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Dependencies: FastAnalogIn FastIO USBDevice mbed FastPWM SimpleDMA
Fork of Pinscape_Controller by
main.cpp@36:6b981a2afab7, 2015-12-03 (annotated)
- Committer:
- mjr
- Date:
- Thu Dec 03 07:34:57 2015 +0000
- Revision:
- 36:6b981a2afab7
- Parent:
- 35:d832bcab089e
74HC595 output port extensions (for "chime board")
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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mjr | 5:a70c0bce770d | 1 | /* Copyright 2014 M J Roberts, MIT License |
mjr | 5:a70c0bce770d | 2 | * |
mjr | 5:a70c0bce770d | 3 | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
mjr | 5:a70c0bce770d | 4 | * and associated documentation files (the "Software"), to deal in the Software without |
mjr | 5:a70c0bce770d | 5 | * restriction, including without limitation the rights to use, copy, modify, merge, publish, |
mjr | 5:a70c0bce770d | 6 | * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the |
mjr | 5:a70c0bce770d | 7 | * Software is furnished to do so, subject to the following conditions: |
mjr | 5:a70c0bce770d | 8 | * |
mjr | 5:a70c0bce770d | 9 | * The above copyright notice and this permission notice shall be included in all copies or |
mjr | 5:a70c0bce770d | 10 | * substantial portions of the Software. |
mjr | 5:a70c0bce770d | 11 | * |
mjr | 5:a70c0bce770d | 12 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING |
mjr | 5:a70c0bce770d | 13 | * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
mjr | 5:a70c0bce770d | 14 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
mjr | 5:a70c0bce770d | 15 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
mjr | 5:a70c0bce770d | 16 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
mjr | 5:a70c0bce770d | 17 | */ |
mjr | 5:a70c0bce770d | 18 | |
mjr | 5:a70c0bce770d | 19 | // |
mjr | 5:a70c0bce770d | 20 | // Pinscape Controller |
mjr | 5:a70c0bce770d | 21 | // |
mjr | 17:ab3cec0c8bf4 | 22 | // "Pinscape" is the name of my custom-built virtual pinball cabinet, so I call this |
mjr | 17:ab3cec0c8bf4 | 23 | // software the Pinscape Controller. I wrote it to handle several tasks that I needed |
mjr | 17:ab3cec0c8bf4 | 24 | // for my cabinet. It runs on a Freescale KL25Z microcontroller, which is a small and |
mjr | 17:ab3cec0c8bf4 | 25 | // inexpensive device that attaches to the cabinet PC via a USB cable, and can attach |
mjr | 17:ab3cec0c8bf4 | 26 | // via custom wiring to sensors, buttons, and other devices in the cabinet. |
mjr | 5:a70c0bce770d | 27 | // |
mjr | 17:ab3cec0c8bf4 | 28 | // I designed the software and hardware in this project especially for my own |
mjr | 17:ab3cec0c8bf4 | 29 | // cabinet, but it uses standard interfaces in Windows and Visual Pinball, so it should |
mjr | 17:ab3cec0c8bf4 | 30 | // work in any VP-based cabinet, as long as you're using the usual VP software suite. |
mjr | 17:ab3cec0c8bf4 | 31 | // I've tried to document the hardware in enough detail for anyone else to duplicate |
mjr | 17:ab3cec0c8bf4 | 32 | // the entire project, and the full software is open source. |
mjr | 5:a70c0bce770d | 33 | // |
mjr | 17:ab3cec0c8bf4 | 34 | // The Freescale board appears to the host PC as a standard USB joystick. This works |
mjr | 17:ab3cec0c8bf4 | 35 | // with the built-in Windows joystick device drivers, so there's no need to install any |
mjr | 17:ab3cec0c8bf4 | 36 | // new drivers or other software on the PC. Windows should recognize the Freescale |
mjr | 17:ab3cec0c8bf4 | 37 | // as a joystick when you plug it into the USB port, and Windows shouldn't ask you to |
mjr | 17:ab3cec0c8bf4 | 38 | // install any drivers. If you bring up the Windows control panel for USB Game |
mjr | 17:ab3cec0c8bf4 | 39 | // Controllers, this device will appear as "Pinscape Controller". *Don't* do any |
mjr | 17:ab3cec0c8bf4 | 40 | // calibration with the Windows control panel or third-part calibration tools. The |
mjr | 17:ab3cec0c8bf4 | 41 | // software calibrates the accelerometer portion automatically, and has its own special |
mjr | 17:ab3cec0c8bf4 | 42 | // calibration procedure for the plunger sensor, if you're using that (see below). |
mjr | 5:a70c0bce770d | 43 | // |
mjr | 17:ab3cec0c8bf4 | 44 | // This software provides a whole bunch of separate features. You can use any of these |
mjr | 17:ab3cec0c8bf4 | 45 | // features individually or all together. If you're not using a particular feature, you |
mjr | 17:ab3cec0c8bf4 | 46 | // can simply omit the extra wiring and/or hardware for that feature. You can use |
mjr | 17:ab3cec0c8bf4 | 47 | // the nudging feature by itself without any extra hardware attached, since the |
mjr | 17:ab3cec0c8bf4 | 48 | // accelerometer is built in to the KL25Z board. |
mjr | 5:a70c0bce770d | 49 | // |
mjr | 17:ab3cec0c8bf4 | 50 | // - Nudge sensing via the KL25Z's on-board accelerometer. Nudging the cabinet |
mjr | 17:ab3cec0c8bf4 | 51 | // causes small accelerations that the accelerometer can detect; these are sent to |
mjr | 17:ab3cec0c8bf4 | 52 | // Visual Pinball via the joystick interface so that VP can simulate the effect |
mjr | 17:ab3cec0c8bf4 | 53 | // of the real physical nudges on its simulated ball. VP has native handling for |
mjr | 17:ab3cec0c8bf4 | 54 | // this type of input, so all you have to do is set some preferences in VP to tell |
mjr | 17:ab3cec0c8bf4 | 55 | // it that an accelerometer is attached. |
mjr | 5:a70c0bce770d | 56 | // |
mjr | 5:a70c0bce770d | 57 | // - Plunger position sensing via an attached TAOS TSL 1410R CCD linear array sensor. |
mjr | 17:ab3cec0c8bf4 | 58 | // To use this feature, you need to buy the TAOS device (it's not built in to the |
mjr | 17:ab3cec0c8bf4 | 59 | // KL25Z, obviously), wire it to the KL25Z (5 wire connections between the two |
mjr | 17:ab3cec0c8bf4 | 60 | // devices are required), and mount the TAOS sensor in your cabinet so that it's |
mjr | 17:ab3cec0c8bf4 | 61 | // positioned properly to capture images of the physical plunger shooter rod. |
mjr | 17:ab3cec0c8bf4 | 62 | // |
mjr | 17:ab3cec0c8bf4 | 63 | // The physical mounting and wiring details are desribed in the project |
mjr | 17:ab3cec0c8bf4 | 64 | // documentation. |
mjr | 17:ab3cec0c8bf4 | 65 | // |
mjr | 17:ab3cec0c8bf4 | 66 | // If the CCD is attached, the software constantly captures images from the CCD |
mjr | 17:ab3cec0c8bf4 | 67 | // and analyzes them to determine how far back the plunger is pulled. It reports |
mjr | 17:ab3cec0c8bf4 | 68 | // this to Visual Pinball via the joystick interface. This allows VP to make the |
mjr | 17:ab3cec0c8bf4 | 69 | // simulated on-screen plunger track the motion of the physical plunger in real |
mjr | 17:ab3cec0c8bf4 | 70 | // time. As with the nudge data, VP has native handling for the plunger input, |
mjr | 17:ab3cec0c8bf4 | 71 | // so you just need to set the VP preferences to tell it that an analog plunger |
mjr | 17:ab3cec0c8bf4 | 72 | // device is attached. One caveat, though: although VP itself has built-in |
mjr | 17:ab3cec0c8bf4 | 73 | // support for an analog plunger, not all existing tables take advantage of it. |
mjr | 17:ab3cec0c8bf4 | 74 | // Many existing tables have their own custom plunger scripting that doesn't |
mjr | 17:ab3cec0c8bf4 | 75 | // cooperate with the VP plunger input. All tables *can* be made to work with |
mjr | 17:ab3cec0c8bf4 | 76 | // the plunger, and in most cases it only requires some simple script editing, |
mjr | 17:ab3cec0c8bf4 | 77 | // but in some cases it requires some more extensive surgery. |
mjr | 5:a70c0bce770d | 78 | // |
mjr | 6:cc35eb643e8f | 79 | // For best results, the plunger sensor should be calibrated. The calibration |
mjr | 6:cc35eb643e8f | 80 | // is stored in non-volatile memory on board the KL25Z, so it's only necessary |
mjr | 6:cc35eb643e8f | 81 | // to do the calibration once, when you first install everything. (You might |
mjr | 6:cc35eb643e8f | 82 | // also want to re-calibrate if you physically remove and reinstall the CCD |
mjr | 17:ab3cec0c8bf4 | 83 | // sensor or the mechanical plunger, since their alignment shift change slightly |
mjr | 17:ab3cec0c8bf4 | 84 | // when you put everything back together.) You can optionally install a |
mjr | 17:ab3cec0c8bf4 | 85 | // dedicated momentary switch or pushbutton to activate the calibration mode; |
mjr | 17:ab3cec0c8bf4 | 86 | // this is describe in the project documentation. If you don't want to bother |
mjr | 17:ab3cec0c8bf4 | 87 | // with the extra button, you can also trigger calibration using the Windows |
mjr | 17:ab3cec0c8bf4 | 88 | // setup software, which you can find on the Pinscape project page. |
mjr | 6:cc35eb643e8f | 89 | // |
mjr | 17:ab3cec0c8bf4 | 90 | // The calibration procedure is described in the project documentation. Briefly, |
mjr | 17:ab3cec0c8bf4 | 91 | // when you trigger calibration mode, the software will scan the CCD for about |
mjr | 17:ab3cec0c8bf4 | 92 | // 15 seconds, during which you should simply pull the physical plunger back |
mjr | 17:ab3cec0c8bf4 | 93 | // all the way, hold it for a moment, and then slowly return it to the rest |
mjr | 17:ab3cec0c8bf4 | 94 | // position. (DON'T just release it from the retracted position, since that |
mjr | 17:ab3cec0c8bf4 | 95 | // let it shoot forward too far. We want to measure the range from the park |
mjr | 17:ab3cec0c8bf4 | 96 | // position to the fully retracted position only.) |
mjr | 5:a70c0bce770d | 97 | // |
mjr | 13:72dda449c3c0 | 98 | // - Button input wiring. 24 of the KL25Z's GPIO ports are mapped as digital inputs |
mjr | 13:72dda449c3c0 | 99 | // for buttons and switches. The software reports these as joystick buttons when |
mjr | 13:72dda449c3c0 | 100 | // it sends reports to the PC. These can be used to wire physical pinball-style |
mjr | 13:72dda449c3c0 | 101 | // buttons in the cabinet (e.g., flipper buttons, the Start button) and miscellaneous |
mjr | 13:72dda449c3c0 | 102 | // switches (such as a tilt bob) to the PC. Visual Pinball can use joystick buttons |
mjr | 13:72dda449c3c0 | 103 | // for input - you just have to assign a VP function to each button using VP's |
mjr | 13:72dda449c3c0 | 104 | // keyboard options dialog. To wire a button physically, connect one terminal of |
mjr | 13:72dda449c3c0 | 105 | // the button switch to the KL25Z ground, and connect the other terminal to the |
mjr | 13:72dda449c3c0 | 106 | // the GPIO port you wish to assign to the button. See the buttonMap[] array |
mjr | 13:72dda449c3c0 | 107 | // below for the available GPIO ports and their assigned joystick button numbers. |
mjr | 13:72dda449c3c0 | 108 | // If you're not using a GPIO port, you can just leave it unconnected - the digital |
mjr | 13:72dda449c3c0 | 109 | // inputs have built-in pull-up resistors, so an unconnected port is the same as |
mjr | 13:72dda449c3c0 | 110 | // an open switch (an "off" state for the button). |
mjr | 13:72dda449c3c0 | 111 | // |
mjr | 5:a70c0bce770d | 112 | // - LedWiz emulation. The KL25Z can appear to the PC as an LedWiz device, and will |
mjr | 5:a70c0bce770d | 113 | // accept and process LedWiz commands from the host. The software can turn digital |
mjr | 5:a70c0bce770d | 114 | // output ports on and off, and can set varying PWM intensitiy levels on a subset |
mjr | 5:a70c0bce770d | 115 | // of ports. (The KL25Z can only provide 6 PWM ports. Intensity level settings on |
mjr | 5:a70c0bce770d | 116 | // other ports is ignored, so non-PWM ports can only be used for simple on/off |
mjr | 5:a70c0bce770d | 117 | // devices such as contactors and solenoids.) The KL25Z can only supply 4mA on its |
mjr | 5:a70c0bce770d | 118 | // output ports, so external hardware is required to take advantage of the LedWiz |
mjr | 5:a70c0bce770d | 119 | // emulation. Many different hardware designs are possible, but there's a simple |
mjr | 5:a70c0bce770d | 120 | // reference design in the documentation that uses a Darlington array IC to |
mjr | 5:a70c0bce770d | 121 | // increase the output from each port to 500mA (the same level as the LedWiz), |
mjr | 5:a70c0bce770d | 122 | // plus an extended design that adds an optocoupler and MOSFET to provide very |
mjr | 5:a70c0bce770d | 123 | // high power handling, up to about 45A or 150W, with voltages up to 100V. |
mjr | 5:a70c0bce770d | 124 | // That will handle just about any DC device directly (wtihout relays or other |
mjr | 5:a70c0bce770d | 125 | // amplifiers), and switches fast enough to support PWM devices. |
mjr | 5:a70c0bce770d | 126 | // |
mjr | 5:a70c0bce770d | 127 | // The device can report any desired LedWiz unit number to the host, which makes |
mjr | 5:a70c0bce770d | 128 | // it possible to use the LedWiz emulation on a machine that also has one or more |
mjr | 5:a70c0bce770d | 129 | // actual LedWiz devices intalled. The LedWiz design allows for up to 16 units |
mjr | 5:a70c0bce770d | 130 | // to be installed in one machine - each one is invidually addressable by its |
mjr | 5:a70c0bce770d | 131 | // distinct unit number. |
mjr | 5:a70c0bce770d | 132 | // |
mjr | 5:a70c0bce770d | 133 | // The LedWiz emulation features are of course optional. There's no need to |
mjr | 5:a70c0bce770d | 134 | // build any of the external port hardware (or attach anything to the output |
mjr | 5:a70c0bce770d | 135 | // ports at all) if the LedWiz features aren't needed. Most people won't have |
mjr | 5:a70c0bce770d | 136 | // any use for the LedWiz features. I built them mostly as a learning exercise, |
mjr | 5:a70c0bce770d | 137 | // but with a slight practical need for a handful of extra ports (I'm using the |
mjr | 5:a70c0bce770d | 138 | // cutting-edge 10-contactor setup, so my real LedWiz is full!). |
mjr | 6:cc35eb643e8f | 139 | // |
mjr | 28:cb71c4af2912 | 140 | // - Enhanced LedWiz emulation with TLC5940 PWM controller chips. You can attach |
mjr | 28:cb71c4af2912 | 141 | // external PWM controller chips for controlling device outputs, instead of using |
mjr | 28:cb71c4af2912 | 142 | // the limited LedWiz emulation through the on-board GPIO ports as described above. |
mjr | 28:cb71c4af2912 | 143 | // The software can control a set of daisy-chained TLC5940 chips, which provide |
mjr | 28:cb71c4af2912 | 144 | // 16 PWM outputs per chip. Two of these chips give you the full complement |
mjr | 28:cb71c4af2912 | 145 | // of 32 output ports of an actual LedWiz, and four give you 64 ports, which |
mjr | 35:d832bcab089e | 146 | // should be plenty for nearly any virtual pinball project. A private, extended |
mjr | 35:d832bcab089e | 147 | // version of the LedWiz protocol lets the host control the extra outputs, up to |
mjr | 35:d832bcab089e | 148 | // 128 outputs per KL25Z (8 TLC5940s). To take advantage of the extra outputs |
mjr | 35:d832bcab089e | 149 | // on the PC side, you need software that knows about the protocol extensions, |
mjr | 35:d832bcab089e | 150 | // which means you need the latest version of DirectOutput Framework (DOF). VP |
mjr | 35:d832bcab089e | 151 | // uses DOF for its output, so VP will be able to use the added ports without any |
mjr | 35:d832bcab089e | 152 | // extra work on your part. Older software (e.g., Future Pinball) that doesn't |
mjr | 35:d832bcab089e | 153 | // use DOF will still be able to use the LedWiz-compatible protocol, so it'll be |
mjr | 35:d832bcab089e | 154 | // able to control your first 32 ports (numbered 1-32 in the LedWiz scheme), but |
mjr | 35:d832bcab089e | 155 | // older software won't be able to address higher-numbered ports. That shouldn't |
mjr | 35:d832bcab089e | 156 | // be a problem because older software wouldn't know what to do with the extra |
mjr | 35:d832bcab089e | 157 | // devices anyway - FP, for example, is limited to a pre-defined set of outputs. |
mjr | 35:d832bcab089e | 158 | // As long as you put the most common devices on the first 32 outputs, and use |
mjr | 35:d832bcab089e | 159 | // higher numbered ports for the less common devices that older software can't |
mjr | 35:d832bcab089e | 160 | // use anyway, you'll get maximum functionality out of software new and old. |
mjr | 28:cb71c4af2912 | 161 | // |
mjr | 35:d832bcab089e | 162 | // STATUS LIGHTS: The on-board LED on the KL25Z flashes to indicate the current |
mjr | 35:d832bcab089e | 163 | // device status. The flash patterns are: |
mjr | 6:cc35eb643e8f | 164 | // |
mjr | 6:cc35eb643e8f | 165 | // two short red flashes = the device is powered but hasn't successfully |
mjr | 6:cc35eb643e8f | 166 | // connected to the host via USB (either it's not physically connected |
mjr | 6:cc35eb643e8f | 167 | // to the USB port, or there was a problem with the software handshake |
mjr | 6:cc35eb643e8f | 168 | // with the USB device driver on the computer) |
mjr | 6:cc35eb643e8f | 169 | // |
mjr | 6:cc35eb643e8f | 170 | // short red flash = the host computer is in sleep/suspend mode |
mjr | 6:cc35eb643e8f | 171 | // |
mjr | 6:cc35eb643e8f | 172 | // long red/green = the LedWiz unti number has been changed, so a reset |
mjr | 6:cc35eb643e8f | 173 | // is needed. You can simply unplug the device and plug it back in, |
mjr | 6:cc35eb643e8f | 174 | // or presss and hold the reset button on the device for a few seconds. |
mjr | 6:cc35eb643e8f | 175 | // |
mjr | 6:cc35eb643e8f | 176 | // long yellow/green = everything's working, but the plunger hasn't |
mjr | 6:cc35eb643e8f | 177 | // been calibrated; follow the calibration procedure described above. |
mjr | 6:cc35eb643e8f | 178 | // This flash mode won't appear if the CCD has been disabled. Note |
mjr | 18:5e890ebd0023 | 179 | // that the device can't tell whether a CCD is physically attached; |
mjr | 18:5e890ebd0023 | 180 | // if you don't have a CCD attached, you can set the appropriate option |
mjr | 18:5e890ebd0023 | 181 | // in config.h or use the Windows config tool to disable the CCD |
mjr | 18:5e890ebd0023 | 182 | // software features. |
mjr | 6:cc35eb643e8f | 183 | // |
mjr | 6:cc35eb643e8f | 184 | // alternating blue/green = everything's working |
mjr | 6:cc35eb643e8f | 185 | // |
mjr | 35:d832bcab089e | 186 | // Software configuration: you can some change option settings by sending special |
mjr | 6:cc35eb643e8f | 187 | // USB commands from the PC. I've provided a Windows program for this purpose; |
mjr | 6:cc35eb643e8f | 188 | // refer to the documentation for details. For reference, here's the format |
mjr | 6:cc35eb643e8f | 189 | // of the USB command for option changes: |
mjr | 6:cc35eb643e8f | 190 | // |
mjr | 6:cc35eb643e8f | 191 | // length of report = 8 bytes |
mjr | 6:cc35eb643e8f | 192 | // byte 0 = 65 (0x41) |
mjr | 35:d832bcab089e | 193 | // byte 1 = 1 (0x01) |
mjr | 6:cc35eb643e8f | 194 | // byte 2 = new LedWiz unit number, 0x01 to 0x0f |
mjr | 6:cc35eb643e8f | 195 | // byte 3 = feature enable bit mask: |
mjr | 6:cc35eb643e8f | 196 | // 0x01 = enable CCD (default = on) |
mjr | 9:fd65b0a94720 | 197 | // |
mjr | 9:fd65b0a94720 | 198 | // Plunger calibration mode: the host can activate plunger calibration mode |
mjr | 9:fd65b0a94720 | 199 | // by sending this packet. This has the same effect as pressing and holding |
mjr | 9:fd65b0a94720 | 200 | // the plunger calibration button for two seconds, to allow activating this |
mjr | 9:fd65b0a94720 | 201 | // mode without attaching a physical button. |
mjr | 9:fd65b0a94720 | 202 | // |
mjr | 9:fd65b0a94720 | 203 | // length = 8 bytes |
mjr | 9:fd65b0a94720 | 204 | // byte 0 = 65 (0x41) |
mjr | 35:d832bcab089e | 205 | // byte 1 = 2 (0x02) |
mjr | 9:fd65b0a94720 | 206 | // |
mjr | 10:976666ffa4ef | 207 | // Exposure reports: the host can request a report of the full set of pixel |
mjr | 10:976666ffa4ef | 208 | // values for the next frame by sending this special packet: |
mjr | 10:976666ffa4ef | 209 | // |
mjr | 10:976666ffa4ef | 210 | // length = 8 bytes |
mjr | 10:976666ffa4ef | 211 | // byte 0 = 65 (0x41) |
mjr | 35:d832bcab089e | 212 | // byte 1 = 3 (0x03) |
mjr | 10:976666ffa4ef | 213 | // |
mjr | 10:976666ffa4ef | 214 | // We'll respond with a series of special reports giving the exposure status. |
mjr | 10:976666ffa4ef | 215 | // Each report has the following structure: |
mjr | 10:976666ffa4ef | 216 | // |
mjr | 10:976666ffa4ef | 217 | // bytes 0:1 = 11-bit index, with high 5 bits set to 10000. For |
mjr | 10:976666ffa4ef | 218 | // example, 0x04 0x80 indicates index 4. This is the |
mjr | 10:976666ffa4ef | 219 | // starting pixel number in the report. The first report |
mjr | 10:976666ffa4ef | 220 | // will be 0x00 0x80 to indicate pixel #0. |
mjr | 10:976666ffa4ef | 221 | // bytes 2:3 = 16-bit unsigned int brightness level of pixel at index |
mjr | 10:976666ffa4ef | 222 | // bytes 4:5 = brightness of pixel at index+1 |
mjr | 10:976666ffa4ef | 223 | // etc for the rest of the packet |
mjr | 10:976666ffa4ef | 224 | // |
mjr | 10:976666ffa4ef | 225 | // This still has the form of a joystick packet at the USB level, but |
mjr | 10:976666ffa4ef | 226 | // can be differentiated by the host via the status bits. It would have |
mjr | 10:976666ffa4ef | 227 | // been cleaner to use a different Report ID at the USB level, but this |
mjr | 10:976666ffa4ef | 228 | // would have necessitated a different container structure in the report |
mjr | 10:976666ffa4ef | 229 | // descriptor, which would have broken LedWiz compatibility. Given that |
mjr | 10:976666ffa4ef | 230 | // constraint, we have to re-use the joystick report type, making for |
mjr | 10:976666ffa4ef | 231 | // this somewhat kludgey approach. |
mjr | 35:d832bcab089e | 232 | // |
mjr | 35:d832bcab089e | 233 | // Configuration query: the host can request a full report of our hardware |
mjr | 35:d832bcab089e | 234 | // configuration with this message. |
mjr | 35:d832bcab089e | 235 | // |
mjr | 35:d832bcab089e | 236 | // length = 8 bytes |
mjr | 35:d832bcab089e | 237 | // byte 0 = 65 (0x41) |
mjr | 35:d832bcab089e | 238 | // byte 1 = 4 (0x04) |
mjr | 35:d832bcab089e | 239 | // |
mjr | 35:d832bcab089e | 240 | // We'll response with one report containing the configuration status: |
mjr | 35:d832bcab089e | 241 | // |
mjr | 35:d832bcab089e | 242 | // bytes 0:1 = 0x8800. This has the bit pattern 10001 in the high |
mjr | 35:d832bcab089e | 243 | // 5 bits, which distinguishes it from regular joystick |
mjr | 35:d832bcab089e | 244 | // reports and from exposure status reports. |
mjr | 35:d832bcab089e | 245 | // bytes 2:3 = number of outputs |
mjr | 35:d832bcab089e | 246 | // remaining bytes = reserved for future use; set to 0 in current version |
mjr | 35:d832bcab089e | 247 | // |
mjr | 35:d832bcab089e | 248 | // Turn off all outputs: this message tells the device to turn off all |
