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:
- 2014-07-11
- Revision:
- 0:5acbbe3f4cf4
- Child:
- 1:d913e0afb2ac
File content as of revision 0:5acbbe3f4cf4:
#include "mbed.h" #include "USBJoystick.h" #include "MMA8451Q.h" #include "tls1410r.h" PwmOut led1(LED1), led2(LED2), led3(LED3); DigitalOut out1(PTE29); static int pbaIdx = 0; // on/off state for each LedWiz output static uint8_t ledOn[32]; // profile (brightness/blink) state for each LedWiz output static uint8_t ledVal[32] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; static double ledState(int idx) { if (ledOn[idx]) { // on - map profile brightness state to PWM level uint8_t val = ledVal[idx]; if (val >= 1 && val <= 48) return 1.0 - val/48.0; else if (val >= 129 && val <= 132) return 0.0; else return 1.0; } else { // off return 1.0; } } static void updateLeds() { led1 = ledState(0); led2 = ledState(1); led3 = ledState(2); } int main(void) { led1 = 1; led2 = 1; led3 = 1; Timer timer; // set up a timer for spacing USB reports timer.start(); float t0 = timer.read_ms(); float tout1 = timer.read_ms(); // Create the joystick USB client. Show a read LED while connecting, and // change to green when connected. led1 = 0.75; USBJoystick js(0xFAFA, 0x00F7, 0x0001); led1 = 1; led2 = 0.75; // create the accelerometer object const int MMA8451_I2C_ADDRESS = (0x1d<<1); MMA8451Q accel(PTE25, PTE24, MMA8451_I2C_ADDRESS); printf("MMA8451 ID: %d\r\n", accel.getWhoAmI()); // create the CCD array object TLS1410R ccd(PTE20, PTE21, PTB0); // process sensor reports and LedWiz requests forever int x = 0, y = 127, z = 0; for (;;) { // Look for an incoming report. Continue processing input as // long as there's anything pending - this ensures that we // handle input in as timely a fashion as possible by deferring // output tasks as long as there's input to process. HID_REPORT report; while (js.readNB(&report) && 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; } ledOn[i] = ((data[ri] & bit) != 0); } // update the physical LED state updateLeds(); // reset the PBA counter pbaIdx = 0; } 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) ledVal[pbaIdx + i] = data[i]; // update the physical LED state if this is the last bank if (pbaIdx == 24) updateLeds(); // advance to the next bank pbaIdx = (pbaIdx + 8) & 31; } } #if 1 // check the accelerometer { // read the accelerometer float xa = accel.getAccX(); float ya = accel.getAccY(); // figure the new joystick position int xnew = (int)(127 * xa); int ynew = (int)(127 * ya); // send an update if the position has changed if (xnew != x || ynew != y) { x = xnew; y = ynew; // send the status report js.update(x, y, z, 0); } } #else // Send a joystick report if it's been long enough since the // last report if (timer.read_ms() - t0 > 250) { // send the current joystick status report js.update(x, y, z, 0); // update our internal joystick position record x += dx; y += dy; z += dz; if (x > xmax || x < xmin) { dx = -dx; x += 2*dx; } if (y > ymax || y < ymin) { dy = -dy; y += 2*dy; } if (z > zmax || z < zmin) { dz = -dz; z += 2*dz; } // note the time of the last report t0 = timer.read_ms(); } #endif // pulse E29 if (timer.read_ms() - tout1 > 2000) { out1 = !out1; tout1 = timer.read_ms(); } } }