical plunger position comes to rest. const int restTol = JOYMAX/24; if (firing == 1) { // For the first couple of frames, show the plunger shooting // forward past the zero point, to simulate the momentum carrying // it forward to bounce off of the barrel spring. Show the // bounce as proportional to the distance it was retracted // in the prior report. z = zBounce = -z0/6; ++firing; } else if (firing == 2) { // second frame - keep the bounce a little longer z = zBounce; ++firing; } else if (firing > 4 && abs(znew - z0) < restTol && abs(znew - z1) < restTol && abs(znew - z2) < restTol) { // The physical plunger has come to rest. Exit firing // mode and resume reporting the actual position. firing = false; z = znew; } else { // until the physical plunger comes to rest, simply // report the park position z = 0; ++firing; } } else { // not in firing mode - report the true physical position z = znew; } // shift the new reading into the recent history buffer z2 = z1; z1 = z0; z0 = znew; } // update the buttons uint32_t buttons = readButtons(); // If it's been long enough since our last USB status report, // send the new report. We throttle the report rate because // it can overwhelm the PC side if we report too frequently. // VP only wants to sync with the real world in 10ms intervals, // so reporting more frequently only creates i/o overhead // without doing anything to improve the simulation. if (reportTimer.read_ms() > 15) { // read the accelerometer int xa, ya; accel.get(xa, ya); // confine the results to our joystick axis range if (xa < -JOYMAX) xa = -JOYMAX; if (xa > JOYMAX) xa = JOYMAX; if (ya < -JOYMAX) ya = -JOYMAX; if (ya > JOYMAX) ya = JOYMAX; // store the updated accelerometer coordinates x = xa; y = ya; // Send the status report. Note that the nominal x and y axes // are reversed - this makes it more intuitive to set up in VP. // If we mount the Freesale card flat on the floor of the cabinet // with the USB connectors facing the front of the cabinet, this // arrangement of our nominal axes aligns with VP's standard // setting, so that we can configure VP with X Axis = X on the // joystick and Y Axis = Y on the joystick. js.update(y, x, z, buttons | simButtons, statusFlags); // we've just started a new report interval, so reset the timer reportTimer.reset(); } // If we're in pixel dump mode, report all pixel exposure values if (reportPix) { // send the report plungerSensor.sendExposureReport(js); // we have satisfied this request reportPix = false; } #ifdef DEBUG_PRINTF if (x != 0 || y != 0) printf("%d,%d\r\n", x, y); #endif // provide a visual status indication on the on-board LED if (calBtnState < 2 && hbTimer.read_ms() > 1000) { if (js.isSuspended() || !js.isConnected()) { // suspended - turn off the LED ledR = 1; ledG = 1; ledB = 1; // show a status flash every so often if (hbcnt % 3 == 0) { // disconnected = red/red flash; suspended = red for (int n = js.isConnected() ? 1 : 2 ; n > 0 ; --n) { ledR = 0; wait(0.05); ledR = 1; wait(0.25); } } } else if (needReset) { // connected, need to reset due to changes in config parameters - // flash red/green hb = !hb; ledR = (hb ? 0 : 1); ledG = (hb ? 1 : 0); ledB = 0; } else if (cfg.d.plungerEnabled && !cfg.d.plungerCal) { // connected, plunger calibration needed - flash yellow/green hb = !hb; ledR = (hb ? 0 : 1); ledG = 0; ledB = 1; } else { // connected - flash blue/green hb = !hb; ledR = 1; ledG = (hb ? 0 : 1); ledB = (hb ? 1 : 0); } // reset the heartbeat timer hbTimer.reset(); ++hbcnt; } } }