mjr | 35:d832bcab089e | 249 | // outputs and restore power-up LedWiz defaults. This sets outputs #1-32 |
mjr | 35:d832bcab089e | 250 | // to profile 48 (full brightness) and switch state Off, sets all extended |
mjr | 35:d832bcab089e | 251 | // outputs (#33 and above) to brightness 0, and sets the LedWiz flash rate |
mjr | 35:d832bcab089e | 252 | // to 2. |
mjr | 35:d832bcab089e | 253 | // |
mjr | 35:d832bcab089e | 254 | // length = 8 bytes |
mjr | 35:d832bcab089e | 255 | // byte 0 = 65 (0x41) |
mjr | 35:d832bcab089e | 256 | // byte 1 = 5 (0x05) |
mjr | 35:d832bcab089e | 257 | |
mjr | 35:d832bcab089e | 258 | |
mjr | 0:5acbbe3f4cf4 | 259 | #include "mbed.h" |
mjr | 6:cc35eb643e8f | 260 | #include "math.h" |
mjr | 0:5acbbe3f4cf4 | 261 | #include "USBJoystick.h" |
mjr | 0:5acbbe3f4cf4 | 262 | #include "MMA8451Q.h" |
mjr | 1:d913e0afb2ac | 263 | #include "tsl1410r.h" |
mjr | 1:d913e0afb2ac | 264 | #include "FreescaleIAP.h" |
mjr | 2:c174f9ee414a | 265 | #include "crc32.h" |
mjr | 28:cb71c4af2912 | 266 | #include "TLC5940.h" |
mjr | 36:6b981a2afab7 | 267 | #include "74HC595.h" |
mjr | 2:c174f9ee414a | 268 | |
mjr | 21:5048e16cc9ef | 269 | #define DECL_EXTERNS |
mjr | 17:ab3cec0c8bf4 | 270 | #include "config.h" |
mjr | 17:ab3cec0c8bf4 | 271 | |
mjr | 5:a70c0bce770d | 272 | |
mjr | 5:a70c0bce770d | 273 | // --------------------------------------------------------------------------- |
mjr | 17:ab3cec0c8bf4 | 274 | // utilities |
mjr | 17:ab3cec0c8bf4 | 275 | |
mjr | 17:ab3cec0c8bf4 | 276 | // number of elements in an array |
mjr | 17:ab3cec0c8bf4 | 277 | #define countof(x) (sizeof(x)/sizeof((x)[0])) |
mjr | 17:ab3cec0c8bf4 | 278 | |
mjr | 28:cb71c4af2912 | 279 | // floating point square of a number |
mjr | 28:cb71c4af2912 | 280 | inline float square(float x) { return x*x; } |
mjr | 28:cb71c4af2912 | 281 | |
mjr | 28:cb71c4af2912 | 282 | // floating point rounding |
mjr | 28:cb71c4af2912 | 283 | inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); } |
mjr | 28:cb71c4af2912 | 284 | |
mjr | 17:ab3cec0c8bf4 | 285 | |
mjr | 35:d832bcab089e | 286 | // -------------------------------------------------------------------------- |
mjr | 35:d832bcab089e | 287 | // |
mjr | 35:d832bcab089e | 288 | // USB product version number |
mjr | 5:a70c0bce770d | 289 | // |
mjr | 35:d832bcab089e | 290 | const uint16_t USB_VERSION_NO = 0x0007; |
mjr | 0:5acbbe3f4cf4 | 291 | |
mjr | 5:a70c0bce770d | 292 | |
mjr | 35:d832bcab089e | 293 | // |
mjr | 35:d832bcab089e | 294 | // Build the full USB product ID. If we're using the LedWiz compatible |
mjr | 35:d832bcab089e | 295 | // vendor ID, the full product ID is the combination of the LedWiz base |
mjr | 35:d832bcab089e | 296 | // product ID (0x00F0) and the 0-based unit number (0-15). If we're not |
mjr | 35:d832bcab089e | 297 | // trying to be LedWiz compatible, we just use the exact product ID |
mjr | 35:d832bcab089e | 298 | // specified in config.h. |
mjr | 35:d832bcab089e | 299 | #define MAKE_USB_PRODUCT_ID(vid, pidbase, unit) \ |
mjr | 35:d832bcab089e | 300 | ((vid) == 0xFAFA && (pidbase) == 0x00F0 ? (pidbase) | (unit) : (pidbase)) |
mjr | 35:d832bcab089e | 301 | |
mjr | 35:d832bcab089e | 302 | |
mjr | 35:d832bcab089e | 303 | // -------------------------------------------------------------------------- |
mjr | 35:d832bcab089e | 304 | // |
mjr | 6:cc35eb643e8f | 305 | // Joystick axis report range - we report from -JOYMAX to +JOYMAX |
mjr | 35:d832bcab089e | 306 | // |
mjr | 6:cc35eb643e8f | 307 | #define JOYMAX 4096 |
mjr | 6:cc35eb643e8f | 308 | |
mjr | 25:e22b88bd783a | 309 | // -------------------------------------------------------------------------- |
mjr | 25:e22b88bd783a | 310 | // |
mjr | 25:e22b88bd783a | 311 | // Set up mappings for the joystick X and Y reports based on the mounting |
mjr | 25:e22b88bd783a | 312 | // orientation of the KL25Z in the cabinet. Visual Pinball and other |
mjr | 25:e22b88bd783a | 313 | // pinball software effectively use video coordinates to define the axes: |
mjr | 25:e22b88bd783a | 314 | // positive X is to the right of the table, negative Y to the left, positive |
mjr | 25:e22b88bd783a | 315 | // Y toward the front of the table, negative Y toward the back. The KL25Z |
mjr | 25:e22b88bd783a | 316 | // accelerometer is mounted on the board with positive Y toward the USB |
mjr | 25:e22b88bd783a | 317 | // ports and positive X toward the right side of the board with the USB |
mjr | 25:e22b88bd783a | 318 | // ports pointing up. It's a simple matter to remap the KL25Z coordinate |
mjr | 25:e22b88bd783a | 319 | // system to match VP's coordinate system for mounting orientations at |
mjr | 25:e22b88bd783a | 320 | // 90-degree increments... |
mjr | 25:e22b88bd783a | 321 | // |
mjr | 25:e22b88bd783a | 322 | #if defined(ORIENTATION_PORTS_AT_FRONT) |
mjr | 25:e22b88bd783a | 323 | # define JOY_X(x, y) (y) |
mjr | 25:e22b88bd783a | 324 | # define JOY_Y(x, y) (x) |
mjr | 25:e22b88bd783a | 325 | #elif defined(ORIENTATION_PORTS_AT_LEFT) |
mjr | 25:e22b88bd783a | 326 | # define JOY_X(x, y) (-(x)) |
mjr | 25:e22b88bd783a | 327 | # define JOY_Y(x, y) (y) |
mjr | 25:e22b88bd783a | 328 | #elif defined(ORIENTATION_PORTS_AT_RIGHT) |
mjr | 25:e22b88bd783a | 329 | # define JOY_X(x, y) (x) |
mjr | 25:e22b88bd783a | 330 | # define JOY_Y(x, y) (-(y)) |
mjr | 25:e22b88bd783a | 331 | #elif defined(ORIENTATION_PORTS_AT_REAR) |
mjr | 25:e22b88bd783a | 332 | # define JOY_X(x, y) (-(y)) |
mjr | 25:e22b88bd783a | 333 | # define JOY_Y(x, y) (-(x)) |
mjr | 25:e22b88bd783a | 334 | #else |
mjr | 25:e22b88bd783a | 335 | # error Please define one of the ORIENTATION_PORTS_AT_xxx macros to establish the accelerometer orientation in your cabinet |
mjr | 25:e22b88bd783a | 336 | #endif |
mjr | 25:e22b88bd783a | 337 | |
mjr | 25:e22b88bd783a | 338 | |
mjr | 5:a70c0bce770d | 339 | |
mjr | 17:ab3cec0c8bf4 | 340 | // -------------------------------------------------------------------------- |
mjr | 17:ab3cec0c8bf4 | 341 | // |
mjr | 21:5048e16cc9ef | 342 | // Define a symbol to tell us whether any sort of plunger sensor code |
mjr | 21:5048e16cc9ef | 343 | // is enabled in this build. Note that this doesn't tell us that a |
mjr | 21:5048e16cc9ef | 344 | // plunger device is actually attached or *currently* enabled; it just |
mjr | 21:5048e16cc9ef | 345 | // tells us whether or not the code for plunger sensing is enabled in |
mjr | 21:5048e16cc9ef | 346 | // the software build. This lets us leave out some unnecessary code |
mjr | 21:5048e16cc9ef | 347 | // on installations where no physical plunger is attached. |
mjr | 17:ab3cec0c8bf4 | 348 | // |
mjr | 21:5048e16cc9ef | 349 | const int PLUNGER_CODE_ENABLED = |
mjr | 21:5048e16cc9ef | 350 | #if defined(ENABLE_CCD_SENSOR) || defined(ENABLE_POT_SENSOR) |
mjr | 21:5048e16cc9ef | 351 | 1; |
mjr | 17:ab3cec0c8bf4 | 352 | #else |
mjr | 21:5048e16cc9ef | 353 | 0; |
mjr | 17:ab3cec0c8bf4 | 354 | #endif |
mjr | 9:fd65b0a94720 | 355 | |
mjr | 17:ab3cec0c8bf4 | 356 | // --------------------------------------------------------------------------- |
mjr | 17:ab3cec0c8bf4 | 357 | // |
mjr | 17:ab3cec0c8bf4 | 358 | // On-board RGB LED elements - we use these for diagnostic displays. |
mjr | 17:ab3cec0c8bf4 | 359 | // |
mjr | 28:cb71c4af2912 | 360 | // Note that LED3 (the blue segment) is hard-wired on the KL25Z to PTD1, |
mjr | 28:cb71c4af2912 | 361 | // so PTD1 shouldn't be used for any other purpose (e.g., as a keyboard |
mjr | 28:cb71c4af2912 | 362 | // input or a device output). (This is kind of unfortunate in that it's |
mjr | 28:cb71c4af2912 | 363 | // one of only two ports exposed on the jumper pins that can be muxed to |
mjr | 28:cb71c4af2912 | 364 | // SPI0 SCLK. This effectively limits us to PTC5 if we want to use the |
mjr | 28:cb71c4af2912 | 365 | // SPI capability.) |
mjr | 28:cb71c4af2912 | 366 | // |
mjr | 17:ab3cec0c8bf4 | 367 | DigitalOut ledR(LED1), ledG(LED2), ledB(LED3); |
mjr | 17:ab3cec0c8bf4 | 368 | |
mjr | 9:fd65b0a94720 | 369 | |
mjr | 9:fd65b0a94720 | 370 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 371 | // |
mjr | 31:582472d0bc57 | 372 | // LedWiz emulation, and enhanced TLC5940 output controller |
mjr | 5:a70c0bce770d | 373 | // |
mjr | 28:cb71c4af2912 | 374 | // There are two modes for this feature. The default mode uses the on-board |
mjr | 28:cb71c4af2912 | 375 | // GPIO ports to implement device outputs - each LedWiz software port is |
mjr | 28:cb71c4af2912 | 376 | // connected to a physical GPIO pin on the KL25Z. The KL25Z only has 10 |
mjr | 28:cb71c4af2912 | 377 | // PWM channels, so in this mode only 10 LedWiz ports will be dimmable; the |
mjr | 28:cb71c4af2912 | 378 | // rest are strictly on/off. The KL25Z also has a limited number of GPIO |
mjr | 28:cb71c4af2912 | 379 | // ports overall - not enough for the full complement of 32 LedWiz ports |
mjr | 28:cb71c4af2912 | 380 | // and 24 VP joystick inputs, so it's necessary to trade one against the |
mjr | 28:cb71c4af2912 | 381 | // other if both features are to be used. |
mjr | 28:cb71c4af2912 | 382 | // |
mjr | 28:cb71c4af2912 | 383 | // The alternative, enhanced mode uses external TLC5940 PWM controller |
mjr | 28:cb71c4af2912 | 384 | // chips to control device outputs. In this mode, each LedWiz software |
mjr | 28:cb71c4af2912 | 385 | // port is mapped to an output on one of the external TLC5940 chips. |
mjr | 28:cb71c4af2912 | 386 | // Two 5940s is enough for the full set of 32 LedWiz ports, and we can |
mjr | 28:cb71c4af2912 | 387 | // support even more chips for even more outputs (although doing so requires |
mjr | 28:cb71c4af2912 | 388 | // breaking LedWiz compatibility, since the LedWiz USB protocol is hardwired |
mjr | 28:cb71c4af2912 | 389 | // for 32 outputs). Every port in this mode has full PWM support. |
mjr | 28:cb71c4af2912 | 390 | // |
mjr | 5:a70c0bce770d | 391 | |
mjr | 31:582472d0bc57 | 392 | |
mjr | 28:cb71c4af2912 | 393 | // Current starting output index for "PBA" messages from the PC (using |
mjr | 28:cb71c4af2912 | 394 | // the LedWiz USB protocol). Each PBA message implicitly uses the |
mjr | 28:cb71c4af2912 | 395 | // current index as the starting point for the ports referenced in |
mjr | 28:cb71c4af2912 | 396 | // the message, and increases it (by 8) for the next call. |
mjr | 0:5acbbe3f4cf4 | 397 | static int pbaIdx = 0; |
mjr | 0:5acbbe3f4cf4 | 398 | |
mjr | 28:cb71c4af2912 | 399 | // Generic LedWiz output port interface. We create a cover class to |
mjr | 28:cb71c4af2912 | 400 | // virtualize digital vs PWM outputs, and on-board KL25Z GPIO vs external |
mjr | 28:cb71c4af2912 | 401 | // TLC5940 outputs, and give them all a common interface. |
mjr | 6:cc35eb643e8f | 402 | class LwOut |
mjr | 6:cc35eb643e8f | 403 | { |
mjr | 6:cc35eb643e8f | 404 | public: |
mjr | 28:cb71c4af2912 | 405 | // Set the output intensity. 'val' is 0.0 for fully off, 1.0 for |
mjr | 28:cb71c4af2912 | 406 | // fully on, and fractional values for intermediate intensities. |
mjr | 6:cc35eb643e8f | 407 | virtual void set(float val) = 0; |
mjr | 6:cc35eb643e8f | 408 | }; |
mjr | 28:cb71c4af2912 | 409 | |
mjr | 35:d832bcab089e | 410 | // LwOut class for unmapped ports. The LedWiz protocol is hardwired |
mjr | 35:d832bcab089e | 411 | // for 32 ports, but we might not want to assign all 32 software ports |
mjr | 35:d832bcab089e | 412 | // to physical output pins - the KL25Z has a limited number of GPIO |
mjr | 35:d832bcab089e | 413 | // ports, so we might not have enough available GPIOs to fill out the |
mjr | 35:d832bcab089e | 414 | // full LedWiz complement after assigning GPIOs for other functions. |
mjr | 35:d832bcab089e | 415 | // This class is used to populate the LedWiz mapping array for ports |
mjr | 35:d832bcab089e | 416 | // that aren't connected to physical outputs; it simply ignores value |
mjr | 35:d832bcab089e | 417 | // changes. |
mjr | 35:d832bcab089e | 418 | class LwUnusedOut: public LwOut |
mjr | 35:d832bcab089e | 419 | { |
mjr | 35:d832bcab089e | 420 | public: |
mjr | 35:d832bcab089e | 421 | LwUnusedOut() { } |
mjr | 35:d832bcab089e | 422 | virtual void set(float val) { } |
mjr | 35:d832bcab089e | 423 | }; |
mjr | 28:cb71c4af2912 | 424 | |
mjr | 36:6b981a2afab7 | 425 | // Active Low out. For any output marked as active low, we layer this |
mjr | 36:6b981a2afab7 | 426 | // on top of the physical pin interface. This simply inverts the value of |
mjr | 36:6b981a2afab7 | 427 | // the output value, so that 1.0 means fully off and 0.0 means fully on. |
mjr | 36:6b981a2afab7 | 428 | class LwInvertedOut: public LwOut |
mjr | 36:6b981a2afab7 | 429 | { |
mjr | 36:6b981a2afab7 | 430 | public: |
mjr | 36:6b981a2afab7 | 431 | LwInvertedOut(LwOut *o) : out(o) { } |
mjr | 36:6b981a2afab7 | 432 | virtual void set(float val) { out->set(1.0 - val); } |
mjr | 36:6b981a2afab7 | 433 | |
mjr | 36:6b981a2afab7 | 434 | private: |
mjr | 36:6b981a2afab7 | 435 | LwOut *out; |
mjr | 36:6b981a2afab7 | 436 | }; |
mjr | 36:6b981a2afab7 | 437 | |
mjr | 28:cb71c4af2912 | 438 | |
mjr | 35:d832bcab089e | 439 | #if TLC5940_NCHIPS |
mjr | 35:d832bcab089e | 440 | // |
mjr | 35:d832bcab089e | 441 | // The TLC5940 interface object. Set this up with the port assignments |
mjr | 35:d832bcab089e | 442 | // set in config.h. |
mjr | 35:d832bcab089e | 443 | // |
mjr | 28:cb71c4af2912 | 444 | TLC5940 tlc5940(TLC5940_SCLK, TLC5940_SIN, TLC5940_GSCLK, TLC5940_BLANK, |
mjr | 28:cb71c4af2912 | 445 | TLC5940_XLAT, TLC5940_NCHIPS); |
mjr | 28:cb71c4af2912 | 446 | |
mjr | 28:cb71c4af2912 | 447 | // LwOut class for TLC5940 outputs. These are fully PWM capable. |
mjr | 28:cb71c4af2912 | 448 | // The 'idx' value in the constructor is the output index in the |
mjr | 28:cb71c4af2912 | 449 | // daisy-chained TLC5940 array. 0 is output #0 on the first chip, |
mjr | 28:cb71c4af2912 | 450 | // 1 is #1 on the first chip, 15 is #15 on the first chip, 16 is |
mjr | 28:cb71c4af2912 | 451 | // #0 on the second chip, 32 is #0 on the third chip, etc. |
mjr | 28:cb71c4af2912 | 452 | class Lw5940Out: public LwOut |
mjr | 28:cb71c4af2912 | 453 | { |
mjr | 28:cb71c4af2912 | 454 | public: |
mjr | 28:cb71c4af2912 | 455 | Lw5940Out(int idx) : idx(idx) { prv = -1; } |
mjr | 28:cb71c4af2912 | 456 | virtual void set(float val) |
mjr | 28:cb71c4af2912 | 457 | { |
mjr | 28:cb71c4af2912 | 458 | if (val != prv) |
mjr | 36:6b981a2afab7 | 459 | tlc5940.set(idx, (int)((prv = val) * 4095)); |
mjr | 28:cb71c4af2912 | 460 | } |
mjr | 28:cb71c4af2912 | 461 | int idx; |
mjr | 28:cb71c4af2912 | 462 | float prv; |
mjr | 28:cb71c4af2912 | 463 | }; |
mjr | 28:cb71c4af2912 | 464 | |
mjr | 35:d832bcab089e | 465 | #else |
mjr | 35:d832bcab089e | 466 | // No TLC5940 chips are attached, so we shouldn't encounter any ports |
mjr | 35:d832bcab089e | 467 | // in the map marked for TLC5940 outputs. If we do, treat them as unused. |
mjr | 35:d832bcab089e | 468 | class Lw5940Out: public LwUnusedOut |
mjr | 35:d832bcab089e | 469 | { |
mjr | 35:d832bcab089e | 470 | public: |
mjr | 35:d832bcab089e | 471 | Lw5940Out(int idx) { } |
mjr | 35:d832bcab089e | 472 | }; |
mjr | 35:d832bcab089e | 473 | |
mjr | 36:6b981a2afab7 | 474 | // dummy tlc5940 interface |
mjr | 36:6b981a2afab7 | 475 | class Dummy5940 |
mjr | 36:6b981a2afab7 | 476 | { |
mjr | 36:6b981a2afab7 | 477 | public: |
mjr | 36:6b981a2afab7 | 478 | void start() { } |
mjr | 36:6b981a2afab7 | 479 | }; |
mjr | 36:6b981a2afab7 | 480 | Dummy5940 tlc5940; |
mjr | 36:6b981a2afab7 | 481 | |
mjr | 36:6b981a2afab7 | 482 | #endif // TLC5940_NCHIPS |
mjr | 36:6b981a2afab7 | 483 | |
mjr | 36:6b981a2afab7 | 484 | #if HC595_NCHIPS |
mjr | 36:6b981a2afab7 | 485 | // 74HC595 interface object. Set this up with the port assignments in |
mjr | 36:6b981a2afab7 | 486 | // config.h. |
mjr | 36:6b981a2afab7 | 487 | HC595 hc595(HC595_NCHIPS, HC595_SIN, HC595_SCLK, HC595_LATCH, HC595_ENA); |
mjr | 36:6b981a2afab7 | 488 | |
mjr | 36:6b981a2afab7 | 489 | // LwOut class for 74HC595 outputs. These are simple digial outs. |
mjr | 36:6b981a2afab7 | 490 | // The 'idx' value in the constructor is the output index in the |
mjr | 36:6b981a2afab7 | 491 | // daisy-chained 74HC595 array. 0 is output #0 on the first chip, |
mjr | 36:6b981a2afab7 | 492 | // 1 is #1 on the first chip, 7 is #7 on the first chip, 8 is |
mjr | 36:6b981a2afab7 | 493 | // #0 on the second chip, etc. |
mjr | 36:6b981a2afab7 | 494 | class Lw595Out: public LwOut |
mjr | 35:d832bcab089e | 495 | { |
mjr | 35:d832bcab089e | 496 | public: |
mjr | 36:6b981a2afab7 | 497 | Lw595Out(int idx) : idx(idx) { prv = -1; } |
mjr | 36:6b981a2afab7 | 498 | virtual void set(float val) |
mjr | 36:6b981a2afab7 | 499 | { |
mjr | 36:6b981a2afab7 | 500 | if (val != prv) |
mjr | 36:6b981a2afab7 | 501 | hc595.set(idx, (prv = val) == 0.0 ? 0 : 1); |
mjr | 36:6b981a2afab7 | 502 | } |
mjr | 36:6b981a2afab7 | 503 | int idx; |
mjr | 36:6b981a2afab7 | 504 | float prv; |
mjr | 35:d832bcab089e | 505 | }; |
mjr | 35:d832bcab089e | 506 | |
mjr | 36:6b981a2afab7 | 507 | #else // HC595_NCHIPS |
mjr | 36:6b981a2afab7 | 508 | // No 74HC595 chips are attached, so we shouldn't encounter any ports |
mjr | 36:6b981a2afab7 | 509 | // in the map marked for these outputs. If we do, treat them as unused. |
mjr | 36:6b981a2afab7 | 510 | class Lw595Out: public LwUnusedOut |
mjr | 36:6b981a2afab7 | 511 | { |
mjr | 36:6b981a2afab7 | 512 | public: |
mjr | 36:6b981a2afab7 | 513 | Lw595Out(int idx) { } |
mjr | 36:6b981a2afab7 | 514 | }; |
mjr | 36:6b981a2afab7 | 515 | |
mjr | 36:6b981a2afab7 | 516 | // dummy placeholder class |
mjr | 36:6b981a2afab7 | 517 | class DummyHC595 |
mjr | 36:6b981a2afab7 | 518 | { |
mjr | 36:6b981a2afab7 | 519 | public: |
mjr | 36:6b981a2afab7 | 520 | void init() { } |
mjr | 36:6b981a2afab7 | 521 | void update() { } |
mjr | 36:6b981a2afab7 | 522 | }; |
mjr | 36:6b981a2afab7 | 523 | DummyHC595 hc595; |
mjr | 36:6b981a2afab7 | 524 | |
mjr | 36:6b981a2afab7 | 525 | #endif // HC595_NCHIPS |
mjr | 28:cb71c4af2912 | 526 | |
mjr | 28:cb71c4af2912 | 527 | // |
mjr | 28:cb71c4af2912 | 528 | // Default LedWiz mode - using on-board GPIO ports. In this mode, we |
mjr | 28:cb71c4af2912 | 529 | // assign a KL25Z GPIO port to each LedWiz output. We have to use a |
mjr | 28:cb71c4af2912 | 530 | // mix of PWM-capable and Digital-Only ports in this configuration, |
mjr | 28:cb71c4af2912 | 531 | // since the KL25Z hardware only has 10 PWM channels, which isn't |
mjr | 28:cb71c4af2912 | 532 | // enough to fill out the full complement of 32 LedWiz outputs. |
mjr | 28:cb71c4af2912 | 533 | // |
mjr | 28:cb71c4af2912 | 534 | |
mjr | 28:cb71c4af2912 | 535 | // LwOut class for a PWM-capable GPIO port |
mjr | 6:cc35eb643e8f | 536 | class LwPwmOut: public LwOut |
mjr | 6:cc35eb643e8f | 537 | { |
mjr | 6:cc35eb643e8f | 538 | public: |
mjr | 13:72dda449c3c0 | 539 | LwPwmOut(PinName pin) : p(pin) { prv = -1; } |
mjr | 13:72dda449c3c0 | 540 | virtual void set(float val) |
mjr | 13:72dda449c3c0 | 541 | { |
mjr | 13:72dda449c3c0 | 542 | if (val != prv) |
mjr | 13:72dda449c3c0 | 543 | p.write(prv = val); |
mjr | 13:72dda449c3c0 | 544 | } |
mjr | 6:cc35eb643e8f | 545 | PwmOut p; |
mjr | 13:72dda449c3c0 | 546 | float prv; |
mjr | 6:cc35eb643e8f | 547 | }; |
mjr | 28:cb71c4af2912 | 548 | |
mjr | 28:cb71c4af2912 | 549 | // LwOut class for a Digital-Only (Non-PWM) GPIO port |
mjr | 6:cc35eb643e8f | 550 | class LwDigOut: public LwOut |
mjr | 6:cc35eb643e8f | 551 | { |
mjr | 6:cc35eb643e8f | 552 | public: |
mjr | 13:72dda449c3c0 | 553 | LwDigOut(PinName pin) : p(pin) { prv = -1; } |
mjr | 13:72dda449c3c0 | 554 | virtual void set(float val) |
mjr | 13:72dda449c3c0 | 555 | { |
mjr | 13:72dda449c3c0 | 556 | if (val != prv) |
mjr | 13:72dda449c3c0 | 557 | p.write((prv = val) == 0.0 ? 0 : 1); |
mjr | 13:72dda449c3c0 | 558 | } |
mjr | 6:cc35eb643e8f | 559 | DigitalOut p; |
mjr | 13:72dda449c3c0 | 560 | float prv; |
mjr | 6:cc35eb643e8f | 561 | }; |
mjr | 28:cb71c4af2912 | 562 | |
mjr | 31:582472d0bc57 | 563 | // Array of output physical pin assignments. This array is indexed |
mjr | 31:582472d0bc57 | 564 | // by LedWiz logical port number - lwPin[n] is the maping for LedWiz |
mjr | 31:582472d0bc57 | 565 | // port n (0-based). If we're using GPIO ports to implement outputs, |
mjr | 31:582472d0bc57 | 566 | // we initialize the array at start-up to map each logical port to the |
mjr | 31:582472d0bc57 | 567 | // physical GPIO pin for the port specified in the ledWizPortMap[] |
mjr | 31:582472d0bc57 | 568 | // array in config.h. If we're using TLC5940 chips for the outputs, |
mjr | 31:582472d0bc57 | 569 | // we map each logical port to the corresponding TLC5940 output. |
mjr | 35:d832bcab089e | 570 | static int numOutputs; |
mjr | 35:d832bcab089e | 571 | static LwOut **lwPin; |
mjr | 35:d832bcab089e | 572 | |
mjr | 35:d832bcab089e | 573 | // Current absolute brightness level for an output. This is a float |
mjr | 35:d832bcab089e | 574 | // value from 0.0 for fully off to 1.0 for fully on. This is the final |
mjr | 35:d832bcab089e | 575 | // derived value for the port. For outputs set by LedWiz messages, |
mjr | 35:d832bcab089e | 576 | // this is derived from the LedWiz state, and is updated on each pulse |
mjr | 35:d832bcab089e | 577 | // timer interrupt for lights in flashing states. For outputs set by |
mjr | 35:d832bcab089e | 578 | // extended protocol messages, this is simply the brightness last set. |
mjr | 35:d832bcab089e | 579 | static float *outLevel; |
mjr | 6:cc35eb643e8f | 580 | |
mjr | 6:cc35eb643e8f | 581 | // initialize the output pin array |
mjr | 6:cc35eb643e8f | 582 | void initLwOut() |
mjr | 6:cc35eb643e8f | 583 | { |
mjr | 35:d832bcab089e | 584 | // Figure out how many outputs we have. We always have at least |
mjr | 35:d832bcab089e | 585 | // 32 outputs, since that's the number fixed by the original LedWiz |
mjr | 36:6b981a2afab7 | 586 | // protocol. If we're using TLC5940 chips, each chip provides 16 |
mjr | 36:6b981a2afab7 | 587 | // outputs. Likewise, each 74HC595 provides 8 outputs. |
mjr | 35:d832bcab089e | 588 | |
mjr | 36:6b981a2afab7 | 589 | // start with 16 ports per TLC5940 and 8 per 74HC595 |
mjr | 36:6b981a2afab7 | 590 | numOutputs = TLC5940_NCHIPS*16 + HC595_NCHIPS*8; |
mjr | 35:d832bcab089e | 591 | |
mjr | 36:6b981a2afab7 | 592 | // add outputs explicitly assigned to GPIO pins or not connected |
mjr | 35:d832bcab089e | 593 | int i; |
mjr | 35:d832bcab089e | 594 | for (i = 0 ; i < countof(ledWizPortMap) ; ++i) |
mjr | 6:cc35eb643e8f | 595 | { |
mjr | 36:6b981a2afab7 | 596 | switch (ledWizPortMap[i].typ) |
mjr | 36:6b981a2afab7 | 597 | { |
mjr | 36:6b981a2afab7 | 598 | case DIG_GPIO: |
mjr | 36:6b981a2afab7 | 599 | case PWM_GPIO: |
mjr | 36:6b981a2afab7 | 600 | case NO_PORT: |
mjr | 36:6b981a2afab7 | 601 | // count an explicitly GPIO port |
mjr | 35:d832bcab089e | 602 | ++numOutputs; |
mjr | 36:6b981a2afab7 | 603 | break; |
mjr | 36:6b981a2afab7 | 604 | |
mjr | 36:6b981a2afab7 | 605 | default: |
mjr | 36:6b981a2afab7 | 606 | // DON'T count TLC5940 or 74HC595 ports, as we've already |
mjr | 36:6b981a2afab7 | 607 | // counted all of these above |
mjr | 36:6b981a2afab7 | 608 | break; |
mjr | 36:6b981a2afab7 | 609 | } |
mjr | 35:d832bcab089e | 610 | } |
mjr | 35:d832bcab089e | 611 | |
mjr | 35:d832bcab089e | 612 | // always set up at least 32 outputs, so that we don't have to |
mjr | 35:d832bcab089e | 613 | // check bounds on commands from the basic LedWiz protocol |
mjr | 35:d832bcab089e | 614 | if (numOutputs < 32) |
mjr | 35:d832bcab089e | 615 | numOutputs = 32; |
mjr | 35:d832bcab089e | 616 | |
mjr | 35:d832bcab089e | 617 | // allocate the pin array |
mjr | 35:d832bcab089e | 618 | lwPin = new LwOut*[numOutputs]; |
mjr | 35:d832bcab089e | 619 | |
mjr | 35:d832bcab089e | 620 | // allocate the current brightness array |
mjr | 35:d832bcab089e | 621 | outLevel = new float[numOutputs]; |
mjr | 35:d832bcab089e | 622 | |
mjr | 35:d832bcab089e | 623 | // allocate a temporary array to keep track of which physical |
mjr | 35:d832bcab089e | 624 | // TLC5940 ports we've assigned so far |
mjr | 35:d832bcab089e | 625 | char *tlcasi = new char[TLC5940_NCHIPS*16+1]; |
mjr | 35:d832bcab089e | 626 | memset(tlcasi, 0, TLC5940_NCHIPS*16); |
mjr | 28:cb71c4af2912 | 627 | |
mjr | 36:6b981a2afab7 | 628 | // likewise for the 74HC595 ports |
mjr | 36:6b981a2afab7 | 629 | char *hcasi = new char[HC595_NCHIPS*8+1]; |
mjr | 36:6b981a2afab7 | 630 | memset(hcasi, 0, HC595_NCHIPS*8); |
mjr | 36:6b981a2afab7 | 631 | |
mjr | 36:6b981a2afab7 | 632 | // assign all pins from the explicit port map in config.h |
mjr | 35:d832bcab089e | 633 | for (i = 0 ; i < countof(ledWizPortMap) ; ++i) |
mjr | 35:d832bcab089e | 634 | { |
mjr | 36:6b981a2afab7 | 635 | int pin = ledWizPortMap[i].pin; |
mjr | 36:6b981a2afab7 | 636 | LWPortType typ = ledWizPortMap[i].typ; |
mjr | 35:d832bcab089e | 637 | int flags = ledWizPortMap[i].flags; |
mjr | 35:d832bcab089e | 638 | int activeLow = flags & PORT_ACTIVE_LOW; |
mjr | 36:6b981a2afab7 | 639 | switch (typ) |
mjr | 35:d832bcab089e | 640 | { |
mjr | 36:6b981a2afab7 | 641 | case DIG_GPIO: |
mjr | 36:6b981a2afab7 | 642 | lwPin[i] = new LwDigOut((PinName)pin); |
mjr | 36:6b981a2afab7 | 643 | break; |
mjr | 36:6b981a2afab7 | 644 | |
mjr | 36:6b981a2afab7 | 645 | case PWM_GPIO: |
mjr | 36:6b981a2afab7 | 646 | // PWM GPIO port |
mjr | 36:6b981a2afab7 | 647 | lwPin[i] = new LwPwmOut((PinName)pin); |
mjr | 36:6b981a2afab7 | 648 | break; |
mjr | 36:6b981a2afab7 | 649 | |
mjr | 36:6b981a2afab7 | 650 | case TLC_PORT: |
mjr | 36:6b981a2afab7 | 651 | // TLC5940 port (note that the nominal pin in the map is 1-based, so we |
mjr | 36:6b981a2afab7 | 652 | // have to decrement it to get the real pin index) |
mjr | 36:6b981a2afab7 | 653 | lwPin[i] = new Lw5940Out(pin-1); |
mjr | 36:6b981a2afab7 | 654 | tlcasi[pin-1] = 1; |
mjr | 36:6b981a2afab7 | 655 | break; |
mjr | 36:6b981a2afab7 | 656 | |
mjr | 36:6b981a2afab7 | 657 | case HC595_PORT: |
mjr | 36:6b981a2afab7 | 658 | // 74HC595 port (the pin in the map is 1-based, so decrement it to get the |
mjr | 36:6b981a2afab7 | 659 | // real pin index) |
mjr | 36:6b981a2afab7 | 660 | lwPin[i] = new Lw595Out(pin-1); |
mjr | 36:6b981a2afab7 | 661 | hcasi[pin-1] = 1; |
mjr | 36:6b981a2afab7 | 662 | break; |
mjr | 36:6b981a2afab7 | 663 | |
mjr | 36:6b981a2afab7 | 664 | default: |
mjr | 36:6b981a2afab7 | 665 | lwPin[i] = new LwUnusedOut(); |
mjr | 36:6b981a2afab7 | 666 | break; |
mjr | 35:d832bcab089e | 667 | } |
mjr | 36:6b981a2afab7 | 668 | |
mjr | 36:6b981a2afab7 | 669 | // if it's Active Low, layer an inverter |
mjr | 36:6b981a2afab7 | 670 | if (activeLow) |
mjr | 36:6b981a2afab7 | 671 | lwPin[i] = new LwInvertedOut(lwPin[i]); |
mjr | 36:6b981a2afab7 | 672 | |
mjr | 36:6b981a2afab7 | 673 | // turn it off initially |
mjr | 35:d832bcab089e | 674 | lwPin[i]->set(0); |
mjr | 6:cc35eb643e8f | 675 | } |
mjr | 35:d832bcab089e | 676 | |
mjr | 36:6b981a2afab7 | 677 | // If we haven't assigned all of the LedWiz ports to physical pins, |
mjr | 36:6b981a2afab7 | 678 | // fill out the unassigned LedWiz ports with any unassigned TLC5940 |
mjr | 36:6b981a2afab7 | 679 | // pins, then with any unassigned 74HC595 ports. |
mjr | 36:6b981a2afab7 | 680 | int tlcnxt, hcnxt; |
mjr | 35:d832bcab089e | 681 | for (tlcnxt = 0 ; tlcnxt < TLC5940_NCHIPS*16 && tlcasi[tlcnxt] ; ++tlcnxt) ; |
mjr | 36:6b981a2afab7 | 682 | for (hcnxt = 0 ; hcnxt < HC595_NCHIPS*8 && hcasi[hcnxt] ; ++hcnxt) ; |
mjr | 35:d832bcab089e | 683 | for ( ; i < numOutputs ; ++i) |
mjr | 35:d832bcab089e | 684 | { |
mjr | 35:d832bcab089e | 685 | // If we have any more unassigned TLC5940 outputs, assign this LedWiz |
mjr | 36:6b981a2afab7 | 686 | // port to the next available TLC5940 output, or the next 74HC595 output |
mjr | 36:6b981a2afab7 | 687 | // if we're out of TLC5940 outputs. Leave it unassigned if there are |
mjr | 36:6b981a2afab7 | 688 | // no more unassigned ports of any type. |
mjr | 35:d832bcab089e | 689 | if (tlcnxt < TLC5940_NCHIPS*16) |
mjr | 35:d832bcab089e | 690 | { |
mjr | 36:6b981a2afab7 | 691 | // assign this available TLC5940 pin, and find the next unused one |
mjr | 35:d832bcab089e | 692 | lwPin[i] = new Lw5940Out(tlcnxt); |
mjr | 35:d832bcab089e | 693 | for (++tlcnxt ; tlcnxt < TLC5940_NCHIPS*16 && tlcasi[tlcnxt] ; ++tlcnxt) ; |
mjr | 35:d832bcab089e | 694 | } |
mjr | 36:6b981a2afab7 | 695 | else if (hcnxt < HC595_NCHIPS*8) |
mjr | 36:6b981a2afab7 | 696 | { |
mjr | 36:6b981a2afab7 | 697 | // assign this available 74HC595 pin, and find the next unused one |
mjr | 36:6b981a2afab7 | 698 | lwPin[i] = new Lw595Out(hcnxt); |
mjr | 36:6b981a2afab7 | 699 | for (++hcnxt ; hcnxt < HC595_NCHIPS*8 && hcasi[hcnxt] ; ++hcnxt) ; |
mjr | 36:6b981a2afab7 | 700 | } |
mjr | 35:d832bcab089e | 701 | else |
mjr | 35:d832bcab089e | 702 | { |
mjr | 35:d832bcab089e | 703 | // no more ports available - set up this port as unconnected |
mjr | 35:d832bcab089e | 704 | lwPin[i] = new LwUnusedOut(); |
mjr | 35:d832bcab089e | 705 | } |
mjr | 35:d832bcab089e | 706 | } |
mjr | 35:d832bcab089e | 707 | |
mjr | 36:6b981a2afab7 | 708 | // done with the temporary TLC5940 and 74HC595 port assignment lists |
mjr | 35:d832bcab089e | 709 | delete [] tlcasi; |
mjr | 36:6b981a2afab7 | 710 | delete [] hcasi; |
mjr | 6:cc35eb643e8f | 711 | } |
mjr | 6:cc35eb643e8f | 712 | |
mjr | 31:582472d0bc57 | 713 | // LedWiz output states. |
mjr | 31:582472d0bc57 | 714 | // |
mjr | 31:582472d0bc57 | 715 | // The LedWiz protocol has two separate control axes for each output. |
mjr | 31:582472d0bc57 | 716 | // One axis is its on/off state; the other is its "profile" state, which |
mjr | 31:582472d0bc57 | 717 | // is either a fixed brightness or a blinking pattern for the light. |
mjr | 31:582472d0bc57 | 718 | // The two axes are independent. |
mjr | 31:582472d0bc57 | 719 | // |
mjr | 31:582472d0bc57 | 720 | // Note that the LedWiz protocol can only address 32 outputs, so the |
mjr | 31:582472d0bc57 | 721 | // wizOn and wizVal arrays have fixed sizes of 32 elements no matter |
mjr | 31:582472d0bc57 | 722 | // how many physical outputs we're using. |
mjr | 31:582472d0bc57 | 723 | |
mjr | 0:5acbbe3f4cf4 | 724 | // on/off state for each LedWiz output |
mjr | 1:d913e0afb2ac | 725 | static uint8_t wizOn[32]; |
mjr | 0:5acbbe3f4cf4 | 726 | |
mjr | 31:582472d0bc57 | 727 | // Profile (brightness/blink) state for each LedWiz output. If the |
mjr | 31:582472d0bc57 | 728 | // output was last updated through an LedWiz protocol message, it |
mjr | 31:582472d0bc57 | 729 | // will have one of these values: |
mjr | 31:582472d0bc57 | 730 | // |
mjr | 31:582472d0bc57 | 731 | // 0-48 = fixed brightness 0% to 100% |
mjr | 31:582472d0bc57 | 732 | // 129 = ramp up / ramp down |
mjr | 31:582472d0bc57 | 733 | // 130 = flash on / off |
mjr | 31:582472d0bc57 | 734 | // 131 = on / ramp down |
mjr | 31:582472d0bc57 | 735 | // 132 = ramp up / on |
mjr | 31:582472d0bc57 | 736 | // |
mjr | 31:582472d0bc57 | 737 | // Special value 255: If the output was updated through the |
mjr | 31:582472d0bc57 | 738 | // extended protocol, we'll set the wizVal entry to 255, which has |
mjr | 31:582472d0bc57 | 739 | // no meaning in the LedWiz protocol. This tells us that the value |
mjr | 31:582472d0bc57 | 740 | // in outLevel[] was set directly from the extended protocol, so it |
mjr | 31:582472d0bc57 | 741 | // shouldn't be derived from wizVal[]. |
mjr | 31:582472d0bc57 | 742 | // |
mjr | 1:d913e0afb2ac | 743 | static uint8_t wizVal[32] = { |
mjr | 13:72dda449c3c0 | 744 | 48, 48, 48, 48, 48, 48, 48, 48, |
mjr | 13:72dda449c3c0 | 745 | 48, 48, 48, 48, 48, 48, 48, 48, |
mjr | 13:72dda449c3c0 | 746 | 48, 48, 48, 48, 48, 48, 48, 48, |
mjr | 13:72dda449c3c0 | 747 | 48, 48, 48, 48, 48, 48, 48, 48 |
mjr | 0:5acbbe3f4cf4 | 748 | }; |
mjr | 0:5acbbe3f4cf4 | 749 | |
mjr | 31:582472d0bc57 | 750 | // LedWiz flash speed. This is a value from 1 to 7 giving the pulse |
mjr | 31:582472d0bc57 | 751 | // rate for lights in blinking states. |
mjr | 31:582472d0bc57 | 752 | static uint8_t wizSpeed = 2; |
mjr | 31:582472d0bc57 | 753 | |
mjr | 31:582472d0bc57 | 754 | // Current LedWiz flash cycle counter. |
mjr | 31:582472d0bc57 | 755 | static uint8_t wizFlashCounter = 0; |
mjr | 31:582472d0bc57 | 756 | |
mjr | 31:582472d0bc57 | 757 | // Get the current brightness level for an LedWiz output. |
mjr | 1:d913e0afb2ac | 758 | static float wizState(int idx) |
mjr | 0:5acbbe3f4cf4 | 759 | { |
mjr | 31:582472d0bc57 | 760 | // if the output was last set with an extended protocol message, |
mjr | 31:582472d0bc57 | 761 | // use the value set there, ignoring the output's LedWiz state |
mjr | 31:582472d0bc57 | 762 | if (wizVal[idx] == 255) |
mjr | 31:582472d0bc57 | 763 | return outLevel[idx]; |
mjr | 31:582472d0bc57 | 764 | |
mjr | 31:582472d0bc57 | 765 | // if it's off, show at zero intensity |
mjr | 31:582472d0bc57 | 766 | if (!wizOn[idx]) |
mjr | 31:582472d0bc57 | 767 | return 0; |
mjr | 31:582472d0bc57 | 768 | |
mjr | 31:582472d0bc57 | 769 | // check the state |
mjr | 31:582472d0bc57 | 770 | uint8_t val = wizVal[idx]; |
mjr | 31:582472d0bc57 | 771 | if (val <= 48) |
mjr | 31:582472d0bc57 | 772 | { |
mjr | 31:582472d0bc57 | 773 | // PWM brightness/intensity level. Rescale from the LedWiz |
mjr | 31:582472d0bc57 | 774 | // 0..48 integer range to our internal PwmOut 0..1 float range. |
mjr | 31:582472d0bc57 | 775 | // Note that on the actual LedWiz, level 48 is actually about |
mjr | 31:582472d0bc57 | 776 | // 98% on - contrary to the LedWiz documentation, level 49 is |
mjr | 31:582472d0bc57 | 777 | // the true 100% level. (In the documentation, level 49 is |
mjr | 31:582472d0bc57 | 778 | // simply not a valid setting.) Even so, we treat level 48 as |
mjr | 31:582472d0bc57 | 779 | // 100% on to match the documentation. This won't be perfectly |
mjr | 31:582472d0bc57 | 780 | // ocmpatible with the actual LedWiz, but it makes for such a |
mjr | 31:582472d0bc57 | 781 | // small difference in brightness (if the output device is an |
mjr | 31:582472d0bc57 | 782 | // LED, say) that no one should notice. It seems better to |
mjr | 31:582472d0bc57 | 783 | // err in this direction, because while the difference in |
mjr | 31:582472d0bc57 | 784 | // brightness when attached to an LED won't be noticeable, the |
mjr | 31:582472d0bc57 | 785 | // difference in duty cycle when attached to something like a |
mjr | 31:582472d0bc57 | 786 | // contactor *can* be noticeable - anything less than 100% |
mjr | 31:582472d0bc57 | 787 | // can cause a contactor or relay to chatter. There's almost |
mjr | 31:582472d0bc57 | 788 | // never a situation where you'd want values other than 0% and |
mjr | 31:582472d0bc57 | 789 | // 100% for a contactor or relay, so treating level 48 as 100% |
mjr | 31:582472d0bc57 | 790 | // makes us work properly with software that's expecting the |
mjr | 31:582472d0bc57 | 791 | // documented LedWiz behavior and therefore uses level 48 to |
mjr | 31:582472d0bc57 | 792 | // turn a contactor or relay fully on. |
mjr | 31:582472d0bc57 | 793 | return val/48.0; |
mjr | 31:582472d0bc57 | 794 | } |
mjr | 31:582472d0bc57 | 795 | else if (val == 49) |
mjr | 13:72dda449c3c0 | 796 | { |
mjr | 31:582472d0bc57 | 797 | // 49 is undefined in the LedWiz documentation, but actually |
mjr | 31:582472d0bc57 | 798 | // means 100% on. The documentation says that levels 1-48 are |
mjr | 31:582472d0bc57 | 799 | // the full PWM range, but empirically it appears that the real |
mjr | 31:582472d0bc57 | 800 | // range implemented in the firmware is 1-49. Some software on |
mjr | 31:582472d0bc57 | 801 | // the PC side (notably DOF) is aware of this and uses level 49 |
mjr | 31:582472d0bc57 | 802 | // to mean "100% on". To ensure compatibility with existing |
mjr | 31:582472d0bc57 | 803 | // PC-side software, we need to recognize level 49. |
mjr | 31:582472d0bc57 | 804 | return 1.0; |
mjr | 31:582472d0bc57 | 805 | } |
mjr | 31:582472d0bc57 | 806 | else if (val == 129) |
mjr | 31:582472d0bc57 | 807 | { |
mjr | 31:582472d0bc57 | 808 | // 129 = ramp up / ramp down |
mjr | 32:6e9902f06f48 | 809 | return wizFlashCounter < 128 |
mjr | 32:6e9902f06f48 | 810 | ? wizFlashCounter/128.0 |
mjr | 32:6e9902f06f48 | 811 | : (256 - wizFlashCounter)/128.0; |
mjr | 31:582472d0bc57 | 812 | } |
mjr | 31:582472d0bc57 | 813 | else if (val == 130) |
mjr | 31:582472d0bc57 | 814 | { |
mjr | 31:582472d0bc57 | 815 | // 130 = flash on / off |
mjr | 32:6e9902f06f48 | 816 | return wizFlashCounter < 128 ? 1.0 : 0.0; |
mjr | 31:582472d0bc57 | 817 | } |
mjr | 31:582472d0bc57 | 818 | else if (val == 131) |
mjr | 31:582472d0bc57 | 819 | { |
mjr | 31:582472d0bc57 | 820 | // 131 = on / ramp down |
mjr | 32:6e9902f06f48 | 821 | return wizFlashCounter < 128 ? 1.0 : (255 - wizFlashCounter)/128.0; |
mjr | 0:5acbbe3f4cf4 | 822 | } |
mjr | 31:582472d0bc57 | 823 | else if (val == 132) |
mjr | 31:582472d0bc57 | 824 | { |
mjr | 31:582472d0bc57 | 825 | // 132 = ramp up / on |
mjr | 32:6e9902f06f48 | 826 | return wizFlashCounter < 128 ? wizFlashCounter/128.0 : 1.0; |
mjr | 31:582472d0bc57 | 827 | } |
mjr | 31:582472d0bc57 | 828 | else |
mjr | 13:72dda449c3c0 | 829 | { |
mjr | 31:582472d0bc57 | 830 | // Other values are undefined in the LedWiz documentation. Hosts |
mjr | 31:582472d0bc57 | 831 | // *should* never send undefined values, since whatever behavior an |
mjr | 31:582472d0bc57 | 832 | // LedWiz unit exhibits in response is accidental and could change |
mjr | 31:582472d0bc57 | 833 | // in a future version. We'll treat all undefined values as equivalent |
mjr | 31:582472d0bc57 | 834 | // to 48 (fully on). |
mjr | 31:582472d0bc57 | 835 | return 1.0; |
mjr | 0:5acbbe3f4cf4 | 836 | } |
mjr | 0:5acbbe3f4cf4 | 837 | } |
mjr | 0:5acbbe3f4cf4 | 838 | |
mjr | 31:582472d0bc57 | 839 | // LedWiz flash timer pulse. This fires periodically to update |
mjr | 31:582472d0bc57 | 840 | // LedWiz flashing outputs. At the slowest pulse speed set via |
mjr | 31:582472d0bc57 | 841 | // the SBA command, each waveform cycle has 256 steps, so we |
mjr | 31:582472d0bc57 | 842 | // choose the pulse time base so that the slowest cycle completes |
mjr | 31:582472d0bc57 | 843 | // in 2 seconds. This seems to roughly match the real LedWiz |
mjr | 31:582472d0bc57 | 844 | // behavior. We run the pulse timer at the same rate regardless |
mjr | 31:582472d0bc57 | 845 | // of the pulse speed; at higher pulse speeds, we simply use |
mjr | 31:582472d0bc57 | 846 | // larger steps through the cycle on each interrupt. Running |
mjr | 31:582472d0bc57 | 847 | // every 1/127 of a second = 8ms seems to be a pretty light load. |
mjr | 31:582472d0bc57 | 848 | Timeout wizPulseTimer; |
mjr | 31:582472d0bc57 | 849 | #define WIZ_PULSE_TIME_BASE (1.0/127.0) |
mjr | 31:582472d0bc57 | 850 | static void wizPulse() |
mjr | 31:582472d0bc57 | 851 | { |
mjr | 31:582472d0bc57 | 852 | // increase the counter by the speed increment, and wrap at 256 |
mjr | 31:582472d0bc57 | 853 | wizFlashCounter += wizSpeed; |
mjr | 31:582472d0bc57 | 854 | wizFlashCounter &= 0xff; |
mjr | 31:582472d0bc57 | 855 | |
mjr | 31:582472d0bc57 | 856 | // if we have any flashing lights, update them |
mjr | 31:582472d0bc57 | 857 | int ena = false; |
mjr | 31:582472d0bc57 | 858 | for (int i = 0 ; i < 32 ; ++i) |
mjr | 31:582472d0bc57 | 859 | { |
mjr | 31:582472d0bc57 | 860 | if (wizOn[i]) |
mjr | 31:582472d0bc57 | 861 | { |
mjr | 31:582472d0bc57 | 862 | uint8_t s = wizVal[i]; |
mjr | 31:582472d0bc57 | 863 | if (s >= 129 && s <= 132) |
mjr | 31:582472d0bc57 | 864 | { |
mjr | 31:582472d0bc57 | 865 | lwPin[i]->set(wizState(i)); |
mjr | 31:582472d0bc57 | 866 | ena = true; |
mjr | 31:582472d0bc57 | 867 | } |
mjr | 31:582472d0bc57 | 868 | } |
mjr | 31:582472d0bc57 | 869 | } |
mjr | 31:582472d0bc57 | 870 | |
mjr | 31:582472d0bc57 | 871 | // Set up the next timer pulse only if we found anything flashing. |
mjr | 31:582472d0bc57 | 872 | // To minimize overhead from this feature, we only enable the interrupt |
mjr | 31:582472d0bc57 | 873 | // when we need it. This eliminates any performance penalty to other |
mjr | 31:582472d0bc57 | 874 | // features when the host software doesn't care about the flashing |
mjr | 31:582472d0bc57 | 875 | // modes. For example, DOF never uses these modes, so there's no |
mjr | 31:582472d0bc57 | 876 | // need for them when running Visual Pinball. |
mjr | 31:582472d0bc57 | 877 | if (ena) |
mjr | 31:582472d0bc57 | 878 | wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE); |
mjr | 31:582472d0bc57 | 879 | } |
mjr | 31:582472d0bc57 | 880 | |
mjr | 31:582472d0bc57 | 881 | // Update the physical outputs connected to the LedWiz ports. This is |
mjr | 31:582472d0bc57 | 882 | // called after any update from an LedWiz protocol message. |
mjr | 1:d913e0afb2ac | 883 | static void updateWizOuts() |
mjr | 1:d913e0afb2ac | 884 | { |
mjr | 31:582472d0bc57 | 885 | // update each output |
mjr | 31:582472d0bc57 | 886 | int pulse = false; |
mjr | 6:cc35eb643e8f | 887 | for (int i = 0 ; i < 32 ; ++i) |
mjr | 31:582472d0bc57 | 888 | { |
mjr | 31:582472d0bc57 | 889 | pulse |= (wizVal[i] >= 129 && wizVal[i] <= 132); |
mjr | 6:cc35eb643e8f | 890 | lwPin[i]->set(wizState(i)); |
mjr | 31:582472d0bc57 | 891 | } |
mjr | 31:582472d0bc57 | 892 | |
mjr | 31:582472d0bc57 | 893 | // if any outputs are set to flashing mode, and the pulse timer |
mjr | 31:582472d0bc57 | 894 | // isn't running, turn it on |
mjr | 31:582472d0bc57 | 895 | if (pulse) |
mjr | 31:582472d0bc57 | 896 | wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE); |
mjr | 36:6b981a2afab7 | 897 | |
mjr | 36:6b981a2afab7 | 898 | // flush changes to 74HC595 chips, if attached |
mjr | 36:6b981a2afab7 | 899 | hc595.update(); |
mjr | 1:d913e0afb2ac | 900 | } |
mjr | 36:6b981a2afab7 | 901 | |
mjr | 11:bd9da7088e6e | 902 | // --------------------------------------------------------------------------- |
mjr | 11:bd9da7088e6e | 903 | // |
mjr | 11:bd9da7088e6e | 904 | // Button input |
mjr | 11:bd9da7088e6e | 905 | // |
mjr | 11:bd9da7088e6e | 906 | |
mjr | 11:bd9da7088e6e | 907 | // button input map array |
mjr | 11:bd9da7088e6e | 908 | DigitalIn *buttonDigIn[32]; |
mjr | 11:bd9da7088e6e | 909 | |
mjr | 18:5e890ebd0023 | 910 | // button state |
mjr | 18:5e890ebd0023 | 911 | struct ButtonState |
mjr | 18:5e890ebd0023 | 912 | { |
mjr | 18:5e890ebd0023 | 913 | // current on/off state |
mjr | 18:5e890ebd0023 | 914 | int pressed; |
mjr | 18:5e890ebd0023 | 915 | |
mjr | 18:5e890ebd0023 | 916 | // Sticky time remaining for current state. When a |
mjr | 18:5e890ebd0023 | 917 | // state transition occurs, we set this to a debounce |
mjr | 18:5e890ebd0023 | 918 | // period. Future state transitions will be ignored |
mjr | 18:5e890ebd0023 | 919 | // until the debounce time elapses. |
mjr | 18:5e890ebd0023 | 920 | int t; |
mjr | 18:5e890ebd0023 | 921 | } buttonState[32]; |
mjr | 18:5e890ebd0023 | 922 | |
mjr | 12:669df364a565 | 923 | // timer for button reports |
mjr | 12:669df364a565 | 924 | static Timer buttonTimer; |
mjr | 12:669df364a565 | 925 | |
mjr | 11:bd9da7088e6e | 926 | // initialize the button inputs |
mjr | 11:bd9da7088e6e | 927 | void initButtons() |
mjr | 11:bd9da7088e6e | 928 | { |
mjr | 11:bd9da7088e6e | 929 | // create the digital inputs |
mjr | 11:bd9da7088e6e | 930 | for (int i = 0 ; i < countof(buttonDigIn) ; ++i) |
mjr | 11:bd9da7088e6e | 931 | { |
mjr | 11:bd9da7088e6e | 932 | if (i < countof(buttonMap) && buttonMap[i] != NC) |
mjr | 11:bd9da7088e6e | 933 | buttonDigIn[i] = new DigitalIn(buttonMap[i]); |
mjr | 11:bd9da7088e6e | 934 | else |
mjr | 11:bd9da7088e6e | 935 | buttonDigIn[i] = 0; |
mjr | 11:bd9da7088e6e | 936 | } |
mjr | 12:669df364a565 | 937 | |
mjr | 12:669df364a565 | 938 | // start the button timer |
mjr | 12:669df364a565 | 939 | buttonTimer.start(); |
mjr | 11:bd9da7088e6e | 940 | } |
mjr | 11:bd9da7088e6e | 941 | |
mjr | 11:bd9da7088e6e | 942 | |
mjr | 18:5e890ebd0023 | 943 | // read the button input state |
mjr | 18:5e890ebd0023 | 944 | uint32_t readButtons() |
mjr | 11:bd9da7088e6e | 945 | { |
mjr | 11:bd9da7088e6e | 946 | // start with all buttons off |
mjr | 11:bd9da7088e6e | 947 | uint32_t buttons = 0; |
mjr | 11:bd9da7088e6e | 948 | |
mjr | 18:5e890ebd0023 | 949 | // figure the time elapsed since the last scan |
mjr | 18:5e890ebd0023 | 950 | int dt = buttonTimer.read_ms(); |
mjr | 18:5e890ebd0023 | 951 | |
mjr | 18:5e890ebd0023 | 952 | // reset the timef for the next scan |
mjr | 18:5e890ebd0023 | 953 | buttonTimer.reset(); |
mjr | 18:5e890ebd0023 | 954 | |
mjr | 11:bd9da7088e6e | 955 | // scan the button list |
mjr | 11:bd9da7088e6e | 956 | uint32_t bit = 1; |
mjr | 18:5e890ebd0023 | 957 | DigitalIn **di = buttonDigIn; |
mjr | 18:5e890ebd0023 | 958 | ButtonState *bs = buttonState; |
mjr | 18:5e890ebd0023 | 959 | for (int i = 0 ; i < countof(buttonDigIn) ; ++i, ++di, ++bs, bit <<= 1) |
mjr | 11:bd9da7088e6e | 960 | { |
mjr | 18:5e890ebd0023 | 961 | // read this button |
mjr | 18:5e890ebd0023 | 962 | if (*di != 0) |
mjr | 18:5e890ebd0023 | 963 | { |
mjr | 18:5e890ebd0023 | 964 | // deduct the elapsed time since the last update |
mjr | 18:5e890ebd0023 | 965 | // from the button's remaining sticky time |
mjr | 18:5e890ebd0023 | 966 | bs->t -= dt; |
mjr | 18:5e890ebd0023 | 967 | if (bs->t < 0) |
mjr | 18:5e890ebd0023 | 968 | bs->t = 0; |
mjr | 18:5e890ebd0023 | 969 | |
mjr | 18:5e890ebd0023 | 970 | // If the sticky time has elapsed, note the new physical |
mjr | 18:5e890ebd0023 | 971 | // state of the button. If we still have sticky time |
mjr | 18:5e890ebd0023 | 972 | // remaining, ignore the physical state; the last state |
mjr | 18:5e890ebd0023 | 973 | // change persists until the sticky time elapses so that |
mjr | 18:5e890ebd0023 | 974 | // we smooth out any "bounce" (electrical transients that |
mjr | 18:5e890ebd0023 | 975 | // occur when the switch contact is opened or closed). |
mjr | 18:5e890ebd0023 | 976 | if (bs->t == 0) |
mjr | 18:5e890ebd0023 | 977 | { |
mjr | 18:5e890ebd0023 | 978 | // get the new physical state |
mjr | 18:5e890ebd0023 | 979 | int pressed = !(*di)->read(); |
mjr | 18:5e890ebd0023 | 980 | |
mjr | 18:5e890ebd0023 | 981 | // update the button's logical state if this is a change |
mjr | 18:5e890ebd0023 | 982 | if (pressed != bs->pressed) |
mjr | 18:5e890ebd0023 | 983 | { |
mjr | 18:5e890ebd0023 | 984 | // store the new state |
mjr | 18:5e890ebd0023 | 985 | bs->pressed = pressed; |
mjr | 18:5e890ebd0023 | 986 | |
mjr | 18:5e890ebd0023 | 987 | // start a new sticky period for debouncing this |
mjr | 18:5e890ebd0023 | 988 | // state change |
mjr | 19:054f8af32fce | 989 | bs->t = 25; |
mjr | 18:5e890ebd0023 | 990 | } |
mjr | 18:5e890ebd0023 | 991 | } |
mjr | 18:5e890ebd0023 | 992 | |
mjr | 18:5e890ebd0023 | 993 | // if it's pressed, OR its bit into the state |
mjr | 18:5e890ebd0023 | 994 | if (bs->pressed) |
mjr | 18:5e890ebd0023 | 995 | buttons |= bit; |
mjr | 18:5e890ebd0023 | 996 | } |
mjr | 11:bd9da7088e6e | 997 | } |
mjr | 11:bd9da7088e6e | 998 | |
mjr | 18:5e890ebd0023 | 999 | // return the new button list |
mjr | 11:bd9da7088e6e | 1000 | return buttons; |
mjr | 11:bd9da7088e6e | 1001 | } |
mjr | 11:bd9da7088e6e | 1002 | |
mjr | 5:a70c0bce770d | 1003 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 1004 | // |
mjr | 5:a70c0bce770d | 1005 | // Customization joystick subbclass |
mjr | 5:a70c0bce770d | 1006 | // |
mjr | 5:a70c0bce770d | 1007 | |
mjr | 5:a70c0bce770d | 1008 | class MyUSBJoystick: public USBJoystick |
mjr | 5:a70c0bce770d | 1009 | { |
mjr | 5:a70c0bce770d | 1010 | public: |
mjr | 5:a70c0bce770d | 1011 | MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release) |
mjr | 5:a70c0bce770d | 1012 | : USBJoystick(vendor_id, product_id, product_release, true) |
mjr | 5:a70c0bce770d | 1013 | { |
mjr | 5:a70c0bce770d | 1014 | suspended_ = false; |
mjr | 5:a70c0bce770d | 1015 | } |
mjr | 5:a70c0bce770d | 1016 | |
mjr | 5:a70c0bce770d | 1017 | // are we connected? |
mjr | 5:a70c0bce770d | 1018 | int isConnected() { return configured(); } |
mjr | 5:a70c0bce770d | 1019 | |
mjr | 5:a70c0bce770d | 1020 | // Are we in suspend mode? |
mjr | 5:a70c0bce770d | 1021 | int isSuspended() const { return suspended_; } |
mjr | 5:a70c0bce770d | 1022 | |
mjr | 5:a70c0bce770d | 1023 | protected: |
mjr | 5:a70c0bce770d | 1024 | virtual void suspendStateChanged(unsigned int suspended) |
mjr | 5:a70c0bce770d | 1025 | { suspended_ = suspended; } |
mjr | 5:a70c0bce770d | 1026 | |
mjr | 5:a70c0bce770d | 1027 | // are we suspended? |
mjr | 5:a70c0bce770d | 1028 | int suspended_; |
mjr | 5:a70c0bce770d | 1029 | }; |
mjr | 5:a70c0bce770d | 1030 | |
mjr | 5:a70c0bce770d | 1031 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 1032 | // |
mjr | 5:a70c0bce770d | 1033 | // Accelerometer (MMA8451Q) |
mjr | 5:a70c0bce770d | 1034 | // |
mjr | 5:a70c0bce770d | 1035 | |
mjr | 5:a70c0bce770d | 1036 | // The MMA8451Q is the KL25Z's on-board 3-axis accelerometer. |
mjr | 5:a70c0bce770d | 1037 | // |
mjr | 5:a70c0bce770d | 1038 | // This is a custom wrapper for the library code to interface to the |
mjr | 6:cc35eb643e8f | 1039 | // MMA8451Q. This class encapsulates an interrupt handler and |
mjr | 6:cc35eb643e8f | 1040 | // automatic calibration. |
mjr | 5:a70c0bce770d | 1041 | // |
mjr | 5:a70c0bce770d | 1042 | // We install an interrupt handler on the accelerometer "data ready" |
mjr | 6:cc35eb643e8f | 1043 | // interrupt to ensure that we fetch each sample immediately when it |
mjr | 6:cc35eb643e8f | 1044 | // becomes available. The accelerometer data rate is fiarly high |
mjr | 6:cc35eb643e8f | 1045 | // (800 Hz), so it's not practical to keep up with it by polling. |
mjr | 6:cc35eb643e8f | 1046 | // Using an interrupt handler lets us respond quickly and read |
mjr | 6:cc35eb643e8f | 1047 | // every sample. |
mjr | 5:a70c0bce770d | 1048 | // |
mjr | 6:cc35eb643e8f | 1049 | // We automatically calibrate the accelerometer so that it's not |
mjr | 6:cc35eb643e8f | 1050 | // necessary to get it exactly level when installing it, and so |
mjr | 6:cc35eb643e8f | 1051 | // that it's also not necessary to calibrate it manually. There's |
mjr | 6:cc35eb643e8f | 1052 | // lots of experience that tells us that manual calibration is a |
mjr | 6:cc35eb643e8f | 1053 | // terrible solution, mostly because cabinets tend to shift slightly |
mjr | 6:cc35eb643e8f | 1054 | // during use, requiring frequent recalibration. Instead, we |
mjr | 6:cc35eb643e8f | 1055 | // calibrate automatically. We continuously monitor the acceleration |
mjr | 6:cc35eb643e8f | 1056 | // data, watching for periods of constant (or nearly constant) values. |
mjr | 6:cc35eb643e8f | 1057 | // Any time it appears that the machine has been at rest for a while |
mjr | 6:cc35eb643e8f | 1058 | // (about 5 seconds), we'll average the readings during that rest |
mjr | 6:cc35eb643e8f | 1059 | // period and use the result as the level rest position. This is |
mjr | 6:cc35eb643e8f | 1060 | // is ongoing, so we'll quickly find the center point again if the |
mjr | 6:cc35eb643e8f | 1061 | // machine is moved during play (by an especially aggressive bout |
mjr | 6:cc35eb643e8f | 1062 | // of nudging, say). |
mjr | 5:a70c0bce770d | 1063 | // |
mjr | 5:a70c0bce770d | 1064 | |
mjr | 17:ab3cec0c8bf4 | 1065 | // I2C address of the accelerometer (this is a constant of the KL25Z) |
mjr | 17:ab3cec0c8bf4 | 1066 | const int MMA8451_I2C_ADDRESS = (0x1d<<1); |
mjr | 17:ab3cec0c8bf4 | 1067 | |
mjr | 17:ab3cec0c8bf4 | 1068 | // SCL and SDA pins for the accelerometer (constant for the KL25Z) |
mjr | 17:ab3cec0c8bf4 | 1069 | #define MMA8451_SCL_PIN PTE25 |
mjr | 17:ab3cec0c8bf4 | 1070 | #define MMA8451_SDA_PIN PTE24 |
mjr | 17:ab3cec0c8bf4 | 1071 | |
mjr | 17:ab3cec0c8bf4 | 1072 | // Digital in pin to use for the accelerometer interrupt. For the KL25Z, |
mjr | 17:ab3cec0c8bf4 | 1073 | // this can be either PTA14 or PTA15, since those are the pins physically |
mjr | 17:ab3cec0c8bf4 | 1074 | // wired on this board to the MMA8451 interrupt controller. |
mjr | 17:ab3cec0c8bf4 | 1075 | #define MMA8451_INT_PIN PTA15 |
mjr | 17:ab3cec0c8bf4 | 1076 | |
mjr | 17:ab3cec0c8bf4 | 1077 | |
mjr | 6:cc35eb643e8f | 1078 | // accelerometer input history item, for gathering calibration data |
mjr | 6:cc35eb643e8f | 1079 | struct AccHist |
mjr | 5:a70c0bce770d | 1080 | { |
mjr | 6:cc35eb643e8f | 1081 | AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; } |
mjr | 6:cc35eb643e8f | 1082 | void set(float x, float y, AccHist *prv) |
mjr | 6:cc35eb643e8f | 1083 | { |
mjr | 6:cc35eb643e8f | 1084 | // save the raw position |
mjr | 6:cc35eb643e8f | 1085 | this->x = x; |
mjr | 6:cc35eb643e8f | 1086 | this->y = y; |
mjr | 6:cc35eb643e8f | 1087 | this->d = distance(prv); |
mjr | 6:cc35eb643e8f | 1088 | } |
mjr | 6:cc35eb643e8f | 1089 | |
mjr | 6:cc35eb643e8f | 1090 | // reading for this entry |
mjr | 5:a70c0bce770d | 1091 | float x, y; |
mjr | 5:a70c0bce770d | 1092 | |
mjr | 6:cc35eb643e8f | 1093 | // distance from previous entry |
mjr | 6:cc35eb643e8f | 1094 | float d; |
mjr | 5:a70c0bce770d | 1095 | |
mjr | 6:cc35eb643e8f | 1096 | // total and count of samples averaged over this period |
mjr | 6:cc35eb643e8f | 1097 | float xtot, ytot; |
mjr | 6:cc35eb643e8f | 1098 | int cnt; |
mjr | 6:cc35eb643e8f | 1099 | |
mjr | 6:cc35eb643e8f | 1100 | void clearAvg() { xtot = ytot = 0.0; cnt = 0; } |
mjr | 6:cc35eb643e8f | 1101 | void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; } |
mjr | 6:cc35eb643e8f | 1102 | float xAvg() const { return xtot/cnt; } |
mjr | 6:cc35eb643e8f | 1103 | float yAvg() const { return ytot/cnt; } |
mjr | 5:a70c0bce770d | 1104 | |
mjr | 6:cc35eb643e8f | 1105 | float distance(AccHist *p) |
mjr | 6:cc35eb643e8f | 1106 | { return sqrt(square(p->x - x) + square(p->y - y)); } |
mjr | 5:a70c0bce770d | 1107 | }; |
mjr | 5:a70c0bce770d | 1108 | |
mjr | 5:a70c0bce770d | 1109 | // accelerometer wrapper class |
mjr | 3:3514575d4f86 | 1110 | class Accel |
mjr | 3:3514575d4f86 | 1111 | { |
mjr | 3:3514575d4f86 | 1112 | public: |
mjr | 3:3514575d4f86 | 1113 | Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin) |
mjr | 3:3514575d4f86 | 1114 | : mma_(sda, scl, i2cAddr), intIn_(irqPin) |
mjr | 3:3514575d4f86 | 1115 | { |
mjr | 5:a70c0bce770d | 1116 | // remember the interrupt pin assignment |
mjr | 5:a70c0bce770d | 1117 | irqPin_ = irqPin; |
mjr | 5:a70c0bce770d | 1118 | |
mjr | 5:a70c0bce770d | 1119 | // reset and initialize |
mjr | 5:a70c0bce770d | 1120 | reset(); |
mjr | 5:a70c0bce770d | 1121 | } |
mjr | 5:a70c0bce770d | 1122 | |
mjr | 5:a70c0bce770d | 1123 | void reset() |
mjr | 5:a70c0bce770d | 1124 | { |
mjr | 6:cc35eb643e8f | 1125 | // clear the center point |
mjr | 6:cc35eb643e8f | 1126 | cx_ = cy_ = 0.0; |
mjr | 6:cc35eb643e8f | 1127 | |
mjr | 6:cc35eb643e8f | 1128 | // start the calibration timer |
mjr | 5:a70c0bce770d | 1129 | tCenter_.start(); |
mjr | 5:a70c0bce770d | 1130 | iAccPrv_ = nAccPrv_ = 0; |
mjr | 6:cc35eb643e8f | 1131 | |
mjr | 5:a70c0bce770d | 1132 | // reset and initialize the MMA8451Q |
mjr | 5:a70c0bce770d | 1133 | mma_.init(); |
mjr | 6:cc35eb643e8f | 1134 | |
mjr | 6:cc35eb643e8f | 1135 | // set the initial integrated velocity reading to zero |
mjr | 6:cc35eb643e8f | 1136 | vx_ = vy_ = 0; |
mjr | 3:3514575d4f86 | 1137 | |
mjr | 6:cc35eb643e8f | 1138 | // set up our accelerometer interrupt handling |
mjr | 6:cc35eb643e8f | 1139 | intIn_.rise(this, &Accel::isr); |
mjr | 5:a70c0bce770d | 1140 | mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2); |
mjr | 3:3514575d4f86 | 1141 | |
mjr | 3:3514575d4f86 | 1142 | // read the current registers to clear the data ready flag |
mjr | 6:cc35eb643e8f | 1143 | mma_.getAccXYZ(ax_, ay_, az_); |
mjr | 3:3514575d4f86 | 1144 | |
mjr | 3:3514575d4f86 | 1145 | // start our timers |
mjr | 3:3514575d4f86 | 1146 | tGet_.start(); |
mjr | 3:3514575d4f86 | 1147 | tInt_.start(); |
mjr | 3:3514575d4f86 | 1148 | } |
mjr | 3:3514575d4f86 | 1149 | |
mjr | 9:fd65b0a94720 | 1150 | void get(int &x, int &y) |
mjr | 3:3514575d4f86 | 1151 | { |
mjr | 3:3514575d4f86 | 1152 | // disable interrupts while manipulating the shared data |
mjr | 3:3514575d4f86 | 1153 | __disable_irq(); |
mjr | 3:3514575d4f86 | 1154 | |
mjr | 3:3514575d4f86 | 1155 | // read the shared data and store locally for calculations |
mjr | 6:cc35eb643e8f | 1156 | float ax = ax_, ay = ay_; |
mjr | 6:cc35eb643e8f | 1157 | float vx = vx_, vy = vy_; |
mjr | 5:a70c0bce770d | 1158 | |
mjr | 6:cc35eb643e8f | 1159 | // reset the velocity sum for the next run |
mjr | 6:cc35eb643e8f | 1160 | vx_ = vy_ = 0; |
mjr | 3:3514575d4f86 | 1161 | |
mjr | 3:3514575d4f86 | 1162 | // get the time since the last get() sample |
mjr | 3:3514575d4f86 | 1163 | float dt = tGet_.read_us()/1.0e6; |
mjr | 3:3514575d4f86 | 1164 | tGet_.reset(); |
mjr | 3:3514575d4f86 | 1165 | |
mjr | 3:3514575d4f86 | 1166 | // done manipulating the shared data |
mjr | 3:3514575d4f86 | 1167 | __enable_irq(); |
mjr | 3:3514575d4f86 | 1168 | |
mjr | 6:cc35eb643e8f | 1169 | // adjust the readings for the integration time |
mjr | 6:cc35eb643e8f | 1170 | vx /= dt; |
mjr | 6:cc35eb643e8f | 1171 | vy /= dt; |
mjr | 6:cc35eb643e8f | 1172 | |
mjr | 6:cc35eb643e8f | 1173 | // add this sample to the current calibration interval's running total |
mjr | 6:cc35eb643e8f | 1174 | AccHist *p = accPrv_ + iAccPrv_; |
mjr | 6:cc35eb643e8f | 1175 | p->addAvg(ax, ay); |
mjr | 6:cc35eb643e8f | 1176 | |
mjr | 5:a70c0bce770d | 1177 | // check for auto-centering every so often |
mjr | 5:a70c0bce770d | 1178 | if (tCenter_.read_ms() > 1000) |
mjr | 5:a70c0bce770d | 1179 | { |
mjr | 5:a70c0bce770d | 1180 | // add the latest raw sample to the history list |
mjr | 6:cc35eb643e8f | 1181 | AccHist *prv = p; |
mjr | 5:a70c0bce770d | 1182 | iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv; |
mjr | 6:cc35eb643e8f | 1183 | p = accPrv_ + iAccPrv_; |
mjr | 6:cc35eb643e8f | 1184 | p->set(ax, ay, prv); |
mjr | 5:a70c0bce770d | 1185 | |
mjr | 5:a70c0bce770d | 1186 | // if we have a full complement, check for stability |
mjr | 5:a70c0bce770d | 1187 | if (nAccPrv_ >= maxAccPrv) |
mjr | 5:a70c0bce770d | 1188 | { |
mjr | 5:a70c0bce770d | 1189 | // check if we've been stable for all recent samples |
mjr | 6:cc35eb643e8f | 1190 | static const float accTol = .01; |
mjr | 6:cc35eb643e8f | 1191 | AccHist *p0 = accPrv_; |
mjr | 6:cc35eb643e8f | 1192 | if (p0[0].d < accTol |
mjr | 6:cc35eb643e8f | 1193 | && p0[1].d < accTol |
mjr | 6:cc35eb643e8f | 1194 | && p0[2].d < accTol |
mjr | 6:cc35eb643e8f | 1195 | && p0[3].d < accTol |
mjr | 6:cc35eb643e8f | 1196 | && p0[4].d < accTol) |
mjr | 5:a70c0bce770d | 1197 | { |
mjr | 6:cc35eb643e8f | 1198 | // Figure the new calibration point as the average of |
mjr | 6:cc35eb643e8f | 1199 | // the samples over the rest period |
mjr | 6:cc35eb643e8f | 1200 | cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0; |
mjr | 6:cc35eb643e8f | 1201 | cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0; |
mjr | 5:a70c0bce770d | 1202 | } |
mjr | 5:a70c0bce770d | 1203 | } |
mjr | 5:a70c0bce770d | 1204 | else |
mjr | 5:a70c0bce770d | 1205 | { |
mjr | 5:a70c0bce770d | 1206 | // not enough samples yet; just up the count |
mjr | 5:a70c0bce770d | 1207 | ++nAccPrv_; |
mjr | 5:a70c0bce770d | 1208 | } |
mjr | 6:cc35eb643e8f | 1209 | |
mjr | 6:cc35eb643e8f | 1210 | // clear the new item's running totals |
mjr | 6:cc35eb643e8f | 1211 | p->clearAvg(); |
mjr | 5:a70c0bce770d | 1212 | |
mjr | 5:a70c0bce770d | 1213 | // reset the timer |
mjr | 5:a70c0bce770d | 1214 | tCenter_.reset(); |
mjr | 5:a70c0bce770d | 1215 | } |
mjr | 5:a70c0bce770d | 1216 | |
mjr | 6:cc35eb643e8f | 1217 | // report our integrated velocity reading in x,y |
mjr | 6:cc35eb643e8f | 1218 | x = rawToReport(vx); |
mjr | 6:cc35eb643e8f | 1219 | y = rawToReport(vy); |
mjr | 5:a70c0bce770d | 1220 | |
mjr | 6:cc35eb643e8f | 1221 | #ifdef DEBUG_PRINTF |
mjr | 6:cc35eb643e8f | 1222 | if (x != 0 || y != 0) |
mjr | 6:cc35eb643e8f | 1223 | printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt); |
mjr | 6:cc35eb643e8f | 1224 | #endif |
mjr | 3:3514575d4f86 | 1225 | } |
mjr | 31:582472d0bc57 | 1226 | |
mjr | 3:3514575d4f86 | 1227 | private: |
mjr | 6:cc35eb643e8f | 1228 | // adjust a raw acceleration figure to a usb report value |
mjr | 6:cc35eb643e8f | 1229 | int rawToReport(float v) |
mjr | 5:a70c0bce770d | 1230 | { |
mjr | 6:cc35eb643e8f | 1231 | // scale to the joystick report range and round to integer |
mjr | 6:cc35eb643e8f | 1232 | int i = int(round(v*JOYMAX)); |
mjr | 5:a70c0bce770d | 1233 | |
mjr | 6:cc35eb643e8f | 1234 | // if it's near the center, scale it roughly as 20*(i/20)^2, |
mjr | 6:cc35eb643e8f | 1235 | // to suppress noise near the rest position |
mjr | 6:cc35eb643e8f | 1236 | static const int filter[] = { |
mjr | 6:cc35eb643e8f | 1237 | -18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0, |
mjr | 6:cc35eb643e8f | 1238 | 0, |
mjr | 6:cc35eb643e8f | 1239 | 0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18 |
mjr | 6:cc35eb643e8f | 1240 | }; |
mjr | 6:cc35eb643e8f | 1241 | return (i > 20 || i < -20 ? i : filter[i+20]); |
mjr | 5:a70c0bce770d | 1242 | } |
mjr | 5:a70c0bce770d | 1243 | |
mjr | 3:3514575d4f86 | 1244 | // interrupt handler |
mjr | 3:3514575d4f86 | 1245 | void isr() |
mjr | 3:3514575d4f86 | 1246 | { |
mjr | 3:3514575d4f86 | 1247 | // Read the axes. Note that we have to read all three axes |
mjr | 3:3514575d4f86 | 1248 | // (even though we only really use x and y) in order to clear |
mjr | 3:3514575d4f86 | 1249 | // the "data ready" status bit in the accelerometer. The |
mjr | 3:3514575d4f86 | 1250 | // interrupt only occurs when the "ready" bit transitions from |
mjr | 3:3514575d4f86 | 1251 | // off to on, so we have to make sure it's off. |
mjr | 5:a70c0bce770d | 1252 | float x, y, z; |
mjr | 5:a70c0bce770d | 1253 | mma_.getAccXYZ(x, y, z); |
mjr | 3:3514575d4f86 | 1254 | |
mjr | 3:3514575d4f86 | 1255 | // calculate the time since the last interrupt |
mjr | 3:3514575d4f86 | 1256 | float dt = tInt_.read_us()/1.0e6; |
mjr | 3:3514575d4f86 | 1257 | tInt_.reset(); |
mjr | 6:cc35eb643e8f | 1258 | |
mjr | 6:cc35eb643e8f | 1259 | // integrate the time slice from the previous reading to this reading |
mjr | 6:cc35eb643e8f | 1260 | vx_ += (x + ax_ - 2*cx_)*dt/2; |
mjr | 6:cc35eb643e8f | 1261 | vy_ += (y + ay_ - 2*cy_)*dt/2; |
mjr | 3:3514575d4f86 | 1262 | |
mjr | 6:cc35eb643e8f | 1263 | // store the updates |
mjr | 6:cc35eb643e8f | 1264 | ax_ = x; |
mjr | 6:cc35eb643e8f | 1265 | ay_ = y; |
mjr | 6:cc35eb643e8f | 1266 | az_ = z; |
mjr | 3:3514575d4f86 | 1267 | } |
mjr | 3:3514575d4f86 | 1268 | |
mjr | 3:3514575d4f86 | 1269 | // underlying accelerometer object |
mjr | 3:3514575d4f86 | 1270 | MMA8451Q mma_; |
mjr | 3:3514575d4f86 | 1271 | |
mjr | 5:a70c0bce770d | 1272 | // last raw acceleration readings |
mjr | 6:cc35eb643e8f | 1273 | float ax_, ay_, az_; |
mjr | 5:a70c0bce770d | 1274 | |
mjr | 6:cc35eb643e8f | 1275 | // integrated velocity reading since last get() |
mjr | 6:cc35eb643e8f | 1276 | float vx_, vy_; |
mjr | 6:cc35eb643e8f | 1277 | |
mjr | 3:3514575d4f86 | 1278 | // timer for measuring time between get() samples |
mjr | 3:3514575d4f86 | 1279 | Timer tGet_; |
mjr | 3:3514575d4f86 | 1280 | |
mjr | 3:3514575d4f86 | 1281 | // timer for measuring time between interrupts |
mjr | 3:3514575d4f86 | 1282 | Timer tInt_; |
mjr | 5:a70c0bce770d | 1283 | |
mjr | 6:cc35eb643e8f | 1284 | // Calibration reference point for accelerometer. This is the |
mjr | 6:cc35eb643e8f | 1285 | // average reading on the accelerometer when in the neutral position |
mjr | 6:cc35eb643e8f | 1286 | // at rest. |
mjr | 6:cc35eb643e8f | 1287 | float cx_, cy_; |
mjr | 5:a70c0bce770d | 1288 | |
mjr | 5:a70c0bce770d | 1289 | // timer for atuo-centering |
mjr | 5:a70c0bce770d | 1290 | Timer tCenter_; |
mjr | 6:cc35eb643e8f | 1291 | |
mjr | 6:cc35eb643e8f | 1292 | // Auto-centering history. This is a separate history list that |
mjr | 6:cc35eb643e8f | 1293 | // records results spaced out sparesely over time, so that we can |
mjr | 6:cc35eb643e8f | 1294 | // watch for long-lasting periods of rest. When we observe nearly |
mjr | 6:cc35eb643e8f | 1295 | // no motion for an extended period (on the order of 5 seconds), we |
mjr | 6:cc35eb643e8f | 1296 | // take this to mean that the cabinet is at rest in its neutral |
mjr | 6:cc35eb643e8f | 1297 | // position, so we take this as the calibration zero point for the |
mjr | 6:cc35eb643e8f | 1298 | // accelerometer. We update this history continuously, which allows |
mjr | 6:cc35eb643e8f | 1299 | // us to continuously re-calibrate the accelerometer. This ensures |
mjr | 6:cc35eb643e8f | 1300 | // that we'll automatically adjust to any actual changes in the |
mjr | 6:cc35eb643e8f | 1301 | // cabinet's orientation (e.g., if it gets moved slightly by an |
mjr | 6:cc35eb643e8f | 1302 | // especially strong nudge) as well as any systematic drift in the |
mjr | 6:cc35eb643e8f | 1303 | // accelerometer measurement bias (e.g., from temperature changes). |
mjr | 5:a70c0bce770d | 1304 | int iAccPrv_, nAccPrv_; |
mjr | 5:a70c0bce770d | 1305 | static const int maxAccPrv = 5; |
mjr | 6:cc35eb643e8f | 1306 | AccHist accPrv_[maxAccPrv]; |
mjr | 6:cc35eb643e8f | 1307 | |
mjr | 5:a70c0bce770d | 1308 | // interurupt pin name |
mjr | 5:a70c0bce770d | 1309 | PinName irqPin_; |
mjr | 5:a70c0bce770d | 1310 | |
mjr | 5:a70c0bce770d | 1311 | // interrupt router |
mjr | 5:a70c0bce770d | 1312 | InterruptIn intIn_; |
mjr | 3:3514575d4f86 | 1313 | }; |
mjr | 3:3514575d4f86 | 1314 | |
mjr | 5:a70c0bce770d | 1315 | |
mjr | 5:a70c0bce770d | 1316 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 1317 | // |
mjr | 14:df700b22ca08 | 1318 | // Clear the I2C bus for the MMA8451Q. This seems necessary some of the time |
mjr | 5:a70c0bce770d | 1319 | // for reasons that aren't clear to me. Doing a hard power cycle has the same |
mjr | 5:a70c0bce770d | 1320 | // effect, but when we do a soft reset, the hardware sometimes seems to leave |
mjr | 5:a70c0bce770d | 1321 | // the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through |
mjr | 14:df700b22ca08 | 1322 | // the SCL line is supposed to clear this condition. I'm not convinced this |
mjr | 14:df700b22ca08 | 1323 | // actually works with the way this component is wired on the KL25Z, but it |
mjr | 14:df700b22ca08 | 1324 | // seems harmless, so we'll do it on reset in case it does some good. What |
mjr | 14:df700b22ca08 | 1325 | // we really seem to need is a way to power cycle the MMA8451Q if it ever |
mjr | 14:df700b22ca08 | 1326 | // gets stuck, but this is simply not possible in software on the KL25Z. |
mjr | 14:df700b22ca08 | 1327 | // |
mjr | 14:df700b22ca08 | 1328 | // If the accelerometer does get stuck, and a software reboot doesn't reset |
mjr | 14:df700b22ca08 | 1329 | // it, the only workaround is to manually power cycle the whole KL25Z by |
mjr | 14:df700b22ca08 | 1330 | // unplugging both of its USB connections. |
mjr | 5:a70c0bce770d | 1331 | // |
mjr | 5:a70c0bce770d | 1332 | void clear_i2c() |
mjr | 5:a70c0bce770d | 1333 | { |
mjr | 5:a70c0bce770d | 1334 | // assume a general-purpose output pin to the I2C clock |
mjr | 5:a70c0bce770d | 1335 | DigitalOut scl(MMA8451_SCL_PIN); |
mjr | 5:a70c0bce770d | 1336 | DigitalIn sda(MMA8451_SDA_PIN); |
mjr | 5:a70c0bce770d | 1337 | |
mjr | 5:a70c0bce770d | 1338 | // clock the SCL 9 times |
mjr | 5:a70c0bce770d | 1339 | for (int i = 0 ; i < 9 ; ++i) |
mjr | 5:a70c0bce770d | 1340 | { |
mjr | 5:a70c0bce770d | 1341 | scl = 1; |
mjr | 5:a70c0bce770d | 1342 | wait_us(20); |
mjr | 5:a70c0bce770d | 1343 | scl = 0; |
mjr | 5:a70c0bce770d | 1344 | wait_us(20); |
mjr | 5:a70c0bce770d | 1345 | } |
mjr | 5:a70c0bce770d | 1346 | } |
mjr | 14:df700b22ca08 | 1347 | |
mjr | 14:df700b22ca08 | 1348 | // --------------------------------------------------------------------------- |
mjr | 14:df700b22ca08 | 1349 | // |
mjr | 17:ab3cec0c8bf4 | 1350 | // Include the appropriate plunger sensor definition. This will define a |
mjr | 17:ab3cec0c8bf4 | 1351 | // class called PlungerSensor, with a standard interface that we use in |
mjr | 17:ab3cec0c8bf4 | 1352 | // the main loop below. This is *kind of* like a virtual class interface, |
mjr | 17:ab3cec0c8bf4 | 1353 | // but it actually defines the methods statically, which is a little more |
mjr | 17:ab3cec0c8bf4 | 1354 | // efficient at run-time. There's no need for a true virtual interface |
mjr | 17:ab3cec0c8bf4 | 1355 | // because we don't need to be able to change sensor types on the fly. |
mjr | 17:ab3cec0c8bf4 | 1356 | // |
mjr | 17:ab3cec0c8bf4 | 1357 | |
mjr | 22:71422c359f2a | 1358 | #if defined(ENABLE_CCD_SENSOR) |
mjr | 17:ab3cec0c8bf4 | 1359 | #include "ccdSensor.h" |
mjr | 22:71422c359f2a | 1360 | #elif defined(ENABLE_POT_SENSOR) |
mjr | 17:ab3cec0c8bf4 | 1361 | #include "potSensor.h" |
mjr | 17:ab3cec0c8bf4 | 1362 | #else |
mjr | 17:ab3cec0c8bf4 | 1363 | #include "nullSensor.h" |
mjr | 17:ab3cec0c8bf4 | 1364 | #endif |
mjr | 17:ab3cec0c8bf4 | 1365 | |
mjr | 17:ab3cec0c8bf4 | 1366 | |
mjr | 17:ab3cec0c8bf4 | 1367 | // --------------------------------------------------------------------------- |
mjr | 17:ab3cec0c8bf4 | 1368 | // |
mjr | 17:ab3cec0c8bf4 | 1369 | // Non-volatile memory (NVM) |
mjr | 17:ab3cec0c8bf4 | 1370 | // |
mjr | 17:ab3cec0c8bf4 | 1371 | |
mjr | 17:ab3cec0c8bf4 | 1372 | // Structure defining our NVM storage layout. We store a small |
mjr | 17:ab3cec0c8bf4 | 1373 | // amount of persistent data in flash memory to retain calibration |
mjr | 17:ab3cec0c8bf4 | 1374 | // data when powered off. |
mjr | 17:ab3cec0c8bf4 | 1375 | struct NVM |
mjr | 17:ab3cec0c8bf4 | 1376 | { |
mjr | 17:ab3cec0c8bf4 | 1377 | // checksum - we use this to determine if the flash record |
mjr | 17:ab3cec0c8bf4 | 1378 | // has been properly initialized |
mjr | 17:ab3cec0c8bf4 | 1379 | uint32_t checksum; |
mjr | 17:ab3cec0c8bf4 | 1380 | |
mjr | 36:6b981a2afab7 | 1381 | // signature and version, to verify that we saved the config |
mjr | 36:6b981a2afab7 | 1382 | // data to flash on a past run (as opposed to uninitialized |
mjr | 36:6b981a2afab7 | 1383 | // data from a firmware update) |
mjr | 17:ab3cec0c8bf4 | 1384 | static const uint32_t SIGNATURE = 0x4D4A522A; |
mjr | 17:ab3cec0c8bf4 | 1385 | static const uint16_t VERSION = 0x0003; |
mjr | 17:ab3cec0c8bf4 | 1386 | |
mjr | 17:ab3cec0c8bf4 | 1387 | // Is the data structure valid? We test the signature and |
mjr | 17:ab3cec0c8bf4 | 1388 | // checksum to determine if we've been properly stored. |
mjr | 17:ab3cec0c8bf4 | 1389 | int valid() const |
mjr | 17:ab3cec0c8bf4 | 1390 | { |
mjr | 17:ab3cec0c8bf4 | 1391 | return (d.sig == SIGNATURE |
mjr | 17:ab3cec0c8bf4 | 1392 | && d.vsn == VERSION |
mjr | 17:ab3cec0c8bf4 | 1393 | && d.sz == sizeof(NVM) |
mjr | 17:ab3cec0c8bf4 | 1394 | && checksum == CRC32(&d, sizeof(d))); |
mjr | 17:ab3cec0c8bf4 | 1395 | } |
mjr | 17:ab3cec0c8bf4 | 1396 | |
mjr | 17:ab3cec0c8bf4 | 1397 | // save to non-volatile memory |
mjr | 17:ab3cec0c8bf4 | 1398 | void save(FreescaleIAP &iap, int addr) |
mjr | 17:ab3cec0c8bf4 | 1399 | { |
mjr | 17:ab3cec0c8bf4 | 1400 | // update the checksum and structure size |
mjr | 36:6b981a2afab7 | 1401 | d.sig = SIGNATURE; |
mjr | 36:6b981a2afab7 | 1402 | d.vsn = VERSION; |
mjr | 36:6b981a2afab7 | 1403 | d.sz = sizeof(NVM); |
mjr | 17:ab3cec0c8bf4 | 1404 | checksum = CRC32(&d, sizeof(d)); |
mjr | 17:ab3cec0c8bf4 | 1405 | |
mjr | 17:ab3cec0c8bf4 | 1406 | // erase the sector |
mjr | 17:ab3cec0c8bf4 | 1407 | iap.erase_sector(addr); |
mjr | 17:ab3cec0c8bf4 | 1408 | |
mjr | 17:ab3cec0c8bf4 | 1409 | // save the data |
mjr | 17:ab3cec0c8bf4 | 1410 | iap.program_flash(addr, this, sizeof(*this)); |
mjr | 17:ab3cec0c8bf4 | 1411 | } |
mjr | 17:ab3cec0c8bf4 | 1412 | |
mjr | 17:ab3cec0c8bf4 | 1413 | // reset calibration data for calibration mode |
mjr | 17:ab3cec0c8bf4 | 1414 | void resetPlunger() |
mjr | 17:ab3cec0c8bf4 | 1415 | { |
mjr | 17:ab3cec0c8bf4 | 1416 | // set extremes for the calibration data |
mjr | 17:ab3cec0c8bf4 | 1417 | d.plungerMax = 0; |
mjr | 17:ab3cec0c8bf4 | 1418 | d.plungerZero = npix; |
mjr | 17:ab3cec0c8bf4 | 1419 | d.plungerMin = npix; |
mjr | 17:ab3cec0c8bf4 | 1420 | } |
mjr | 17:ab3cec0c8bf4 | 1421 | |
mjr | 17:ab3cec0c8bf4 | 1422 | // stored data (excluding the checksum) |
mjr | 17:ab3cec0c8bf4 | 1423 | struct |
mjr | 17:ab3cec0c8bf4 | 1424 | { |
mjr | 17:ab3cec0c8bf4 | 1425 | // Signature, structure version, and structure size - further verification |
mjr | 17:ab3cec0c8bf4 | 1426 | // that we have valid initialized data. The size is a simple proxy for a |
mjr | 17:ab3cec0c8bf4 | 1427 | // structure version, as the most common type of change to the structure as |
mjr | 17:ab3cec0c8bf4 | 1428 | // the software evolves will be the addition of new elements. We also |
mjr | 17:ab3cec0c8bf4 | 1429 | // provide an explicit version number that we can update manually if we |
mjr | 17:ab3cec0c8bf4 | 1430 | // make any changes that don't affect the structure size but would affect |
mjr | 17:ab3cec0c8bf4 | 1431 | // compatibility with a saved record (e.g., swapping two existing elements). |
mjr | 17:ab3cec0c8bf4 | 1432 | uint32_t sig; |
mjr | 17:ab3cec0c8bf4 | 1433 | uint16_t vsn; |
mjr | 17:ab3cec0c8bf4 | 1434 | int sz; |
mjr | 17:ab3cec0c8bf4 | 1435 | |
mjr | 17:ab3cec0c8bf4 | 1436 | // has the plunger been manually calibrated? |
mjr | 17:ab3cec0c8bf4 | 1437 | int plungerCal; |
mjr | 17:ab3cec0c8bf4 | 1438 | |
mjr | 17:ab3cec0c8bf4 | 1439 | // Plunger calibration min, zero, and max. The zero point is the |
mjr | 17:ab3cec0c8bf4 | 1440 | // rest position (aka park position), where it's in equilibrium between |
mjr | 17:ab3cec0c8bf4 | 1441 | // the main spring and the barrel spring. It can travel a small distance |
mjr | 17:ab3cec0c8bf4 | 1442 | // forward of the rest position, because the barrel spring can be |
mjr | 17:ab3cec0c8bf4 | 1443 | // compressed by the user pushing on the plunger or by the momentum |
mjr | 17:ab3cec0c8bf4 | 1444 | // of a release motion. The minimum is the maximum forward point where |
mjr | 17:ab3cec0c8bf4 | 1445 | // the barrel spring can't be compressed any further. |
mjr | 17:ab3cec0c8bf4 | 1446 | int plungerMin; |
mjr | 17:ab3cec0c8bf4 | 1447 | int plungerZero; |
mjr | 17:ab3cec0c8bf4 | 1448 | int plungerMax; |
mjr | 17:ab3cec0c8bf4 | 1449 | |
mjr | 17:ab3cec0c8bf4 | 1450 | // is the plunger sensor enabled? |
mjr | 17:ab3cec0c8bf4 | 1451 | int plungerEnabled; |
mjr | 17:ab3cec0c8bf4 | 1452 | |
mjr | 17:ab3cec0c8bf4 | 1453 | // LedWiz unit number |
mjr | 17:ab3cec0c8bf4 | 1454 | uint8_t ledWizUnitNo; |
mjr | 17:ab3cec0c8bf4 | 1455 | } d; |
mjr | 17:ab3cec0c8bf4 | 1456 | }; |
mjr | 17:ab3cec0c8bf4 | 1457 | |
mjr | 35:d832bcab089e | 1458 | // --------------------------------------------------------------------------- |
mjr | 35:d832bcab089e | 1459 | // |
mjr | 35:d832bcab089e | 1460 | // Simple binary (on/off) input debouncer. Requires an input to be stable |
mjr | 35:d832bcab089e | 1461 | // for a given interval before allowing an update. |
mjr | 35:d832bcab089e | 1462 | // |
mjr | 35:d832bcab089e | 1463 | class Debouncer |
mjr | 35:d832bcab089e | 1464 | { |
mjr | 35:d832bcab089e | 1465 | public: |
mjr | 35:d832bcab089e | 1466 | Debouncer(bool initVal, float tmin) |
mjr | 35:d832bcab089e | 1467 | { |
mjr | 35:d832bcab089e | 1468 | t.start(); |
mjr | 35:d832bcab089e | 1469 | this->stable = this->prv = initVal; |
mjr | 35:d832bcab089e | 1470 | this->tmin = tmin; |
mjr | 35:d832bcab089e | 1471 | } |
mjr | 35:d832bcab089e | 1472 | |
mjr | 35:d832bcab089e | 1473 | // Get the current stable value |
mjr | 35:d832bcab089e | 1474 | bool val() const { return stable; } |
mjr | 35:d832bcab089e | 1475 | |
mjr | 35:d832bcab089e | 1476 | // Apply a new sample. This tells us the new raw reading from the |
mjr | 35:d832bcab089e | 1477 | // input device. |
mjr | 35:d832bcab089e | 1478 | void sampleIn(bool val) |
mjr | 35:d832bcab089e | 1479 | { |
mjr | 35:d832bcab089e | 1480 | // If the new raw reading is different from the previous |
mjr | 35:d832bcab089e | 1481 | // raw reading, we've detected an edge - start the clock |
mjr | 35:d832bcab089e | 1482 | // on the sample reader. |
mjr | 35:d832bcab089e | 1483 | if (val != prv) |
mjr | 35:d832bcab089e | 1484 | { |
mjr | 35:d832bcab089e | 1485 | // we have an edge - reset the sample clock |
mjr | 35:d832bcab089e | 1486 | t.reset(); |
mjr | 35:d832bcab089e | 1487 | |
mjr | 35:d832bcab089e | 1488 | // this is now the previous raw sample for nxt time |
mjr | 35:d832bcab089e | 1489 | prv = val; |
mjr | 35:d832bcab089e | 1490 | } |
mjr | 35:d832bcab089e | 1491 | else if (val != stable) |
mjr | 35:d832bcab089e | 1492 | { |
mjr | 35:d832bcab089e | 1493 | // The new raw sample is the same as the last raw sample, |
mjr | 35:d832bcab089e | 1494 | // and different from the stable value. This means that |
mjr | 35:d832bcab089e | 1495 | // the sample value has been the same for the time currently |
mjr | 35:d832bcab089e | 1496 | // indicated by our timer. If enough time has elapsed to |
mjr | 35:d832bcab089e | 1497 | // consider the value stable, apply the new value. |
mjr | 35:d832bcab089e | 1498 | if (t.read() > tmin) |
mjr | 35:d832bcab089e | 1499 | stable = val; |
mjr | 35:d832bcab089e | 1500 | } |
mjr | 35:d832bcab089e | 1501 | } |
mjr | 35:d832bcab089e | 1502 | |
mjr | 35:d832bcab089e | 1503 | private: |
mjr | 35:d832bcab089e | 1504 | // current stable value |
mjr | 35:d832bcab089e | 1505 | bool stable; |
mjr | 35:d832bcab089e | 1506 | |
mjr | 35:d832bcab089e | 1507 | // last raw sample value |
mjr | 35:d832bcab089e | 1508 | bool prv; |
mjr | 35:d832bcab089e | 1509 | |
mjr | 35:d832bcab089e | 1510 | // elapsed time since last raw input change |
mjr | 35:d832bcab089e | 1511 | Timer t; |
mjr | 35:d832bcab089e | 1512 | |
mjr | 35:d832bcab089e | 1513 | // Minimum time interval for stability, in seconds. Input readings |
mjr | 35:d832bcab089e | 1514 | // must be stable for this long before the stable value is updated. |
mjr | 35:d832bcab089e | 1515 | float tmin; |
mjr | 35:d832bcab089e | 1516 | }; |
mjr | 35:d832bcab089e | 1517 | |
mjr | 35:d832bcab089e | 1518 | |
mjr | 35:d832bcab089e | 1519 | // --------------------------------------------------------------------------- |
mjr | 35:d832bcab089e | 1520 | // |
mjr | 35:d832bcab089e | 1521 | // Turn off all outputs and restore everything to the default LedWiz |
mjr | 35:d832bcab089e | 1522 | // state. This sets outputs #1-32 to LedWiz profile value 48 (full |
mjr | 35:d832bcab089e | 1523 | // brightness) and switch state Off, sets all extended outputs (#33 |
mjr | 35:d832bcab089e | 1524 | // and above) to zero brightness, and sets the LedWiz flash rate to 2. |
mjr | 35:d832bcab089e | 1525 | // This effectively restores the power-on conditions. |
mjr | 35:d832bcab089e | 1526 | // |
mjr | 35:d832bcab089e | 1527 | void allOutputsOff() |
mjr | 35:d832bcab089e | 1528 | { |
mjr | 35:d832bcab089e | 1529 | // reset all LedWiz outputs to OFF/48 |
mjr | 35:d832bcab089e | 1530 | for (int i = 0 ; i < 32 ; ++i) |
mjr | 35:d832bcab089e | 1531 | { |
mjr | 35:d832bcab089e | 1532 | outLevel[i] = 0; |
mjr | 35:d832bcab089e | 1533 | wizOn[i] = 0; |
mjr | 35:d832bcab089e | 1534 | wizVal[i] = 48; |
mjr | 35:d832bcab089e | 1535 | lwPin[i]->set(0); |
mjr | 35:d832bcab089e | 1536 | } |
mjr | 35:d832bcab089e | 1537 | |
mjr | 35:d832bcab089e | 1538 | // reset all extended outputs (ports >32) to full off (brightness 0) |
mjr | 35:d832bcab089e | 1539 | for (int i = 32 ; i < numOutputs ; ++i) |
mjr | 35:d832bcab089e | 1540 | { |
mjr | 35:d832bcab089e | 1541 | outLevel[i] = 0; |
mjr | 35:d832bcab089e | 1542 | lwPin[i]->set(0); |
mjr | 35:d832bcab089e | 1543 | } |
mjr | 35:d832bcab089e | 1544 | |
mjr | 35:d832bcab089e | 1545 | // restore default LedWiz flash rate |
mjr | 35:d832bcab089e | 1546 | wizSpeed = 2; |
mjr | 36:6b981a2afab7 | 1547 | |
mjr | 36:6b981a2afab7 | 1548 | // flush changes to hc595, if applicable |
mjr | 36:6b981a2afab7 | 1549 | hc595.update(); |
mjr | 35:d832bcab089e | 1550 | } |
mjr | 35:d832bcab089e | 1551 | |
mjr | 35:d832bcab089e | 1552 | // --------------------------------------------------------------------------- |
mjr | 35:d832bcab089e | 1553 | // |
mjr | 35:d832bcab089e | 1554 | // TV ON timer. If this feature is enabled, we toggle a TV power switch |
mjr | 35:d832bcab089e | 1555 | // relay (connected to a GPIO pin) to turn on the cab's TV monitors shortly |
mjr | 35:d832bcab089e | 1556 | // after the system is powered. This is useful for TVs that don't remember |
mjr | 35:d832bcab089e | 1557 | // their power state and don't turn back on automatically after being |
mjr | 35:d832bcab089e | 1558 | // unplugged and plugged in again. This feature requires external |
mjr | 35:d832bcab089e | 1559 | // circuitry, which is built in to the expansion board and can also be |
mjr | 35:d832bcab089e | 1560 | // built separately - see the Build Guide for the circuit plan. |
mjr | 35:d832bcab089e | 1561 | // |
mjr | 35:d832bcab089e | 1562 | // Theory of operation: to use this feature, the cabinet must have a |
mjr | 35:d832bcab089e | 1563 | // secondary PC-style power supply (PSU2) for the feedback devices, and |
mjr | 35:d832bcab089e | 1564 | // this secondary supply must be plugged in to the same power strip or |
mjr | 35:d832bcab089e | 1565 | // switched outlet that controls power to the TVs. This lets us use PSU2 |
mjr | 35:d832bcab089e | 1566 | // as a proxy for the TV power state - when PSU2 is on, the TV outlet is |
mjr | 35:d832bcab089e | 1567 | // powered, and when PSU2 is off, the TV outlet is off. We use a little |
mjr | 35:d832bcab089e | 1568 | // latch circuit powered by PSU2 to monitor the status. The latch has a |
mjr | 35:d832bcab089e | 1569 | // current state, ON or OFF, that we can read via a GPIO input pin, and |
mjr | 35:d832bcab089e | 1570 | // we can set the state to ON by pulsing a separate GPIO output pin. As |
mjr | 35:d832bcab089e | 1571 | // long as PSU2 is powered off, the latch stays in the OFF state, even if |
mjr | 35:d832bcab089e | 1572 | // we try to set it by pulsing the SET pin. When PSU2 is turned on after |
mjr | 35:d832bcab089e | 1573 | // being off, the latch starts receiving power but stays in the OFF state, |
mjr | 35:d832bcab089e | 1574 | // since this is the initial condition when the power first comes on. So |
mjr | 35:d832bcab089e | 1575 | // if our latch state pin is reading OFF, we know that PSU2 is either off |
mjr | 35:d832bcab089e | 1576 | // now or *was* off some time since we last checked. We use a timer to |
mjr | 35:d832bcab089e | 1577 | // check the state periodically. Each time we see the state is OFF, we |
mjr | 35:d832bcab089e | 1578 | // try pulsing the SET pin. If the state still reads as OFF, we know |
mjr | 35:d832bcab089e | 1579 | // that PSU2 is currently off; if the state changes to ON, though, we |
mjr | 35:d832bcab089e | 1580 | // know that PSU2 has gone from OFF to ON some time between now and the |
mjr | 35:d832bcab089e | 1581 | // previous check. When we see this condition, we start a countdown |
mjr | 35:d832bcab089e | 1582 | // timer, and pulse the TV switch relay when the countdown ends. |
mjr | 35:d832bcab089e | 1583 | // |
mjr | 35:d832bcab089e | 1584 | // This scheme might seem a little convoluted, but it neatly handles |
mjr | 35:d832bcab089e | 1585 | // all of the different cases that can occur: |
mjr | 35:d832bcab089e | 1586 | // |
mjr | 35:d832bcab089e | 1587 | // - Most cabinets systems are set up with "soft" PC power switches, |
mjr | 35:d832bcab089e | 1588 | // so that the PC goes into "Soft Off" mode (ACPI state S5, in Windows |
mjr | 35:d832bcab089e | 1589 | // parlance) when the user turns off the cabinet. In this state, the |
mjr | 35:d832bcab089e | 1590 | // motherboard supplies power to USB devices, so the KL25Z continues |
mjr | 35:d832bcab089e | 1591 | // running without interruption. The latch system lets us monitor |
mjr | 35:d832bcab089e | 1592 | // the power state even when we're never rebooted, since the latch |
mjr | 35:d832bcab089e | 1593 | // will turn off when PSU2 is off regardless of what the KL25Z is doing. |
mjr | 35:d832bcab089e | 1594 | // |
mjr | 35:d832bcab089e | 1595 | // - Some cabinet builders might prefer to use "hard" power switches, |
mjr | 35:d832bcab089e | 1596 | // cutting all power to the cabinet, including the PC motherboard (and |
mjr | 35:d832bcab089e | 1597 | // thus the KL25Z) every time the machine is turned off. This also |
mjr | 35:d832bcab089e | 1598 | // applies to the "soft" switch case above when the cabinet is unplugged, |
mjr | 35:d832bcab089e | 1599 | // a power outage occurs, etc. In these cases, the KL25Z will do a cold |
mjr | 35:d832bcab089e | 1600 | // boot when the PC is turned on. We don't know whether the KL25Z |
mjr | 35:d832bcab089e | 1601 | // will power up before or after PSU2, so it's not good enough to |
mjr | 35:d832bcab089e | 1602 | // observe the *current* state of PSU2 when we first check - if PSU2 |
mjr | 35:d832bcab089e | 1603 | // were to come on first, checking the current state alone would fool |
mjr | 35:d832bcab089e | 1604 | // us into thinking that no action is required, because we would never |
mjr | 35:d832bcab089e | 1605 | // have known that PSU2 was ever off. The latch handles this case by |
mjr | 35:d832bcab089e | 1606 | // letting us see that PSU2 *was* off before we checked. |
mjr | 35:d832bcab089e | 1607 | // |
mjr | 35:d832bcab089e | 1608 | // - If the KL25Z is rebooted while the main system is running, or the |
mjr | 35:d832bcab089e | 1609 | // KL25Z is unplugged and plugged back in, we will correctly leave the |
mjr | 35:d832bcab089e | 1610 | // TVs as they are. The latch state is independent of the KL25Z's |
mjr | 35:d832bcab089e | 1611 | // power or software state, so it's won't affect the latch state when |
mjr | 35:d832bcab089e | 1612 | // the KL25Z is unplugged or rebooted; when we boot, we'll see that |
mjr | 35:d832bcab089e | 1613 | // the latch is already on and that we don't have to turn on the TVs. |
mjr | 35:d832bcab089e | 1614 | // This is important because TV ON buttons are usually on/off toggles, |
mjr | 35:d832bcab089e | 1615 | // so we don't want to push the button on a TV that's already on. |
mjr | 35:d832bcab089e | 1616 | // |
mjr | 35:d832bcab089e | 1617 | // |
mjr | 35:d832bcab089e | 1618 | #ifdef ENABLE_TV_TIMER |
mjr | 35:d832bcab089e | 1619 | |
mjr | 35:d832bcab089e | 1620 | // Current PSU2 state: |
mjr | 35:d832bcab089e | 1621 | // 1 -> default: latch was on at last check, or we haven't checked yet |
mjr | 35:d832bcab089e | 1622 | // 2 -> latch was off at last check, SET pulsed high |
mjr | 35:d832bcab089e | 1623 | // 3 -> SET pulsed low, ready to check status |
mjr | 35:d832bcab089e | 1624 | // 4 -> TV timer countdown in progress |
mjr | 35:d832bcab089e | 1625 | // 5 -> TV relay on |
mjr | 35:d832bcab089e | 1626 | // |
mjr | 35:d832bcab089e | 1627 | int psu2_state = 1; |
mjr | 35:d832bcab089e | 1628 | DigitalIn psu2_status_sense(PSU2_STATUS_SENSE); |
mjr | 35:d832bcab089e | 1629 | DigitalOut psu2_status_set(PSU2_STATUS_SET); |
mjr | 35:d832bcab089e | 1630 | DigitalOut tv_relay(TV_RELAY_PIN); |
mjr | 35:d832bcab089e | 1631 | Timer tv_timer; |
mjr | 35:d832bcab089e | 1632 | void TVTimerInt() |
mjr | 35:d832bcab089e | 1633 | { |
mjr | 35:d832bcab089e | 1634 | // Check our internal state |
mjr | 35:d832bcab089e | 1635 | switch (psu2_state) |
mjr | 35:d832bcab089e | 1636 | { |
mjr | 35:d832bcab089e | 1637 | case 1: |
mjr | 35:d832bcab089e | 1638 | // Default state. This means that the latch was on last |
mjr | 35:d832bcab089e | 1639 | // time we checked or that this is the first check. In |
mjr | 35:d832bcab089e | 1640 | // either case, if the latch is off, switch to state 2 and |
mjr | 35:d832bcab089e | 1641 | // try pulsing the latch. Next time we check, if the latch |
mjr | 35:d832bcab089e | 1642 | // stuck, it means that PSU2 is now on after being off. |
mjr | 35:d832bcab089e | 1643 | if (!psu2_status_sense) |
mjr | 35:d832bcab089e | 1644 | { |
mjr | 35:d832bcab089e | 1645 | // switch to OFF state |
mjr | 35:d832bcab089e | 1646 | psu2_state = 2; |
mjr | 35:d832bcab089e | 1647 | |
mjr | 35:d832bcab089e | 1648 | // try setting the latch |
mjr | 35:d832bcab089e | 1649 | psu2_status_set = 1; |
mjr | 35:d832bcab089e | 1650 | } |
mjr | 35:d832bcab089e | 1651 | break; |
mjr | 35:d832bcab089e | 1652 | |
mjr | 35:d832bcab089e | 1653 | case 2: |
mjr | 35:d832bcab089e | 1654 | // PSU2 was off last time we checked, and we tried setting |
mjr | 35:d832bcab089e | 1655 | // the latch. Drop the SET signal and go to CHECK state. |
mjr | 35:d832bcab089e | 1656 | psu2_status_set = 0; |
mjr | 35:d832bcab089e | 1657 | psu2_state = 3; |
mjr | 35:d832bcab089e | 1658 | break; |
mjr | 35:d832bcab089e | 1659 | |
mjr | 35:d832bcab089e | 1660 | case 3: |
mjr | 35:d832bcab089e | 1661 | // CHECK state: we pulsed SET, and we're now ready to see |
mjr | 35:d832bcab089e | 1662 | // if that stuck. If the latch is now on, PSU2 has transitioned |
mjr | 35:d832bcab089e | 1663 | // from OFF to ON, so start the TV countdown. If the latch is |
mjr | 35:d832bcab089e | 1664 | // off, our SET command didn't stick, so PSU2 is still off. |
mjr | 35:d832bcab089e | 1665 | if (psu2_status_sense) |
mjr | 35:d832bcab089e | 1666 | { |
mjr | 35:d832bcab089e | 1667 | // The latch stuck, so PSU2 has transitioned from OFF |
mjr | 35:d832bcab089e | 1668 | // to ON. Start the TV countdown timer. |
mjr | 35:d832bcab089e | 1669 | tv_timer.reset(); |
mjr | 35:d832bcab089e | 1670 | tv_timer.start(); |
mjr | 35:d832bcab089e | 1671 | psu2_state = 4; |
mjr | 35:d832bcab089e | 1672 | } |
mjr | 35:d832bcab089e | 1673 | else |
mjr | 35:d832bcab089e | 1674 | { |
mjr | 35:d832bcab089e | 1675 | // The latch didn't stick, so PSU2 was still off at |
mjr | 35:d832bcab089e | 1676 | // our last check. Try pulsing it again in case PSU2 |
mjr | 35:d832bcab089e | 1677 | // was turned on since the last check. |
mjr | 35:d832bcab089e | 1678 | psu2_status_set = 1; |
mjr | 35:d832bcab089e | 1679 | psu2_state = 2; |
mjr | 35:d832bcab089e | 1680 | } |
mjr | 35:d832bcab089e | 1681 | break; |
mjr | 35:d832bcab089e | 1682 | |
mjr | 35:d832bcab089e | 1683 | case 4: |
mjr | 35:d832bcab089e | 1684 | // TV timer countdown in progress. If we've reached the |
mjr | 35:d832bcab089e | 1685 | // delay time, pulse the relay. |
mjr | 35:d832bcab089e | 1686 | if (tv_timer.read() >= TV_DELAY_TIME) |
mjr | 35:d832bcab089e | 1687 | { |
mjr | 35:d832bcab089e | 1688 | // turn on the relay for one timer interval |
mjr | 35:d832bcab089e | 1689 | tv_relay = 1; |
mjr | 35:d832bcab089e | 1690 | psu2_state = 5; |
mjr | 35:d832bcab089e | 1691 | } |
mjr | 35:d832bcab089e | 1692 | break; |
mjr | 35:d832bcab089e | 1693 | |
mjr | 35:d832bcab089e | 1694 | case 5: |
mjr | 35:d832bcab089e | 1695 | // TV timer relay on. We pulse this for one interval, so |
mjr | 35:d832bcab089e | 1696 | // it's now time to turn it off and return to the default state. |
mjr | 35:d832bcab089e | 1697 | tv_relay = 0; |
mjr | 35:d832bcab089e | 1698 | psu2_state = 1; |
mjr | 35:d832bcab089e | 1699 | break; |
mjr | 35:d832bcab089e | 1700 | } |
mjr | 35:d832bcab089e | 1701 | } |
mjr | 35:d832bcab089e | 1702 | |
mjr | 35:d832bcab089e | 1703 | Ticker tv_ticker; |
mjr | 35:d832bcab089e | 1704 | void startTVTimer() |
mjr | 35:d832bcab089e | 1705 | { |
mjr | 35:d832bcab089e | 1706 | // Set up our time routine to run every 1/4 second. |
mjr | 35:d832bcab089e | 1707 | tv_ticker.attach(&TVTimerInt, 0.25); |
mjr | 35:d832bcab089e | 1708 | } |
mjr | 35:d832bcab089e | 1709 | |
mjr | 35:d832bcab089e | 1710 | |
mjr | 35:d832bcab089e | 1711 | #else // ENABLE_TV_TIMER |
mjr | 35:d832bcab089e | 1712 | // |
mjr | 35:d832bcab089e | 1713 | // TV timer not used - just provide a dummy startup function |
mjr | 35:d832bcab089e | 1714 | void startTVTimer() { } |
mjr | 35:d832bcab089e | 1715 | // |
mjr | 35:d832bcab089e | 1716 | #endif // ENABLE_TV_TIMER |
mjr | 35:d832bcab089e | 1717 | |
mjr | 17:ab3cec0c8bf4 | 1718 | |
mjr | 17:ab3cec0c8bf4 | 1719 | // --------------------------------------------------------------------------- |
mjr | 17:ab3cec0c8bf4 | 1720 | // |
mjr | 5:a70c0bce770d | 1721 | // Main program loop. This is invoked on startup and runs forever. Our |
mjr | 5:a70c0bce770d | 1722 | // main work is to read our devices (the accelerometer and the CCD), process |
mjr | 5:a70c0bce770d | 1723 | // the readings into nudge and plunger position data, and send the results |
mjr | 5:a70c0bce770d | 1724 | // to the host computer via the USB joystick interface. We also monitor |
mjr | 5:a70c0bce770d | 1725 | // the USB connection for incoming LedWiz commands and process those into |
mjr | 5:a70c0bce770d | 1726 | // port outputs. |
mjr | 5:a70c0bce770d | 1727 | // |
mjr | 0:5acbbe3f4cf4 | 1728 | int main(void) |
mjr | 0:5acbbe3f4cf4 | 1729 | { |
mjr | 1:d913e0afb2ac | 1730 | // turn off our on-board indicator LED |
mjr | 4:02c7cd7b2183 | 1731 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 1732 | ledG = 1; |
mjr | 4:02c7cd7b2183 | 1733 | ledB = 1; |
mjr | 1:d913e0afb2ac | 1734 | |
mjr | 35:d832bcab089e | 1735 | // start the TV timer, if applicable |
mjr | 35:d832bcab089e | 1736 | startTVTimer(); |
mjr | 35:d832bcab089e | 1737 | |
mjr | 35:d832bcab089e | 1738 | // we're not connected/awake yet |
mjr | 35:d832bcab089e | 1739 | bool connected = false; |
mjr | 35:d832bcab089e | 1740 | time_t connectChangeTime = time(0); |
mjr | 35:d832bcab089e | 1741 | |
mjr | 6:cc35eb643e8f | 1742 | // initialize the LedWiz ports |
mjr | 6:cc35eb643e8f | 1743 | initLwOut(); |
mjr | 6:cc35eb643e8f | 1744 | |
mjr | 11:bd9da7088e6e | 1745 | // initialize the button input ports |
mjr | 11:bd9da7088e6e | 1746 | initButtons(); |
mjr | 35:d832bcab089e | 1747 | |
mjr | 36:6b981a2afab7 | 1748 | // start the TLC5940 clock, if present |
mjr | 36:6b981a2afab7 | 1749 | tlc5940.start(); |
mjr | 36:6b981a2afab7 | 1750 | |
mjr | 36:6b981a2afab7 | 1751 | // enable the 74HC595 chips, if present |
mjr | 36:6b981a2afab7 | 1752 | hc595.init(); |
mjr | 36:6b981a2afab7 | 1753 | hc595.update(); |
mjr | 36:6b981a2afab7 | 1754 | |
mjr | 6:cc35eb643e8f | 1755 | // we don't need a reset yet |
mjr | 6:cc35eb643e8f | 1756 | bool needReset = false; |
mjr | 6:cc35eb643e8f | 1757 | |
mjr | 5:a70c0bce770d | 1758 | // clear the I2C bus for the accelerometer |
mjr | 5:a70c0bce770d | 1759 | clear_i2c(); |
mjr | 5:a70c0bce770d | 1760 | |
mjr | 2:c174f9ee414a | 1761 | // set up a flash memory controller |
mjr | 2:c174f9ee414a | 1762 | FreescaleIAP iap; |
mjr | 2:c174f9ee414a | 1763 | |
mjr | 2:c174f9ee414a | 1764 | // use the last sector of flash for our non-volatile memory structure |
mjr | 2:c174f9ee414a | 1765 | int flash_addr = (iap.flash_size() - SECTOR_SIZE); |
mjr | 2:c174f9ee414a | 1766 | NVM *flash = (NVM *)flash_addr; |
mjr | 2:c174f9ee414a | 1767 | NVM cfg; |
mjr | 2:c174f9ee414a | 1768 | |
mjr | 2:c174f9ee414a | 1769 | // if the flash is valid, load it; otherwise initialize to defaults |
mjr | 36:6b981a2afab7 | 1770 | if (flash->valid()) { |
mjr | 2:c174f9ee414a | 1771 | memcpy(&cfg, flash, sizeof(cfg)); |
mjr | 6:cc35eb643e8f | 1772 | printf("Flash restored: plunger cal=%d, min=%d, zero=%d, max=%d\r\n", |
mjr | 6:cc35eb643e8f | 1773 | cfg.d.plungerCal, cfg.d.plungerMin, cfg.d.plungerZero, cfg.d.plungerMax); |
mjr | 2:c174f9ee414a | 1774 | } |
mjr | 2:c174f9ee414a | 1775 | else { |
mjr | 2:c174f9ee414a | 1776 | printf("Factory reset\r\n"); |
mjr | 6:cc35eb643e8f | 1777 | cfg.d.plungerCal = 0; |
mjr | 17:ab3cec0c8bf4 | 1778 | cfg.d.plungerMin = 0; // assume we can go all the way forward... |
mjr | 17:ab3cec0c8bf4 | 1779 | cfg.d.plungerMax = npix; // ...and all the way back |
mjr | 17:ab3cec0c8bf4 | 1780 | cfg.d.plungerZero = npix/6; // the rest position is usually around 1/2" back |
mjr | 21:5048e16cc9ef | 1781 | cfg.d.ledWizUnitNo = DEFAULT_LEDWIZ_UNIT_NUMBER - 1; // unit numbering starts from 0 internally |
mjr | 21:5048e16cc9ef | 1782 | cfg.d.plungerEnabled = PLUNGER_CODE_ENABLED; |
mjr | 2:c174f9ee414a | 1783 | } |
mjr | 1:d913e0afb2ac | 1784 | |
mjr | 6:cc35eb643e8f | 1785 | // Create the joystick USB client. Note that we use the LedWiz unit |
mjr | 6:cc35eb643e8f | 1786 | // number from the saved configuration. |
mjr | 6:cc35eb643e8f | 1787 | MyUSBJoystick js( |
mjr | 6:cc35eb643e8f | 1788 | USB_VENDOR_ID, |
mjr | 35:d832bcab089e | 1789 | MAKE_USB_PRODUCT_ID(USB_VENDOR_ID, USB_PRODUCT_ID, cfg.d.ledWizUnitNo), |
mjr | 6:cc35eb643e8f | 1790 | USB_VERSION_NO); |
mjr | 17:ab3cec0c8bf4 | 1791 | |
mjr | 17:ab3cec0c8bf4 | 1792 | // last report timer - we use this to throttle reports, since VP |
mjr | 17:ab3cec0c8bf4 | 1793 | // doesn't want to hear from us more than about every 10ms |
mjr | 17:ab3cec0c8bf4 | 1794 | Timer reportTimer; |
mjr | 17:ab3cec0c8bf4 | 1795 | reportTimer.start(); |
mjr | 17:ab3cec0c8bf4 | 1796 | |
mjr | 17:ab3cec0c8bf4 | 1797 | // initialize the calibration buttons, if present |
mjr | 17:ab3cec0c8bf4 | 1798 | DigitalIn *calBtn = (CAL_BUTTON_PIN == NC ? 0 : new DigitalIn(CAL_BUTTON_PIN)); |
mjr | 17:ab3cec0c8bf4 | 1799 | DigitalOut *calBtnLed = (CAL_BUTTON_LED == NC ? 0 : new DigitalOut(CAL_BUTTON_LED)); |
mjr | 6:cc35eb643e8f | 1800 | |
mjr | 1:d913e0afb2ac | 1801 | // plunger calibration button debounce timer |
mjr | 1:d913e0afb2ac | 1802 | Timer calBtnTimer; |
mjr | 1:d913e0afb2ac | 1803 | calBtnTimer.start(); |
mjr | 1:d913e0afb2ac | 1804 | int calBtnLit = false; |
mjr | 1:d913e0afb2ac | 1805 | |
mjr | 1:d913e0afb2ac | 1806 | // Calibration button state: |
mjr | 1:d913e0afb2ac | 1807 | // 0 = not pushed |
mjr | 1:d913e0afb2ac | 1808 | // 1 = pushed, not yet debounced |
mjr | 1:d913e0afb2ac | 1809 | // 2 = pushed, debounced, waiting for hold time |
mjr | 1:d913e0afb2ac | 1810 | // 3 = pushed, hold time completed - in calibration mode |
mjr | 1:d913e0afb2ac | 1811 | int calBtnState = 0; |
mjr | 1:d913e0afb2ac | 1812 | |
mjr | 1:d913e0afb2ac | 1813 | // set up a timer for our heartbeat indicator |
mjr | 1:d913e0afb2ac | 1814 | Timer hbTimer; |
mjr | 1:d913e0afb2ac | 1815 | hbTimer.start(); |
mjr | 1:d913e0afb2ac | 1816 | int hb = 0; |
mjr | 5:a70c0bce770d | 1817 | uint16_t hbcnt = 0; |
mjr | 1:d913e0afb2ac | 1818 | |
mjr | 1:d913e0afb2ac | 1819 | // set a timer for accelerometer auto-centering |
mjr | 1:d913e0afb2ac | 1820 | Timer acTimer; |
mjr | 1:d913e0afb2ac | 1821 | acTimer.start(); |
mjr | 1:d913e0afb2ac | 1822 | |
mjr | 0:5acbbe3f4cf4 | 1823 | // create the accelerometer object |
mjr | 5:a70c0bce770d | 1824 | Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN); |
mjr | 0:5acbbe3f4cf4 | 1825 | |
mjr | 21:5048e16cc9ef | 1826 | #ifdef ENABLE_JOYSTICK |
mjr | 17:ab3cec0c8bf4 | 1827 | // last accelerometer report, in joystick units (we report the nudge |
mjr | 17:ab3cec0c8bf4 | 1828 | // acceleration via the joystick x & y axes, per the VP convention) |
mjr | 17:ab3cec0c8bf4 | 1829 | int x = 0, y = 0; |
mjr | 17:ab3cec0c8bf4 | 1830 | |
mjr | 21:5048e16cc9ef | 1831 | // flag: send a pixel dump after the next read |
mjr | 21:5048e16cc9ef | 1832 | bool reportPix = false; |
mjr | 21:5048e16cc9ef | 1833 | #endif |
mjr | 21:5048e16cc9ef | 1834 | |
mjr | 17:ab3cec0c8bf4 | 1835 | // create our plunger sensor object |
mjr | 17:ab3cec0c8bf4 | 1836 | PlungerSensor plungerSensor; |
mjr | 17:ab3cec0c8bf4 | 1837 | |
mjr | 17:ab3cec0c8bf4 | 1838 | // last plunger report position, in 'npix' normalized pixel units |
mjr | 17:ab3cec0c8bf4 | 1839 | int pos = 0; |
mjr | 17:ab3cec0c8bf4 | 1840 | |
mjr | 17:ab3cec0c8bf4 | 1841 | // last plunger report, in joystick units (we report the plunger as the |
mjr | 17:ab3cec0c8bf4 | 1842 | // "z" axis of the joystick, per the VP convention) |
mjr | 17:ab3cec0c8bf4 | 1843 | int z = 0; |
mjr | 17:ab3cec0c8bf4 | 1844 | |
mjr | 17:ab3cec0c8bf4 | 1845 | // most recent prior plunger readings, for tracking release events(z0 is |
mjr | 17:ab3cec0c8bf4 | 1846 | // reading just before the last one we reported, z1 is the one before that, |
mjr | 17:ab3cec0c8bf4 | 1847 | // z2 the next before that) |
mjr | 17:ab3cec0c8bf4 | 1848 | int z0 = 0, z1 = 0, z2 = 0; |
mjr | 17:ab3cec0c8bf4 | 1849 | |
mjr | 17:ab3cec0c8bf4 | 1850 | // Simulated "bounce" position when firing. We model the bounce off of |
mjr | 17:ab3cec0c8bf4 | 1851 | // the barrel spring when the plunger is released as proportional to the |
mjr | 17:ab3cec0c8bf4 | 1852 | // distance it was retracted just before being released. |
mjr | 17:ab3cec0c8bf4 | 1853 | int zBounce = 0; |
mjr | 2:c174f9ee414a | 1854 | |
mjr | 17:ab3cec0c8bf4 | 1855 | // Simulated Launch Ball button state. If a "ZB Launch Ball" port is |
mjr | 17:ab3cec0c8bf4 | 1856 | // defined for our LedWiz port mapping, any time that port is turned ON, |
mjr | 17:ab3cec0c8bf4 | 1857 | // we'll simulate pushing the Launch Ball button if the player pulls |
mjr | 17:ab3cec0c8bf4 | 1858 | // back and releases the plunger, or simply pushes on the plunger from |
mjr | 17:ab3cec0c8bf4 | 1859 | // the rest position. This allows the plunger to be used in lieu of a |
mjr | 17:ab3cec0c8bf4 | 1860 | // physical Launch Ball button for tables that don't have plungers. |
mjr | 17:ab3cec0c8bf4 | 1861 | // |
mjr | 17:ab3cec0c8bf4 | 1862 | // States: |
mjr | 17:ab3cec0c8bf4 | 1863 | // 0 = default |
mjr | 17:ab3cec0c8bf4 | 1864 | // 1 = cocked (plunger has been pulled back about 1" from state 0) |
mjr | 17:ab3cec0c8bf4 | 1865 | // 2 = uncocked (plunger is pulled back less than 1" from state 1) |
mjr | 21:5048e16cc9ef | 1866 | // 3 = launching, plunger is forward beyond park position |
mjr | 21:5048e16cc9ef | 1867 | // 4 = launching, plunger is behind park position |
mjr | 21:5048e16cc9ef | 1868 | // 5 = pressed and holding (plunger has been pressed forward beyond |
mjr | 21:5048e16cc9ef | 1869 | // the park position from state 0) |
mjr | 17:ab3cec0c8bf4 | 1870 | int lbState = 0; |
mjr | 6:cc35eb643e8f | 1871 | |
mjr | 17:ab3cec0c8bf4 | 1872 | // Time since last lbState transition. Some of the states are time- |
mjr | 17:ab3cec0c8bf4 | 1873 | // sensitive. In the "uncocked" state, we'll return to state 0 if |
mjr | 17:ab3cec0c8bf4 | 1874 | // we remain in this state for more than a few milliseconds, since |
mjr | 17:ab3cec0c8bf4 | 1875 | // it indicates that the plunger is being slowly returned to rest |
mjr | 17:ab3cec0c8bf4 | 1876 | // rather than released. In the "launching" state, we need to release |
mjr | 17:ab3cec0c8bf4 | 1877 | // the Launch Ball button after a moment, and we need to wait for |
mjr | 17:ab3cec0c8bf4 | 1878 | // the plunger to come to rest before returning to state 0. |
mjr | 17:ab3cec0c8bf4 | 1879 | Timer lbTimer; |
mjr | 17:ab3cec0c8bf4 | 1880 | lbTimer.start(); |
mjr | 17:ab3cec0c8bf4 | 1881 | |
mjr | 18:5e890ebd0023 | 1882 | // Launch Ball simulated push timer. We start this when we simulate |
mjr | 18:5e890ebd0023 | 1883 | // the button push, and turn off the simulated button when enough time |
mjr | 18:5e890ebd0023 | 1884 | // has elapsed. |
mjr | 18:5e890ebd0023 | 1885 | Timer lbBtnTimer; |
mjr | 18:5e890ebd0023 | 1886 | |
mjr | 17:ab3cec0c8bf4 | 1887 | // Simulated button states. This is a vector of button states |
mjr | 17:ab3cec0c8bf4 | 1888 | // for the simulated buttons. We combine this with the physical |
mjr | 17:ab3cec0c8bf4 | 1889 | // button states on each USB joystick report, so we will report |
mjr | 17:ab3cec0c8bf4 | 1890 | // a button as pressed if either the physical button is being pressed |
mjr | 17:ab3cec0c8bf4 | 1891 | // or we're simulating a press on the button. This is used for the |
mjr | 17:ab3cec0c8bf4 | 1892 | // simulated Launch Ball button. |
mjr | 17:ab3cec0c8bf4 | 1893 | uint32_t simButtons = 0; |
mjr | 6:cc35eb643e8f | 1894 | |
mjr | 6:cc35eb643e8f | 1895 | // Firing in progress: we set this when we detect the start of rapid |
mjr | 6:cc35eb643e8f | 1896 | // plunger movement from a retracted position towards the rest position. |
mjr | 17:ab3cec0c8bf4 | 1897 | // |
mjr | 17:ab3cec0c8bf4 | 1898 | // When we detect a firing event, we send VP a series of synthetic |
mjr | 17:ab3cec0c8bf4 | 1899 | // reports simulating the idealized plunger motion. The actual physical |
mjr | 17:ab3cec0c8bf4 | 1900 | // motion is much too fast to report to VP; in the time between two USB |
mjr | 17:ab3cec0c8bf4 | 1901 | // reports, the plunger can shoot all the way forward, rebound off of |
mjr | 17:ab3cec0c8bf4 | 1902 | // the barrel spring, bounce back part way, and bounce forward again, |
mjr | 17:ab3cec0c8bf4 | 1903 | // or even do all of this more than once. This means that sampling the |
mjr | 17:ab3cec0c8bf4 | 1904 | // physical motion at the USB report rate would create a misleading |
mjr | 17:ab3cec0c8bf4 | 1905 | // picture of the plunger motion, since our samples would catch the |
mjr | 17:ab3cec0c8bf4 | 1906 | // plunger at random points in this oscillating motion. From the |
mjr | 17:ab3cec0c8bf4 | 1907 | // user's perspective, the physical action that occurred is simply that |
mjr | 17:ab3cec0c8bf4 | 1908 | // the plunger was released from a particular distance, so it's this |
mjr | 17:ab3cec0c8bf4 | 1909 | // high-level event that we want to convey to VP. To do this, we |
mjr | 17:ab3cec0c8bf4 | 1910 | // synthesize a series of reports to convey an idealized version of |
mjr | 17:ab3cec0c8bf4 | 1911 | // the release motion that's perfectly synchronized to the VP reports. |
mjr | 17:ab3cec0c8bf4 | 1912 | // Essentially we pretend that our USB position samples are exactly |
mjr | 17:ab3cec0c8bf4 | 1913 | // aligned in time with (1) the point of retraction just before the |
mjr | 17:ab3cec0c8bf4 | 1914 | // user released the plunger, (2) the point of maximum forward motion |
mjr | 17:ab3cec0c8bf4 | 1915 | // just after the user released the plunger (the point of maximum |
mjr | 17:ab3cec0c8bf4 | 1916 | // compression as the plunger bounces off of the barrel spring), and |
mjr | 17:ab3cec0c8bf4 | 1917 | // (3) the plunger coming to rest at the park position. This series |
mjr | 17:ab3cec0c8bf4 | 1918 | // of reports is synthetic in the sense that it's not what we actually |
mjr | 17:ab3cec0c8bf4 | 1919 | // see on the CCD at the times of these reports - the true plunger |
mjr | 17:ab3cec0c8bf4 | 1920 | // position is oscillating at high speed during this period. But at |
mjr | 17:ab3cec0c8bf4 | 1921 | // the same time it conveys a more faithful picture of the true physical |
mjr | 17:ab3cec0c8bf4 | 1922 | // motion to VP, and allows VP to reproduce the true physical motion |
mjr | 17:ab3cec0c8bf4 | 1923 | // more faithfully in its simulation model, by correcting for the |
mjr | 17:ab3cec0c8bf4 | 1924 | // relatively low sampling rate in the communication path between the |
mjr | 17:ab3cec0c8bf4 | 1925 | // real plunger and VP's model plunger. |
mjr | 17:ab3cec0c8bf4 | 1926 | // |
mjr | 17:ab3cec0c8bf4 | 1927 | // If 'firing' is non-zero, it's the index of our current report in |
mjr | 17:ab3cec0c8bf4 | 1928 | // the synthetic firing report series. |
mjr | 9:fd65b0a94720 | 1929 | int firing = 0; |
mjr | 2:c174f9ee414a | 1930 | |
mjr | 2:c174f9ee414a | 1931 | // start the first CCD integration cycle |
mjr | 17:ab3cec0c8bf4 | 1932 | plungerSensor.init(); |
mjr | 9:fd65b0a94720 | 1933 | |
mjr | 9:fd65b0a94720 | 1934 | // Device status. We report this on each update so that the host config |
mjr | 9:fd65b0a94720 | 1935 | // tool can detect our current settings. This is a bit mask consisting |
mjr | 9:fd65b0a94720 | 1936 | // of these bits: |
mjr | 35:d832bcab089e | 1937 | // 0x0001 -> plunger sensor enabled |
mjr | 35:d832bcab089e | 1938 | // 0x8000 -> RESERVED - must always be zero |
mjr | 35:d832bcab089e | 1939 | // |
mjr | 35:d832bcab089e | 1940 | // Note that the high bit (0x8000) must always be 0, since we use that |
mjr | 35:d832bcab089e | 1941 | // to distinguish special request reply packets. |
mjr | 17:ab3cec0c8bf4 | 1942 | uint16_t statusFlags = (cfg.d.plungerEnabled ? 0x01 : 0x00); |
mjr | 10:976666ffa4ef | 1943 | |
mjr | 1:d913e0afb2ac | 1944 | // we're all set up - now just loop, processing sensor reports and |
mjr | 1:d913e0afb2ac | 1945 | // host requests |
mjr | 0:5acbbe3f4cf4 | 1946 | for (;;) |
mjr | 0:5acbbe3f4cf4 | 1947 | { |
mjr | 18:5e890ebd0023 | 1948 | // Look for an incoming report. Process a few input reports in |
mjr | 18:5e890ebd0023 | 1949 | // a row, but stop after a few so that a barrage of inputs won't |
mjr | 20:4c43877327ab | 1950 | // starve our output event processing. Also, pause briefly between |
mjr | 20:4c43877327ab | 1951 | // reads; allowing reads to occur back-to-back seems to occasionally |
mjr | 20:4c43877327ab | 1952 | // stall the USB pipeline (for reasons unknown; I'd fix the underlying |
mjr | 20:4c43877327ab | 1953 | // problem if I knew what it was). |
mjr | 0:5acbbe3f4cf4 | 1954 | HID_REPORT report; |
mjr | 20:4c43877327ab | 1955 | for (int rr = 0 ; rr < 4 && js.readNB(&report) ; ++rr, wait_ms(1)) |
mjr | 0:5acbbe3f4cf4 | 1956 | { |
mjr | 6:cc35eb643e8f | 1957 | // all Led-Wiz reports are 8 bytes exactly |
mjr | 6:cc35eb643e8f | 1958 | if (report.length == 8) |
mjr | 1:d913e0afb2ac | 1959 | { |
mjr | 35:d832bcab089e | 1960 | // LedWiz commands come in two varieties: SBA and PBA. An |
mjr | 35:d832bcab089e | 1961 | // SBA is marked by the first byte having value 64 (0x40). In |
mjr | 35:d832bcab089e | 1962 | // the real LedWiz protocol, any other value in the first byte |
mjr | 35:d832bcab089e | 1963 | // means it's a PBA message. However, *valid* PBA messages |
mjr | 35:d832bcab089e | 1964 | // always have a first byte (and in fact all 8 bytes) in the |
mjr | 35:d832bcab089e | 1965 | // range 0-49 or 129-132. Anything else is invalid. We take |
mjr | 35:d832bcab089e | 1966 | // advantage of this to implement private protocol extensions. |
mjr | 35:d832bcab089e | 1967 | // So our full protocol is as follows: |
mjr | 35:d832bcab089e | 1968 | // |
mjr | 35:d832bcab089e | 1969 | // first byte = |
mjr | 35:d832bcab089e | 1970 | // 0-48 -> LWZ-PBA |
mjr | 35:d832bcab089e | 1971 | // 64 -> LWZ SBA |
mjr | 35:d832bcab089e | 1972 | // 65 -> private control message; second byte specifies subtype |
mjr | 35:d832bcab089e | 1973 | // 129-132 -> LWZ-PBA |
mjr | 35:d832bcab089e | 1974 | // 200-219 -> extended bank brightness set for outputs N to N+6, where |
mjr | 35:d832bcab089e | 1975 | // N is (first byte - 200)*7 |
mjr | 35:d832bcab089e | 1976 | // other -> reserved for future use |
mjr | 35:d832bcab089e | 1977 | // |
mjr | 6:cc35eb643e8f | 1978 | uint8_t *data = report.data; |
mjr | 6:cc35eb643e8f | 1979 | if (data[0] == 64) |
mjr | 0:5acbbe3f4cf4 | 1980 | { |
mjr | 6:cc35eb643e8f | 1981 | // LWZ-SBA - first four bytes are bit-packed on/off flags |
mjr | 31:582472d0bc57 | 1982 | // for the outputs; 5th byte is the pulse speed (1-7) |
mjr | 6:cc35eb643e8f | 1983 | //printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n", |
mjr | 6:cc35eb643e8f | 1984 | // data[1], data[2], data[3], data[4], data[5]); |
mjr | 0:5acbbe3f4cf4 | 1985 | |
mjr | 6:cc35eb643e8f | 1986 | // update all on/off states |
mjr | 6:cc35eb643e8f | 1987 | for (int i = 0, bit = 1, ri = 1 ; i < 32 ; ++i, bit <<= 1) |
mjr | 6:cc35eb643e8f | 1988 | { |
mjr | 35:d832bcab089e | 1989 | // figure the on/off state bit for this output |
mjr | 6:cc35eb643e8f | 1990 | if (bit == 0x100) { |
mjr | 6:cc35eb643e8f | 1991 | bit = 1; |
mjr | 6:cc35eb643e8f | 1992 | ++ri; |
mjr | 6:cc35eb643e8f | 1993 | } |
mjr | 35:d832bcab089e | 1994 | |
mjr | 35:d832bcab089e | 1995 | // set the on/off state |
mjr | 6:cc35eb643e8f | 1996 | wizOn[i] = ((data[ri] & bit) != 0); |
mjr | 35:d832bcab089e | 1997 | |
mjr | 35:d832bcab089e | 1998 | // If the wizVal setting is 255, it means that this |
mjr | 35:d832bcab089e | 1999 | // output was last set to a brightness value with the |
mjr | 35:d832bcab089e | 2000 | // extended protocol. Return it to LedWiz control by |
mjr | 35:d832bcab089e | 2001 | // rescaling the brightness setting to the LedWiz range |
mjr | 35:d832bcab089e | 2002 | // and updating wizVal with the result. If it's any |
mjr | 35:d832bcab089e | 2003 | // other value, it was previously set by a PBA message, |
mjr | 35:d832bcab089e | 2004 | // so simply retain the last setting - in the normal |
mjr | 35:d832bcab089e | 2005 | // LedWiz protocol, the "profile" (brightness) and on/off |
mjr | 35:d832bcab089e | 2006 | // states are independent, so an SBA just turns an output |
mjr | 35:d832bcab089e | 2007 | // on or off but retains its last brightness level. |
mjr | 35:d832bcab089e | 2008 | if (wizVal[i] == 255) |
mjr | 35:d832bcab089e | 2009 | wizVal[i] = (uint8_t)round(outLevel[i]*48); |
mjr | 6:cc35eb643e8f | 2010 | } |
mjr | 31:582472d0bc57 | 2011 | |
mjr | 31:582472d0bc57 | 2012 | // set the flash speed - enforce the value range 1-7 |
mjr | 31:582472d0bc57 | 2013 | wizSpeed = data[5]; |
mjr | 31:582472d0bc57 | 2014 | if (wizSpeed < 1) |
mjr | 31:582472d0bc57 | 2015 | wizSpeed = 1; |
mjr | 31:582472d0bc57 | 2016 | else if (wizSpeed > 7) |
mjr | 31:582472d0bc57 | 2017 | wizSpeed = 7; |
mjr | 6:cc35eb643e8f | 2018 | |
mjr | 6:cc35eb643e8f | 2019 | // update the physical outputs |
mjr | 1:d913e0afb2ac | 2020 | updateWizOuts(); |
mjr | 36:6b981a2afab7 | 2021 | hc595.update(); |
mjr | 6:cc35eb643e8f | 2022 | |
mjr | 6:cc35eb643e8f | 2023 | // reset the PBA counter |
mjr | 6:cc35eb643e8f | 2024 | pbaIdx = 0; |
mjr | 6:cc35eb643e8f | 2025 | } |
mjr | 6:cc35eb643e8f | 2026 | else if (data[0] == 65) |
mjr | 6:cc35eb643e8f | 2027 | { |
mjr | 6:cc35eb643e8f | 2028 | // Private control message. This isn't an LedWiz message - it's |
mjr | 6:cc35eb643e8f | 2029 | // an extension for this device. 65 is an invalid PBA setting, |
mjr | 6:cc35eb643e8f | 2030 | // and isn't used for any other LedWiz message, so we appropriate |
mjr | 6:cc35eb643e8f | 2031 | // it for our own private use. The first byte specifies the |
mjr | 6:cc35eb643e8f | 2032 | // message type. |
mjr | 6:cc35eb643e8f | 2033 | if (data[1] == 1) |
mjr | 6:cc35eb643e8f | 2034 | { |
mjr | 9:fd65b0a94720 | 2035 | // 1 = Set Configuration: |
mjr | 6:cc35eb643e8f | 2036 | // data[2] = LedWiz unit number (0x00 to 0x0f) |
mjr | 6:cc35eb643e8f | 2037 | // data[3] = feature enable bit mask: |
mjr | 21:5048e16cc9ef | 2038 | // 0x01 = enable plunger sensor |
mjr | 6:cc35eb643e8f | 2039 | |
mjr | 6:cc35eb643e8f | 2040 | // we'll need a reset if the LedWiz unit number is changing |
mjr | 6:cc35eb643e8f | 2041 | uint8_t newUnitNo = data[2] & 0x0f; |
mjr | 6:cc35eb643e8f | 2042 | needReset |= (newUnitNo != cfg.d.ledWizUnitNo); |
mjr | 6:cc35eb643e8f | 2043 | |
mjr | 6:cc35eb643e8f | 2044 | // set the configuration parameters from the message |
mjr | 6:cc35eb643e8f | 2045 | cfg.d.ledWizUnitNo = newUnitNo; |
mjr | 17:ab3cec0c8bf4 | 2046 | cfg.d.plungerEnabled = data[3] & 0x01; |
mjr | 6:cc35eb643e8f | 2047 | |
mjr | 9:fd65b0a94720 | 2048 | // update the status flags |
mjr | 9:fd65b0a94720 | 2049 | statusFlags = (statusFlags & ~0x01) | (data[3] & 0x01); |
mjr | 9:fd65b0a94720 | 2050 | |
mjr | 9:fd65b0a94720 | 2051 | // if the ccd is no longer enabled, use 0 for z reports |
mjr | 17:ab3cec0c8bf4 | 2052 | if (!cfg.d.plungerEnabled) |
mjr | 9:fd65b0a94720 | 2053 | z = 0; |
mjr | 9:fd65b0a94720 | 2054 | |
mjr | 6:cc35eb643e8f | 2055 | // save the configuration |
mjr | 6:cc35eb643e8f | 2056 | cfg.save(iap, flash_addr); |
mjr | 6:cc35eb643e8f | 2057 | } |
mjr | 21:5048e16cc9ef | 2058 | #ifdef ENABLE_JOYSTICK |
mjr | 9:fd65b0a94720 | 2059 | else if (data[1] == 2) |
mjr | 9:fd65b0a94720 | 2060 | { |
mjr | 9:fd65b0a94720 | 2061 | // 2 = Calibrate plunger |
mjr | 9:fd65b0a94720 | 2062 | // (No parameters) |
mjr | 9:fd65b0a94720 | 2063 | |
mjr | 9:fd65b0a94720 | 2064 | // enter calibration mode |
mjr | 9:fd65b0a94720 | 2065 | calBtnState = 3; |
mjr | 9:fd65b0a94720 | 2066 | calBtnTimer.reset(); |
mjr | 9:fd65b0a94720 | 2067 | cfg.resetPlunger(); |
mjr | 9:fd65b0a94720 | 2068 | } |
mjr | 10:976666ffa4ef | 2069 | else if (data[1] == 3) |
mjr | 10:976666ffa4ef | 2070 | { |
mjr | 10:976666ffa4ef | 2071 | // 3 = pixel dump |
mjr | 10:976666ffa4ef | 2072 | // (No parameters) |
mjr | 10:976666ffa4ef | 2073 | reportPix = true; |
mjr | 10:976666ffa4ef | 2074 | |
mjr | 10:976666ffa4ef | 2075 | // show purple until we finish sending the report |
mjr | 10:976666ffa4ef | 2076 | ledR = 0; |
mjr | 10:976666ffa4ef | 2077 | ledB = 0; |
mjr | 10:976666ffa4ef | 2078 | ledG = 1; |
mjr | 10:976666ffa4ef | 2079 | } |
mjr | 35:d832bcab089e | 2080 | else if (data[1] == 4) |
mjr | 35:d832bcab089e | 2081 | { |
mjr | 35:d832bcab089e | 2082 | // 4 = hardware configuration query |
mjr | 35:d832bcab089e | 2083 | // (No parameters) |
mjr | 35:d832bcab089e | 2084 | wait_ms(1); |
mjr | 35:d832bcab089e | 2085 | js.reportConfig(numOutputs, cfg.d.ledWizUnitNo); |
mjr | 35:d832bcab089e | 2086 | } |
mjr | 35:d832bcab089e | 2087 | else if (data[1] == 5) |
mjr | 35:d832bcab089e | 2088 | { |
mjr | 35:d832bcab089e | 2089 | // 5 = all outputs off, reset to LedWiz defaults |
mjr | 35:d832bcab089e | 2090 | allOutputsOff(); |
mjr | 35:d832bcab089e | 2091 | } |
mjr | 21:5048e16cc9ef | 2092 | #endif // ENABLE_JOYSTICK |
mjr | 6:cc35eb643e8f | 2093 | } |
mjr | 35:d832bcab089e | 2094 | else if (data[0] >= 200 && data[0] < 220) |
mjr | 35:d832bcab089e | 2095 | { |
mjr | 35:d832bcab089e | 2096 | // Extended protocol - banked brightness update. |
mjr | 35:d832bcab089e | 2097 | // data[0]-200 gives us the bank of 7 outputs we're setting: |
mjr | 35:d832bcab089e | 2098 | // 200 is outputs 0-6, 201 is outputs 7-13, 202 is 14-20, etc. |
mjr | 35:d832bcab089e | 2099 | // The remaining bytes are brightness levels, 0-255, for the |
mjr | 35:d832bcab089e | 2100 | // seven outputs in the selected bank. The LedWiz flashing |
mjr | 35:d832bcab089e | 2101 | // modes aren't accessible in this message type; we can only |
mjr | 35:d832bcab089e | 2102 | // set a fixed brightness, but in exchange we get 8-bit |
mjr | 35:d832bcab089e | 2103 | // resolution rather than the paltry 0-48 scale that the real |
mjr | 35:d832bcab089e | 2104 | // LedWiz uses. There's no separate on/off status for outputs |
mjr | 35:d832bcab089e | 2105 | // adjusted with this message type, either, as there would be |
mjr | 35:d832bcab089e | 2106 | // for a PBA message - setting a non-zero value immediately |
mjr | 35:d832bcab089e | 2107 | // turns the output, overriding the last SBA setting. |
mjr | 35:d832bcab089e | 2108 | // |
mjr | 35:d832bcab089e | 2109 | // For outputs 0-31, this overrides any previous PBA/SBA |
mjr | 35:d832bcab089e | 2110 | // settings for the port. Any subsequent PBA/SBA message will |
mjr | 35:d832bcab089e | 2111 | // in turn override the setting made here. It's simple - the |
mjr | 35:d832bcab089e | 2112 | // most recent message of either type takes precedence. For |
mjr | 35:d832bcab089e | 2113 | // outputs above the LedWiz range, PBA/SBA messages can't |
mjr | 35:d832bcab089e | 2114 | // address those ports anyway. |
mjr | 35:d832bcab089e | 2115 | int i0 = (data[0] - 200)*7; |
mjr | 35:d832bcab089e | 2116 | int i1 = i0 + 7 < numOutputs ? i0 + 7 : numOutputs; |
mjr | 35:d832bcab089e | 2117 | for (int i = i0 ; i < i1 ; ++i) |
mjr | 35:d832bcab089e | 2118 | { |
mjr | 35:d832bcab089e | 2119 | // set the brightness level for the output |
mjr | 35:d832bcab089e | 2120 | float b = data[i-i0+1]/255.0; |
mjr | 35:d832bcab089e | 2121 | outLevel[i] = b; |
mjr | 35:d832bcab089e | 2122 | |
mjr | 35:d832bcab089e | 2123 | // if it's in the basic LedWiz output set, set the LedWiz |
mjr | 35:d832bcab089e | 2124 | // profile value to 255, which means "use outLevel" |
mjr | 35:d832bcab089e | 2125 | if (i < 32) |
mjr | 35:d832bcab089e | 2126 | wizVal[i] = 255; |
mjr | 35:d832bcab089e | 2127 | |
mjr | 35:d832bcab089e | 2128 | // set the output |
mjr | 35:d832bcab089e | 2129 | lwPin[i]->set(b); |
mjr | 35:d832bcab089e | 2130 | } |
mjr | 36:6b981a2afab7 | 2131 | |
mjr | 36:6b981a2afab7 | 2132 | // update 74HC595 outputs, if attached |
mjr | 36:6b981a2afab7 | 2133 | hc595.update(); |
mjr | 35:d832bcab089e | 2134 | } |
mjr | 6:cc35eb643e8f | 2135 | else |
mjr | 6:cc35eb643e8f | 2136 | { |
mjr | 35:d832bcab089e | 2137 | // Everything else is LWZ-PBA. This is a full "profile" |
mjr | 35:d832bcab089e | 2138 | // dump from the host for one bank of 8 outputs. Each |
mjr | 35:d832bcab089e | 2139 | // byte sets one output in the current bank. The current |
mjr | 35:d832bcab089e | 2140 | // bank is implied; the bank starts at 0 and is reset to 0 |
mjr | 35:d832bcab089e | 2141 | // by any LWZ-SBA message, and is incremented to the next |
mjr | 35:d832bcab089e | 2142 | // bank by each LWZ-PBA message. Our variable pbaIdx keeps |
mjr | 35:d832bcab089e | 2143 | // track of our notion of the current bank. There's no direct |
mjr | 35:d832bcab089e | 2144 | // way for the host to select the bank; it just has to count |
mjr | 35:d832bcab089e | 2145 | // on us staying in sync. In practice, the host will always |
mjr | 35:d832bcab089e | 2146 | // send a full set of 4 PBA messages in a row to set all 32 |
mjr | 35:d832bcab089e | 2147 | // outputs. |
mjr | 35:d832bcab089e | 2148 | // |
mjr | 35:d832bcab089e | 2149 | // Note that a PBA implicitly overrides our extended profile |
mjr | 35:d832bcab089e | 2150 | // messages (message prefix 200-219), because this sets the |
mjr | 35:d832bcab089e | 2151 | // wizVal[] entry for each output, and that takes precedence |
mjr | 35:d832bcab089e | 2152 | // over the extended protocol settings. |
mjr | 35:d832bcab089e | 2153 | // |
mjr | 6:cc35eb643e8f | 2154 | //printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n", |
mjr | 6:cc35eb643e8f | 2155 | // pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); |
mjr | 6:cc35eb643e8f | 2156 | |
mjr | 35:d832bcab089e | 2157 | // Update all output profile settings |
mjr | 6:cc35eb643e8f | 2158 | for (int i = 0 ; i < 8 ; ++i) |
mjr | 6:cc35eb643e8f | 2159 | wizVal[pbaIdx + i] = data[i]; |
mjr | 6:cc35eb643e8f | 2160 | |
mjr | 35:d832bcab089e | 2161 | // Update the physical LED state if this is the last bank. |
mjr | 35:d832bcab089e | 2162 | // Note that hosts always send a full set of four PBA |
mjr | 35:d832bcab089e | 2163 | // messages, so there's no need to do a physical update |
mjr | 35:d832bcab089e | 2164 | // until we've received the last bank's PBA message. |
mjr | 6:cc35eb643e8f | 2165 | if (pbaIdx == 24) |
mjr | 13:72dda449c3c0 | 2166 | { |
mjr | 6:cc35eb643e8f | 2167 | updateWizOuts(); |
mjr | 36:6b981a2afab7 | 2168 | hc595.update(); |
mjr | 13:72dda449c3c0 | 2169 | pbaIdx = 0; |
mjr | 13:72dda449c3c0 | 2170 | } |
mjr | 13:72dda449c3c0 | 2171 | else |
mjr | 13:72dda449c3c0 | 2172 | pbaIdx += 8; |
mjr | 6:cc35eb643e8f | 2173 | } |
mjr | 0:5acbbe3f4cf4 | 2174 | } |
mjr | 0:5acbbe3f4cf4 | 2175 | } |
mjr | 1:d913e0afb2ac | 2176 | |
mjr | 1:d913e0afb2ac | 2177 | // check for plunger calibration |
mjr | 17:ab3cec0c8bf4 | 2178 | if (calBtn != 0 && !calBtn->read()) |
mjr | 0:5acbbe3f4cf4 | 2179 | { |
mjr | 1:d913e0afb2ac | 2180 | // check the state |
mjr | 1:d913e0afb2ac | 2181 | switch (calBtnState) |
mjr | 0:5acbbe3f4cf4 | 2182 | { |
mjr | 1:d913e0afb2ac | 2183 | case 0: |
mjr | 1:d913e0afb2ac | 2184 | // button not yet pushed - start debouncing |
mjr | 1:d913e0afb2ac | 2185 | calBtnTimer.reset(); |
mjr | 1:d913e0afb2ac | 2186 | calBtnState = 1; |
mjr | 1:d913e0afb2ac | 2187 | break; |
mjr | 1:d913e0afb2ac | 2188 | |
mjr | 1:d913e0afb2ac | 2189 | case 1: |
mjr | 1:d913e0afb2ac | 2190 | // pushed, not yet debounced - if the debounce time has |
mjr | 1:d913e0afb2ac | 2191 | // passed, start the hold period |
mjr | 9:fd65b0a94720 | 2192 | if (calBtnTimer.read_ms() > 50) |
mjr | 1:d913e0afb2ac | 2193 | calBtnState = 2; |
mjr | 1:d913e0afb2ac | 2194 | break; |
mjr | 1:d913e0afb2ac | 2195 | |
mjr | 1:d913e0afb2ac | 2196 | case 2: |
mjr | 1:d913e0afb2ac | 2197 | // in the hold period - if the button has been held down |
mjr | 1:d913e0afb2ac | 2198 | // for the entire hold period, move to calibration mode |
mjr | 9:fd65b0a94720 | 2199 | if (calBtnTimer.read_ms() > 2050) |
mjr | 1:d913e0afb2ac | 2200 | { |
mjr | 1:d913e0afb2ac | 2201 | // enter calibration mode |
mjr | 1:d913e0afb2ac | 2202 | calBtnState = 3; |
mjr | 9:fd65b0a94720 | 2203 | calBtnTimer.reset(); |
mjr | 9:fd65b0a94720 | 2204 | cfg.resetPlunger(); |
mjr | 1:d913e0afb2ac | 2205 | } |
mjr | 1:d913e0afb2ac | 2206 | break; |
mjr | 2:c174f9ee414a | 2207 | |
mjr | 2:c174f9ee414a | 2208 | case 3: |
mjr | 9:fd65b0a94720 | 2209 | // Already in calibration mode - pushing the button here |
mjr | 9:fd65b0a94720 | 2210 | // doesn't change the current state, but we won't leave this |
mjr | 9:fd65b0a94720 | 2211 | // state as long as it's held down. So nothing changes here. |
mjr | 2:c174f9ee414a | 2212 | break; |
mjr | 0:5acbbe3f4cf4 | 2213 | } |
mjr | 0:5acbbe3f4cf4 | 2214 | } |
mjr | 1:d913e0afb2ac | 2215 | else |
mjr | 1:d913e0afb2ac | 2216 | { |
mjr | 2:c174f9ee414a | 2217 | // Button released. If we're in calibration mode, and |
mjr | 2:c174f9ee414a | 2218 | // the calibration time has elapsed, end the calibration |
mjr | 2:c174f9ee414a | 2219 | // and save the results to flash. |
mjr | 2:c174f9ee414a | 2220 | // |
mjr | 2:c174f9ee414a | 2221 | // Otherwise, return to the base state without saving anything. |
mjr | 2:c174f9ee414a | 2222 | // If the button is released before we make it to calibration |
mjr | 2:c174f9ee414a | 2223 | // mode, it simply cancels the attempt. |
mjr | 9:fd65b0a94720 | 2224 | if (calBtnState == 3 && calBtnTimer.read_ms() > 15000) |
mjr | 2:c174f9ee414a | 2225 | { |
mjr | 2:c174f9ee414a | 2226 | // exit calibration mode |
mjr | 1:d913e0afb2ac | 2227 | calBtnState = 0; |
mjr | 2:c174f9ee414a | 2228 | |
mjr | 6:cc35eb643e8f | 2229 | // save the updated configuration |
mjr | 6:cc35eb643e8f | 2230 | cfg.d.plungerCal = 1; |
mjr | 6:cc35eb643e8f | 2231 | cfg.save(iap, flash_addr); |
mjr | 2:c174f9ee414a | 2232 | } |
mjr | 2:c174f9ee414a | 2233 | else if (calBtnState != 3) |
mjr | 2:c174f9ee414a | 2234 | { |
mjr | 2:c174f9ee414a | 2235 | // didn't make it to calibration mode - cancel the operation |
mjr | 1:d913e0afb2ac | 2236 | calBtnState = 0; |
mjr | 2:c174f9ee414a | 2237 | } |
mjr | 1:d913e0afb2ac | 2238 | } |
mjr | 1:d913e0afb2ac | 2239 | |
mjr | 1:d913e0afb2ac | 2240 | // light/flash the calibration button light, if applicable |
mjr | 1:d913e0afb2ac | 2241 | int newCalBtnLit = calBtnLit; |
mjr | 1:d913e0afb2ac | 2242 | switch (calBtnState) |
mjr | 0:5acbbe3f4cf4 | 2243 | { |
mjr | 1:d913e0afb2ac | 2244 | case 2: |
mjr | 1:d913e0afb2ac | 2245 | // in the hold period - flash the light |
mjr | 9:fd65b0a94720 | 2246 | newCalBtnLit = ((calBtnTimer.read_ms()/250) & 1); |
mjr | 1:d913e0afb2ac | 2247 | break; |
mjr | 1:d913e0afb2ac | 2248 | |
mjr | 1:d913e0afb2ac | 2249 | case 3: |
mjr | 1:d913e0afb2ac | 2250 | // calibration mode - show steady on |
mjr | 1:d913e0afb2ac | 2251 | newCalBtnLit = true; |
mjr | 1:d913e0afb2ac | 2252 | break; |
mjr | 1:d913e0afb2ac | 2253 | |
mjr | 1:d913e0afb2ac | 2254 | default: |
mjr | 1:d913e0afb2ac | 2255 | // not calibrating/holding - show steady off |
mjr | 1:d913e0afb2ac | 2256 | newCalBtnLit = false; |
mjr | 1:d913e0afb2ac | 2257 | break; |
mjr | 1:d913e0afb2ac | 2258 | } |
mjr | 3:3514575d4f86 | 2259 | |
mjr | 3:3514575d4f86 | 2260 | // light or flash the external calibration button LED, and |
mjr | 3:3514575d4f86 | 2261 | // do the same with the on-board blue LED |
mjr | 1:d913e0afb2ac | 2262 | if (calBtnLit != newCalBtnLit) |
mjr | 1:d913e0afb2ac | 2263 | { |
mjr | 1:d913e0afb2ac | 2264 | calBtnLit = newCalBtnLit; |
mjr | 2:c174f9ee414a | 2265 | if (calBtnLit) { |
mjr | 17:ab3cec0c8bf4 | 2266 | if (calBtnLed != 0) |
mjr | 17:ab3cec0c8bf4 | 2267 | calBtnLed->write(1); |
mjr | 4:02c7cd7b2183 | 2268 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 2269 | ledG = 1; |
mjr | 9:fd65b0a94720 | 2270 | ledB = 0; |
mjr | 2:c174f9ee414a | 2271 | } |
mjr | 2:c174f9ee414a | 2272 | else { |
mjr | 17:ab3cec0c8bf4 | 2273 | if (calBtnLed != 0) |
mjr | 17:ab3cec0c8bf4 | 2274 | calBtnLed->write(0); |
mjr | 4:02c7cd7b2183 | 2275 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 2276 | ledG = 1; |
mjr | 9:fd65b0a94720 | 2277 | ledB = 1; |
mjr | 2:c174f9ee414a | 2278 | } |
mjr | 1:d913e0afb2ac | 2279 | } |
mjr | 1:d913e0afb2ac | 2280 | |
mjr | 17:ab3cec0c8bf4 | 2281 | // If the plunger is enabled, and we're not already in a firing event, |
mjr | 17:ab3cec0c8bf4 | 2282 | // and the last plunger reading had the plunger pulled back at least |
mjr | 17:ab3cec0c8bf4 | 2283 | // a bit, watch for plunger release events until it's time for our next |
mjr | 17:ab3cec0c8bf4 | 2284 | // USB report. |
mjr | 17:ab3cec0c8bf4 | 2285 | if (!firing && cfg.d.plungerEnabled && z >= JOYMAX/6) |
mjr | 17:ab3cec0c8bf4 | 2286 | { |
mjr | 17:ab3cec0c8bf4 | 2287 | // monitor the plunger until it's time for our next report |
mjr | 17:ab3cec0c8bf4 | 2288 | while (reportTimer.read_ms() < 15) |
mjr | 17:ab3cec0c8bf4 | 2289 | { |
mjr | 17:ab3cec0c8bf4 | 2290 | // do a fast low-res scan; if it's at or past the zero point, |
mjr | 17:ab3cec0c8bf4 | 2291 | // start a firing event |
mjr | 17:ab3cec0c8bf4 | 2292 | if (plungerSensor.lowResScan() <= cfg.d.plungerZero) |
mjr | 17:ab3cec0c8bf4 | 2293 | firing = 1; |
mjr | 17:ab3cec0c8bf4 | 2294 | } |
mjr | 17:ab3cec0c8bf4 | 2295 | } |
mjr | 17:ab3cec0c8bf4 | 2296 | |
mjr | 6:cc35eb643e8f | 2297 | // read the plunger sensor, if it's enabled |
mjr | 17:ab3cec0c8bf4 | 2298 | if (cfg.d.plungerEnabled) |
mjr | 6:cc35eb643e8f | 2299 | { |
mjr | 6:cc35eb643e8f | 2300 | // start with the previous reading, in case we don't have a |
mjr | 6:cc35eb643e8f | 2301 | // clear result on this frame |
mjr | 6:cc35eb643e8f | 2302 | int znew = z; |
mjr | 17:ab3cec0c8bf4 | 2303 | if (plungerSensor.highResScan(pos)) |
mjr | 6:cc35eb643e8f | 2304 | { |
mjr | 17:ab3cec0c8bf4 | 2305 | // We got a new reading. If we're in calibration mode, use it |
mjr | 17:ab3cec0c8bf4 | 2306 | // to figure the new calibration, otherwise adjust the new reading |
mjr | 17:ab3cec0c8bf4 | 2307 | // for the established calibration. |
mjr | 17:ab3cec0c8bf4 | 2308 | if (calBtnState == 3) |
mjr | 6:cc35eb643e8f | 2309 | { |
mjr | 17:ab3cec0c8bf4 | 2310 | // Calibration mode. If this reading is outside of the current |
mjr | 17:ab3cec0c8bf4 | 2311 | // calibration bounds, expand the bounds. |
mjr | 17:ab3cec0c8bf4 | 2312 | if (pos < cfg.d.plungerMin) |
mjr | 17:ab3cec0c8bf4 | 2313 | cfg.d.plungerMin = pos; |
mjr | 17:ab3cec0c8bf4 | 2314 | if (pos < cfg.d.plungerZero) |
mjr | 17:ab3cec0c8bf4 | 2315 | cfg.d.plungerZero = pos; |
mjr | 17:ab3cec0c8bf4 | 2316 | if (pos > cfg.d.plungerMax) |
mjr | 17:ab3cec0c8bf4 | 2317 | cfg.d.plungerMax = pos; |
mjr | 6:cc35eb643e8f | 2318 | |
mjr | 17:ab3cec0c8bf4 | 2319 | // normalize to the full physical range while calibrating |
mjr | 17:ab3cec0c8bf4 | 2320 | znew = int(round(float(pos)/npix * JOYMAX)); |
mjr | 17:ab3cec0c8bf4 | 2321 | } |
mjr | 17:ab3cec0c8bf4 | 2322 | else |
mjr | 17:ab3cec0c8bf4 | 2323 | { |
mjr | 17:ab3cec0c8bf4 | 2324 | // Not in calibration mode, so normalize the new reading to the |
mjr | 17:ab3cec0c8bf4 | 2325 | // established calibration range. |
mjr | 17:ab3cec0c8bf4 | 2326 | // |
mjr | 17:ab3cec0c8bf4 | 2327 | // Note that negative values are allowed. Zero represents the |
mjr | 17:ab3cec0c8bf4 | 2328 | // "park" position, where the plunger sits when at rest. A mechanical |
mjr | 23:14f8c5004cd0 | 2329 | // plunger has a small amount of travel in the "push" direction, |
mjr | 17:ab3cec0c8bf4 | 2330 | // since the barrel spring can be compressed slightly. Negative |
mjr | 17:ab3cec0c8bf4 | 2331 | // values represent travel in the push direction. |
mjr | 17:ab3cec0c8bf4 | 2332 | if (pos > cfg.d.plungerMax) |
mjr | 17:ab3cec0c8bf4 | 2333 | pos = cfg.d.plungerMax; |
mjr | 17:ab3cec0c8bf4 | 2334 | znew = int(round(float(pos - cfg.d.plungerZero) |
mjr | 17:ab3cec0c8bf4 | 2335 | / (cfg.d.plungerMax - cfg.d.plungerZero + 1) * JOYMAX)); |
mjr | 6:cc35eb643e8f | 2336 | } |
mjr | 6:cc35eb643e8f | 2337 | } |
mjr | 7:100a25f8bf56 | 2338 | |
mjr | 17:ab3cec0c8bf4 | 2339 | // If we're not already in a firing event, check to see if the |
mjr | 17:ab3cec0c8bf4 | 2340 | // new position is forward of the last report. If it is, a firing |
mjr | 17:ab3cec0c8bf4 | 2341 | // event might have started during the high-res scan. This might |
mjr | 17:ab3cec0c8bf4 | 2342 | // seem unlikely given that the scan only takes about 5ms, but that |
mjr | 17:ab3cec0c8bf4 | 2343 | // 5ms represents about 25-30% of our total time between reports, |
mjr | 17:ab3cec0c8bf4 | 2344 | // there's about a 1 in 4 chance that a release starts during a |
mjr | 17:ab3cec0c8bf4 | 2345 | // scan. |
mjr | 17:ab3cec0c8bf4 | 2346 | if (!firing && z0 > 0 && znew < z0) |
mjr | 17:ab3cec0c8bf4 | 2347 | { |
mjr | 17:ab3cec0c8bf4 | 2348 | // The plunger has moved forward since the previous report. |
mjr | 17:ab3cec0c8bf4 | 2349 | // Watch it for a few more ms to see if we can get a stable |
mjr | 17:ab3cec0c8bf4 | 2350 | // new position. |
mjr | 23:14f8c5004cd0 | 2351 | int pos0 = plungerSensor.lowResScan(); |
mjr | 23:14f8c5004cd0 | 2352 | int pos1 = pos0; |
mjr | 17:ab3cec0c8bf4 | 2353 | Timer tw; |
mjr | 17:ab3cec0c8bf4 | 2354 | tw.start(); |
mjr | 17:ab3cec0c8bf4 | 2355 | while (tw.read_ms() < 6) |
mjr | 17:ab3cec0c8bf4 | 2356 | { |
mjr | 23:14f8c5004cd0 | 2357 | // read the new position |
mjr | 23:14f8c5004cd0 | 2358 | int pos2 = plungerSensor.lowResScan(); |
mjr | 23:14f8c5004cd0 | 2359 | |
mjr | 23:14f8c5004cd0 | 2360 | // If it's stable over consecutive readings, stop looping. |
mjr | 23:14f8c5004cd0 | 2361 | // (Count it as stable if the position is within about 1/8". |
mjr | 23:14f8c5004cd0 | 2362 | // pos1 and pos2 are reported in pixels, so they range from |
mjr | 23:14f8c5004cd0 | 2363 | // 0 to npix. The overall travel of a standard plunger is |
mjr | 23:14f8c5004cd0 | 2364 | // about 3.2", so we have (npix/3.2) pixels per inch, hence |
mjr | 23:14f8c5004cd0 | 2365 | // 1/8" is (npix/3.2)*(1/8) pixels.) |
mjr | 23:14f8c5004cd0 | 2366 | if (abs(pos2 - pos1) < int(npix/(3.2*8))) |
mjr | 23:14f8c5004cd0 | 2367 | break; |
mjr | 23:14f8c5004cd0 | 2368 | |
mjr | 23:14f8c5004cd0 | 2369 | // If we've crossed the rest position, and we've moved by |
mjr | 23:14f8c5004cd0 | 2370 | // a minimum distance from where we starting this loop, begin |
mjr | 23:14f8c5004cd0 | 2371 | // a firing event. (We require a minimum distance to prevent |
mjr | 23:14f8c5004cd0 | 2372 | // spurious firing from random analog noise in the readings |
mjr | 23:14f8c5004cd0 | 2373 | // when the plunger is actually just sitting still at the |
mjr | 23:14f8c5004cd0 | 2374 | // rest position. If it's at rest, it's normal to see small |
mjr | 23:14f8c5004cd0 | 2375 | // random fluctuations in the analog reading +/- 1% or so |
mjr | 23:14f8c5004cd0 | 2376 | // from the 0 point, especially with a sensor like a |
mjr | 23:14f8c5004cd0 | 2377 | // potentionemeter that reports the position as a single |
mjr | 23:14f8c5004cd0 | 2378 | // analog voltage.) Note that we compare the latest reading |
mjr | 23:14f8c5004cd0 | 2379 | // to the first reading of the loop - we don't require the |
mjr | 23:14f8c5004cd0 | 2380 | // threshold motion over consecutive readings, but any time |
mjr | 23:14f8c5004cd0 | 2381 | // over the stability wait loop. |
mjr | 23:14f8c5004cd0 | 2382 | if (pos1 < cfg.d.plungerZero |
mjr | 23:14f8c5004cd0 | 2383 | && abs(pos2 - pos0) > int(npix/(3.2*8))) |
mjr | 17:ab3cec0c8bf4 | 2384 | { |
mjr | 17:ab3cec0c8bf4 | 2385 | firing = 1; |
mjr | 17:ab3cec0c8bf4 | 2386 | break; |
mjr | 17:ab3cec0c8bf4 | 2387 | } |
mjr | 23:14f8c5004cd0 | 2388 | |
mjr | 17:ab3cec0c8bf4 | 2389 | // the new reading is now the prior reading |
mjr | 17:ab3cec0c8bf4 | 2390 | pos1 = pos2; |
mjr | 17:ab3cec0c8bf4 | 2391 | } |
mjr | 17:ab3cec0c8bf4 | 2392 | } |
mjr | 17:ab3cec0c8bf4 | 2393 | |
mjr | 17:ab3cec0c8bf4 | 2394 | // Check for a simulated Launch Ball button press, if enabled |
mjr | 18:5e890ebd0023 | 2395 | if (ZBLaunchBallPort != 0) |
mjr | 17:ab3cec0c8bf4 | 2396 | { |
mjr | 18:5e890ebd0023 | 2397 | const int cockThreshold = JOYMAX/3; |
mjr | 18:5e890ebd0023 | 2398 | const int pushThreshold = int(-JOYMAX/3 * LaunchBallPushDistance); |
mjr | 17:ab3cec0c8bf4 | 2399 | int newState = lbState; |
mjr | 17:ab3cec0c8bf4 | 2400 | switch (lbState) |
mjr | 17:ab3cec0c8bf4 | 2401 | { |
mjr | 17:ab3cec0c8bf4 | 2402 | case 0: |
mjr | 17:ab3cec0c8bf4 | 2403 | // Base state. If the plunger is pulled back by an inch |
mjr | 17:ab3cec0c8bf4 | 2404 | // or more, go to "cocked" state. If the plunger is pushed |
mjr | 21:5048e16cc9ef | 2405 | // forward by 1/4" or more, go to "pressed" state. |
mjr | 18:5e890ebd0023 | 2406 | if (znew >= cockThreshold) |
mjr | 17:ab3cec0c8bf4 | 2407 | newState = 1; |
mjr | 18:5e890ebd0023 | 2408 | else if (znew <= pushThreshold) |
mjr | 21:5048e16cc9ef | 2409 | newState = 5; |
mjr | 17:ab3cec0c8bf4 | 2410 | break; |
mjr | 17:ab3cec0c8bf4 | 2411 | |
mjr | 17:ab3cec0c8bf4 | 2412 | case 1: |
mjr | 17:ab3cec0c8bf4 | 2413 | // Cocked state. If a firing event is now in progress, |
mjr | 17:ab3cec0c8bf4 | 2414 | // go to "launch" state. Otherwise, if the plunger is less |
mjr | 17:ab3cec0c8bf4 | 2415 | // than 1" retracted, go to "uncocked" state - the player |
mjr | 17:ab3cec0c8bf4 | 2416 | // might be slowly returning the plunger to rest so as not |
mjr | 17:ab3cec0c8bf4 | 2417 | // to trigger a launch. |
mjr | 17:ab3cec0c8bf4 | 2418 | if (firing || znew <= 0) |
mjr | 17:ab3cec0c8bf4 | 2419 | newState = 3; |
mjr | 18:5e890ebd0023 | 2420 | else if (znew < cockThreshold) |
mjr | 17:ab3cec0c8bf4 | 2421 | newState = 2; |
mjr | 17:ab3cec0c8bf4 | 2422 | break; |
mjr | 17:ab3cec0c8bf4 | 2423 | |
mjr | 17:ab3cec0c8bf4 | 2424 | case 2: |
mjr | 17:ab3cec0c8bf4 | 2425 | // Uncocked state. If the plunger is more than an inch |
mjr | 17:ab3cec0c8bf4 | 2426 | // retracted, return to cocked state. If we've been in |
mjr | 17:ab3cec0c8bf4 | 2427 | // the uncocked state for more than half a second, return |
mjr | 18:5e890ebd0023 | 2428 | // to the base state. This allows the user to return the |
mjr | 18:5e890ebd0023 | 2429 | // plunger to rest without triggering a launch, by moving |
mjr | 18:5e890ebd0023 | 2430 | // it at manual speed to the rest position rather than |
mjr | 18:5e890ebd0023 | 2431 | // releasing it. |
mjr | 18:5e890ebd0023 | 2432 | if (znew >= cockThreshold) |
mjr | 17:ab3cec0c8bf4 | 2433 | newState = 1; |
mjr | 17:ab3cec0c8bf4 | 2434 | else if (lbTimer.read_ms() > 500) |
mjr | 17:ab3cec0c8bf4 | 2435 | newState = 0; |
mjr | 17:ab3cec0c8bf4 | 2436 | break; |
mjr | 17:ab3cec0c8bf4 | 2437 | |
mjr | 17:ab3cec0c8bf4 | 2438 | case 3: |
mjr | 17:ab3cec0c8bf4 | 2439 | // Launch state. If the plunger is no longer pushed |
mjr | 17:ab3cec0c8bf4 | 2440 | // forward, switch to launch rest state. |
mjr | 18:5e890ebd0023 | 2441 | if (znew >= 0) |
mjr | 17:ab3cec0c8bf4 | 2442 | newState = 4; |
mjr | 17:ab3cec0c8bf4 | 2443 | break; |
mjr | 17:ab3cec0c8bf4 | 2444 | |
mjr | 17:ab3cec0c8bf4 | 2445 | case 4: |
mjr | 17:ab3cec0c8bf4 | 2446 | // Launch rest state. If the plunger is pushed forward |
mjr | 17:ab3cec0c8bf4 | 2447 | // again, switch back to launch state. If not, and we've |
mjr | 17:ab3cec0c8bf4 | 2448 | // been in this state for at least 200ms, return to the |
mjr | 17:ab3cec0c8bf4 | 2449 | // default state. |
mjr | 18:5e890ebd0023 | 2450 | if (znew <= pushThreshold) |
mjr | 17:ab3cec0c8bf4 | 2451 | newState = 3; |
mjr | 17:ab3cec0c8bf4 | 2452 | else if (lbTimer.read_ms() > 200) |
mjr | 17:ab3cec0c8bf4 | 2453 | newState = 0; |
mjr | 17:ab3cec0c8bf4 | 2454 | break; |
mjr | 21:5048e16cc9ef | 2455 | |
mjr | 21:5048e16cc9ef | 2456 | case 5: |
mjr | 21:5048e16cc9ef | 2457 | // Press-and-Hold state. If the plunger is no longer pushed |
mjr | 21:5048e16cc9ef | 2458 | // forward, AND it's been at least 50ms since we generated |
mjr | 21:5048e16cc9ef | 2459 | // the simulated Launch Ball button press, return to the base |
mjr | 21:5048e16cc9ef | 2460 | // state. The minimum time is to ensure that VP has a chance |
mjr | 21:5048e16cc9ef | 2461 | // to see the button press and to avoid transient key bounce |
mjr | 21:5048e16cc9ef | 2462 | // effects when the plunger position is right on the threshold. |
mjr | 21:5048e16cc9ef | 2463 | if (znew > pushThreshold && lbTimer.read_ms() > 50) |
mjr | 21:5048e16cc9ef | 2464 | newState = 0; |
mjr | 21:5048e16cc9ef | 2465 | break; |
mjr | 17:ab3cec0c8bf4 | 2466 | } |
mjr | 17:ab3cec0c8bf4 | 2467 | |
mjr | 17:ab3cec0c8bf4 | 2468 | // change states if desired |
mjr | 18:5e890ebd0023 | 2469 | const uint32_t lbButtonBit = (1 << (LaunchBallButton - 1)); |
mjr | 17:ab3cec0c8bf4 | 2470 | if (newState != lbState) |
mjr | 17:ab3cec0c8bf4 | 2471 | { |
mjr | 21:5048e16cc9ef | 2472 | // If we're entering Launch state OR we're entering the |
mjr | 21:5048e16cc9ef | 2473 | // Press-and-Hold state, AND the ZB Launch Ball LedWiz signal |
mjr | 21:5048e16cc9ef | 2474 | // is turned on, simulate a Launch Ball button press. |
mjr | 21:5048e16cc9ef | 2475 | if (((newState == 3 && lbState != 4) || newState == 5) |
mjr | 21:5048e16cc9ef | 2476 | && wizOn[ZBLaunchBallPort-1]) |
mjr | 18:5e890ebd0023 | 2477 | { |
mjr | 18:5e890ebd0023 | 2478 | lbBtnTimer.reset(); |
mjr | 18:5e890ebd0023 | 2479 | lbBtnTimer.start(); |
mjr | 18:5e890ebd0023 | 2480 | simButtons |= lbButtonBit; |
mjr | 18:5e890ebd0023 | 2481 | } |
mjr | 21:5048e16cc9ef | 2482 | |
mjr | 17:ab3cec0c8bf4 | 2483 | // if we're switching to state 0, release the button |
mjr | 17:ab3cec0c8bf4 | 2484 | if (newState == 0) |
mjr | 17:ab3cec0c8bf4 | 2485 | simButtons &= ~(1 << (LaunchBallButton - 1)); |
mjr | 17:ab3cec0c8bf4 | 2486 | |
mjr | 17:ab3cec0c8bf4 | 2487 | // switch to the new state |
mjr | 17:ab3cec0c8bf4 | 2488 | lbState = newState; |
mjr | 17:ab3cec0c8bf4 | 2489 | |
mjr | 17:ab3cec0c8bf4 | 2490 | // start timing in the new state |
mjr | 17:ab3cec0c8bf4 | 2491 | lbTimer.reset(); |
mjr | 17:ab3cec0c8bf4 | 2492 | } |
mjr | 21:5048e16cc9ef | 2493 | |
mjr | 21:5048e16cc9ef | 2494 | // If the Launch Ball button press is in effect, but the |
mjr | 21:5048e16cc9ef | 2495 | // ZB Launch Ball LedWiz signal is no longer turned on, turn |
mjr | 21:5048e16cc9ef | 2496 | // off the button. |
mjr | 21:5048e16cc9ef | 2497 | // |
mjr | 21:5048e16cc9ef | 2498 | // If we're in one of the Launch states (state #3 or #4), |
mjr | 21:5048e16cc9ef | 2499 | // and the button has been on for long enough, turn it off. |
mjr | 21:5048e16cc9ef | 2500 | // The Launch mode is triggered by a pull-and-release gesture. |
mjr | 21:5048e16cc9ef | 2501 | // From the user's perspective, this is just a single gesture |
mjr | 21:5048e16cc9ef | 2502 | // that should trigger just one momentary press on the Launch |
mjr | 21:5048e16cc9ef | 2503 | // Ball button. Physically, though, the plunger usually |
mjr | 21:5048e16cc9ef | 2504 | // bounces back and forth for 500ms or so before coming to |
mjr | 21:5048e16cc9ef | 2505 | // rest after this gesture. That's what the whole state |
mjr | 21:5048e16cc9ef | 2506 | // #3-#4 business is all about - we stay in this pair of |
mjr | 21:5048e16cc9ef | 2507 | // states until the plunger comes to rest. As long as we're |
mjr | 21:5048e16cc9ef | 2508 | // in these states, we won't send duplicate button presses. |
mjr | 21:5048e16cc9ef | 2509 | // But we also don't want the one button press to continue |
mjr | 21:5048e16cc9ef | 2510 | // the whole time, so we'll time it out now. |
mjr | 21:5048e16cc9ef | 2511 | // |
mjr | 21:5048e16cc9ef | 2512 | // (This could be written as one big 'if' condition, but |
mjr | 21:5048e16cc9ef | 2513 | // I'm breaking it out verbosely like this to make it easier |
mjr | 21:5048e16cc9ef | 2514 | // for human readers such as myself to comprehend the logic.) |
mjr | 21:5048e16cc9ef | 2515 | if ((simButtons & lbButtonBit) != 0) |
mjr | 18:5e890ebd0023 | 2516 | { |
mjr | 21:5048e16cc9ef | 2517 | int turnOff = false; |
mjr | 21:5048e16cc9ef | 2518 | |
mjr | 21:5048e16cc9ef | 2519 | // turn it off if the ZB Launch Ball signal is off |
mjr | 21:5048e16cc9ef | 2520 | if (!wizOn[ZBLaunchBallPort-1]) |
mjr | 21:5048e16cc9ef | 2521 | turnOff = true; |
mjr | 21:5048e16cc9ef | 2522 | |
mjr | 21:5048e16cc9ef | 2523 | // also turn it off if we're in state 3 or 4 ("Launch"), |
mjr | 21:5048e16cc9ef | 2524 | // and the button has been on long enough |
mjr | 21:5048e16cc9ef | 2525 | if ((lbState == 3 || lbState == 4) && lbBtnTimer.read_ms() > 250) |
mjr | 21:5048e16cc9ef | 2526 | turnOff = true; |
mjr | 21:5048e16cc9ef | 2527 | |
mjr | 21:5048e16cc9ef | 2528 | // if we decided to turn off the button, do so |
mjr | 21:5048e16cc9ef | 2529 | if (turnOff) |
mjr | 21:5048e16cc9ef | 2530 | { |
mjr | 21:5048e16cc9ef | 2531 | lbBtnTimer.stop(); |
mjr | 21:5048e16cc9ef | 2532 | simButtons &= ~lbButtonBit; |
mjr | 21:5048e16cc9ef | 2533 | } |
mjr | 18:5e890ebd0023 | 2534 | } |
mjr | 17:ab3cec0c8bf4 | 2535 | } |
mjr | 17:ab3cec0c8bf4 | 2536 | |
mjr | 17:ab3cec0c8bf4 | 2537 | // If a firing event is in progress, generate synthetic reports to |
mjr | 17:ab3cec0c8bf4 | 2538 | // describe an idealized version of the plunger motion to VP rather |
mjr | 17:ab3cec0c8bf4 | 2539 | // than reporting the actual physical plunger position. |
mjr | 6:cc35eb643e8f | 2540 | // |
mjr | 17:ab3cec0c8bf4 | 2541 | // We use the synthetic reports during a release event because the |
mjr | 17:ab3cec0c8bf4 | 2542 | // physical plunger motion when released is too fast for VP to track. |
mjr | 17:ab3cec0c8bf4 | 2543 | // VP only syncs its internal physics model with the outside world |
mjr | 17:ab3cec0c8bf4 | 2544 | // about every 10ms. In that amount of time, the plunger moves |
mjr | 17:ab3cec0c8bf4 | 2545 | // fast enough when released that it can shoot all the way forward, |
mjr | 17:ab3cec0c8bf4 | 2546 | // bounce off of the barrel spring, and rebound part of the way |
mjr | 17:ab3cec0c8bf4 | 2547 | // back. The result is the classic analog-to-digital problem of |
mjr | 17:ab3cec0c8bf4 | 2548 | // sample aliasing. If we happen to time our sample during the |
mjr | 17:ab3cec0c8bf4 | 2549 | // release motion so that we catch the plunger at the peak of a |
mjr | 17:ab3cec0c8bf4 | 2550 | // bounce, the digital signal incorrectly looks like the plunger |
mjr | 17:ab3cec0c8bf4 | 2551 | // is moving slowly forward - VP thinks we went from fully |
mjr | 17:ab3cec0c8bf4 | 2552 | // retracted to half retracted in the sample interval, whereas |
mjr | 17:ab3cec0c8bf4 | 2553 | // we actually traveled all the way forward and half way back, |
mjr | 17:ab3cec0c8bf4 | 2554 | // so the speed VP infers is about 1/3 of the actual speed. |
mjr | 9:fd65b0a94720 | 2555 | // |
mjr | 17:ab3cec0c8bf4 | 2556 | // To correct this, we take advantage of our ability to sample |
mjr | 17:ab3cec0c8bf4 | 2557 | // the CCD image several times in the course of a VP report. If |
mjr | 17:ab3cec0c8bf4 | 2558 | // we catch the plunger near the origin after we've seen it |
mjr | 17:ab3cec0c8bf4 | 2559 | // retracted, we go into Release Event mode. During this mode, |
mjr | 17:ab3cec0c8bf4 | 2560 | // we stop reporting the true physical plunger position, and |
mjr | 17:ab3cec0c8bf4 | 2561 | // instead report an idealized pattern: we report the plunger |
mjr | 17:ab3cec0c8bf4 | 2562 | // immediately shooting forward to a position in front of the |
mjr | 17:ab3cec0c8bf4 | 2563 | // park position that's in proportion to how far back the plunger |
mjr | 17:ab3cec0c8bf4 | 2564 | // was just before the release, and we then report it stationary |
mjr | 17:ab3cec0c8bf4 | 2565 | // at the park position. We continue to report the stationary |
mjr | 17:ab3cec0c8bf4 | 2566 | // park position until the actual physical plunger motion has |
mjr | 17:ab3cec0c8bf4 | 2567 | // stabilized on a new position. We then exit Release Event |
mjr | 17:ab3cec0c8bf4 | 2568 | // mode and return to reporting the true physical position. |
mjr | 17:ab3cec0c8bf4 | 2569 | if (firing) |
mjr | 6:cc35eb643e8f | 2570 | { |
mjr | 17:ab3cec0c8bf4 | 2571 | // Firing in progress. Keep reporting the park position |
mjr | 17:ab3cec0c8bf4 | 2572 | // until the physical plunger position comes to rest. |
mjr | 17:ab3cec0c8bf4 | 2573 | const int restTol = JOYMAX/24; |
mjr | 17:ab3cec0c8bf4 | 2574 | if (firing == 1) |
mjr | 6:cc35eb643e8f | 2575 | { |
mjr | 17:ab3cec0c8bf4 | 2576 | // For the first couple of frames, show the plunger shooting |
mjr | 17:ab3cec0c8bf4 | 2577 | // forward past the zero point, to simulate the momentum carrying |
mjr | 17:ab3cec0c8bf4 | 2578 | // it forward to bounce off of the barrel spring. Show the |
mjr | 17:ab3cec0c8bf4 | 2579 | // bounce as proportional to the distance it was retracted |
mjr | 17:ab3cec0c8bf4 | 2580 | // in the prior report. |
mjr | 17:ab3cec0c8bf4 | 2581 | z = zBounce = -z0/6; |
mjr | 17:ab3cec0c8bf4 | 2582 | ++firing; |
mjr | 6:cc35eb643e8f | 2583 | } |
mjr | 17:ab3cec0c8bf4 | 2584 | else if (firing == 2) |
mjr | 9:fd65b0a94720 | 2585 | { |
mjr | 17:ab3cec0c8bf4 | 2586 | // second frame - keep the bounce a little longer |
mjr | 17:ab3cec0c8bf4 | 2587 | z = zBounce; |
mjr | 17:ab3cec0c8bf4 | 2588 | ++firing; |
mjr | 17:ab3cec0c8bf4 | 2589 | } |
mjr | 17:ab3cec0c8bf4 | 2590 | else if (firing > 4 |
mjr | 17:ab3cec0c8bf4 | 2591 | && abs(znew - z0) < restTol |
mjr | 17:ab3cec0c8bf4 | 2592 | && abs(znew - z1) < restTol |
mjr | 17:ab3cec0c8bf4 | 2593 | && abs(znew - z2) < restTol) |
mjr | 17:ab3cec0c8bf4 | 2594 | { |
mjr | 17:ab3cec0c8bf4 | 2595 | // The physical plunger has come to rest. Exit firing |
mjr | 17:ab3cec0c8bf4 | 2596 | // mode and resume reporting the actual position. |
mjr | 17:ab3cec0c8bf4 | 2597 | firing = false; |
mjr | 17:ab3cec0c8bf4 | 2598 | z = znew; |
mjr | 9:fd65b0a94720 | 2599 | } |
mjr | 9:fd65b0a94720 | 2600 | else |
mjr | 9:fd65b0a94720 | 2601 | { |
mjr | 17:ab3cec0c8bf4 | 2602 | // until the physical plunger comes to rest, simply |
mjr | 17:ab3cec0c8bf4 | 2603 | // report the park position |
mjr | 9:fd65b0a94720 | 2604 | z = 0; |
mjr | 17:ab3cec0c8bf4 | 2605 | ++firing; |
mjr | 9:fd65b0a94720 | 2606 | } |
mjr | 6:cc35eb643e8f | 2607 | } |
mjr | 6:cc35eb643e8f | 2608 | else |
mjr | 6:cc35eb643e8f | 2609 | { |
mjr | 17:ab3cec0c8bf4 | 2610 | // not in firing mode - report the true physical position |
mjr | 17:ab3cec0c8bf4 | 2611 | z = znew; |
mjr | 6:cc35eb643e8f | 2612 | } |
mjr | 17:ab3cec0c8bf4 | 2613 | |
mjr | 17:ab3cec0c8bf4 | 2614 | // shift the new reading into the recent history buffer |
mjr | 6:cc35eb643e8f | 2615 | z2 = z1; |
mjr | 6:cc35eb643e8f | 2616 | z1 = z0; |
mjr | 6:cc35eb643e8f | 2617 | z0 = znew; |
mjr | 2:c174f9ee414a | 2618 | } |
mjr | 6:cc35eb643e8f | 2619 | |
mjr | 11:bd9da7088e6e | 2620 | // update the buttons |
mjr | 18:5e890ebd0023 | 2621 | uint32_t buttons = readButtons(); |
mjr | 17:ab3cec0c8bf4 | 2622 | |
mjr | 21:5048e16cc9ef | 2623 | #ifdef ENABLE_JOYSTICK |
mjr | 17:ab3cec0c8bf4 | 2624 | // If it's been long enough since our last USB status report, |
mjr | 17:ab3cec0c8bf4 | 2625 | // send the new report. We throttle the report rate because |
mjr | 17:ab3cec0c8bf4 | 2626 | // it can overwhelm the PC side if we report too frequently. |
mjr | 17:ab3cec0c8bf4 | 2627 | // VP only wants to sync with the real world in 10ms intervals, |
mjr | 17:ab3cec0c8bf4 | 2628 | // so reporting more frequently only creates i/o overhead |
mjr | 17:ab3cec0c8bf4 | 2629 | // without doing anything to improve the simulation. |
mjr | 17:ab3cec0c8bf4 | 2630 | if (reportTimer.read_ms() > 15) |
mjr | 17:ab3cec0c8bf4 | 2631 | { |
mjr | 17:ab3cec0c8bf4 | 2632 | // read the accelerometer |
mjr | 17:ab3cec0c8bf4 | 2633 | int xa, ya; |
mjr | 17:ab3cec0c8bf4 | 2634 | accel.get(xa, ya); |
mjr | 17:ab3cec0c8bf4 | 2635 | |
mjr | 17:ab3cec0c8bf4 | 2636 | // confine the results to our joystick axis range |
mjr | 17:ab3cec0c8bf4 | 2637 | if (xa < -JOYMAX) xa = -JOYMAX; |
mjr | 17:ab3cec0c8bf4 | 2638 | if (xa > JOYMAX) xa = JOYMAX; |
mjr | 17:ab3cec0c8bf4 | 2639 | if (ya < -JOYMAX) ya = -JOYMAX; |
mjr | 17:ab3cec0c8bf4 | 2640 | if (ya > JOYMAX) ya = JOYMAX; |
mjr | 17:ab3cec0c8bf4 | 2641 | |
mjr | 17:ab3cec0c8bf4 | 2642 | // store the updated accelerometer coordinates |
mjr | 17:ab3cec0c8bf4 | 2643 | x = xa; |
mjr | 17:ab3cec0c8bf4 | 2644 | y = ya; |
mjr | 17:ab3cec0c8bf4 | 2645 | |
mjr | 21:5048e16cc9ef | 2646 | // Report the current plunger position UNLESS the ZB Launch Ball |
mjr | 21:5048e16cc9ef | 2647 | // signal is on, in which case just report a constant 0 value. |
mjr | 21:5048e16cc9ef | 2648 | // ZB Launch Ball turns off the plunger position because it |
mjr | 21:5048e16cc9ef | 2649 | // tells us that the table has a Launch Ball button instead of |
mjr | 21:5048e16cc9ef | 2650 | // a traditional plunger. |
mjr | 21:5048e16cc9ef | 2651 | int zrep = (ZBLaunchBallPort != 0 && wizOn[ZBLaunchBallPort-1] ? 0 : z); |
mjr | 21:5048e16cc9ef | 2652 | |
mjr | 25:e22b88bd783a | 2653 | // Send the status report. Note that we have to map the X and Y |
mjr | 25:e22b88bd783a | 2654 | // axes from the accelerometer to match the Windows joystick axes. |
mjr | 25:e22b88bd783a | 2655 | // The mapping is determined according to the mounting direction |
mjr | 25:e22b88bd783a | 2656 | // set in config.h via the ORIENTATION_xxx macros. |
mjr | 25:e22b88bd783a | 2657 | js.update(JOY_X(x,y), JOY_Y(x,y), zrep, buttons | simButtons, statusFlags); |
mjr | 17:ab3cec0c8bf4 | 2658 | |
mjr | 17:ab3cec0c8bf4 | 2659 | // we've just started a new report interval, so reset the timer |
mjr | 17:ab3cec0c8bf4 | 2660 | reportTimer.reset(); |
mjr | 17:ab3cec0c8bf4 | 2661 | } |
mjr | 21:5048e16cc9ef | 2662 | |
mjr | 10:976666ffa4ef | 2663 | // If we're in pixel dump mode, report all pixel exposure values |
mjr | 10:976666ffa4ef | 2664 | if (reportPix) |
mjr | 10:976666ffa4ef | 2665 | { |
mjr | 17:ab3cec0c8bf4 | 2666 | // send the report |
mjr | 17:ab3cec0c8bf4 | 2667 | plungerSensor.sendExposureReport(js); |
mjr | 17:ab3cec0c8bf4 | 2668 | |
mjr | 10:976666ffa4ef | 2669 | // we have satisfied this request |
mjr | 10:976666ffa4ef | 2670 | reportPix = false; |
mjr | 10:976666ffa4ef | 2671 | } |
mjr | 10:976666ffa4ef | 2672 | |
mjr | 21:5048e16cc9ef | 2673 | #else // ENABLE_JOYSTICK |
mjr | 21:5048e16cc9ef | 2674 | // We're a secondary controller, with no joystick reporting. Send |
mjr | 21:5048e16cc9ef | 2675 | // a generic status report to the host periodically for the sake of |
mjr | 21:5048e16cc9ef | 2676 | // the Windows config tool. |
mjr | 21:5048e16cc9ef | 2677 | if (reportTimer.read_ms() > 200) |
mjr | 21:5048e16cc9ef | 2678 | { |
mjr | 21:5048e16cc9ef | 2679 | js.updateStatus(0); |
mjr | 21:5048e16cc9ef | 2680 | } |
mjr | 21:5048e16cc9ef | 2681 | |
mjr | 21:5048e16cc9ef | 2682 | #endif // ENABLE_JOYSTICK |
mjr | 21:5048e16cc9ef | 2683 | |
mjr | 6:cc35eb643e8f | 2684 | #ifdef DEBUG_PRINTF |
mjr | 6:cc35eb643e8f | 2685 | if (x != 0 || y != 0) |
mjr | 6:cc35eb643e8f | 2686 | printf("%d,%d\r\n", x, y); |
mjr | 6:cc35eb643e8f | 2687 | #endif |
mjr | 6:cc35eb643e8f | 2688 | |
mjr | 35:d832bcab089e | 2689 | // check for connection status changes |
mjr | 35:d832bcab089e | 2690 | int newConnected = js.isConnected() && !js.isSuspended(); |
mjr | 35:d832bcab089e | 2691 | if (newConnected != connected) |
mjr | 35:d832bcab089e | 2692 | { |
mjr | 35:d832bcab089e | 2693 | // give it a few seconds to stabilize |
mjr | 35:d832bcab089e | 2694 | time_t tc = time(0); |
mjr | 35:d832bcab089e | 2695 | if (tc - connectChangeTime > 3) |
mjr | 35:d832bcab089e | 2696 | { |
mjr | 35:d832bcab089e | 2697 | // note the new status |
mjr | 35:d832bcab089e | 2698 | connected = newConnected; |
mjr | 35:d832bcab089e | 2699 | connectChangeTime = tc; |
mjr | 35:d832bcab089e | 2700 | |
mjr | 35:d832bcab089e | 2701 | // if we're no longer connected, turn off all outputs |
mjr | 35:d832bcab089e | 2702 | if (!connected) |
mjr | 35:d832bcab089e | 2703 | allOutputsOff(); |
mjr | 35:d832bcab089e | 2704 | } |
mjr | 35:d832bcab089e | 2705 | } |
mjr | 35:d832bcab089e | 2706 | |
mjr | 6:cc35eb643e8f | 2707 | // provide a visual status indication on the on-board LED |
mjr | 5:a70c0bce770d | 2708 | if (calBtnState < 2 && hbTimer.read_ms() > 1000) |
mjr | 1:d913e0afb2ac | 2709 | { |
mjr | 35:d832bcab089e | 2710 | if (!newConnected) |
mjr | 2:c174f9ee414a | 2711 | { |
mjr | 5:a70c0bce770d | 2712 | // suspended - turn off the LED |
mjr | 4:02c7cd7b2183 | 2713 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 2714 | ledG = 1; |
mjr | 4:02c7cd7b2183 | 2715 | ledB = 1; |
mjr | 5:a70c0bce770d | 2716 | |
mjr | 5:a70c0bce770d | 2717 | // show a status flash every so often |
mjr | 5:a70c0bce770d | 2718 | if (hbcnt % 3 == 0) |
mjr | 5:a70c0bce770d | 2719 | { |
mjr | 6:cc35eb643e8f | 2720 | // disconnected = red/red flash; suspended = red |
mjr | 5:a70c0bce770d | 2721 | for (int n = js.isConnected() ? 1 : 2 ; n > 0 ; --n) |
mjr | 5:a70c0bce770d | 2722 | { |
mjr | 5:a70c0bce770d | 2723 | ledR = 0; |
mjr | 5:a70c0bce770d | 2724 | wait(0.05); |
mjr | 5:a70c0bce770d | 2725 | ledR = 1; |
mjr | 5:a70c0bce770d | 2726 | wait(0.25); |
mjr | 5:a70c0bce770d | 2727 | } |
mjr | 5:a70c0bce770d | 2728 | } |
mjr | 2:c174f9ee414a | 2729 | } |
mjr | 6:cc35eb643e8f | 2730 | else if (needReset) |
mjr | 2:c174f9ee414a | 2731 | { |
mjr | 6:cc35eb643e8f | 2732 | // connected, need to reset due to changes in config parameters - |
mjr | 6:cc35eb643e8f | 2733 | // flash red/green |
mjr | 6:cc35eb643e8f | 2734 | hb = !hb; |
mjr | 6:cc35eb643e8f | 2735 | ledR = (hb ? 0 : 1); |
mjr | 6:cc35eb643e8f | 2736 | ledG = (hb ? 1 : 0); |
mjr | 6:cc35eb643e8f | 2737 | ledB = 0; |
mjr | 6:cc35eb643e8f | 2738 | } |
mjr | 17:ab3cec0c8bf4 | 2739 | else if (cfg.d.plungerEnabled && !cfg.d.plungerCal) |
mjr | 6:cc35eb643e8f | 2740 | { |
mjr | 6:cc35eb643e8f | 2741 | // connected, plunger calibration needed - flash yellow/green |
mjr | 6:cc35eb643e8f | 2742 | hb = !hb; |
mjr | 6:cc35eb643e8f | 2743 | ledR = (hb ? 0 : 1); |
mjr | 6:cc35eb643e8f | 2744 | ledG = 0; |
mjr | 6:cc35eb643e8f | 2745 | ledB = 1; |
mjr | 6:cc35eb643e8f | 2746 | } |
mjr | 6:cc35eb643e8f | 2747 | else |
mjr | 6:cc35eb643e8f | 2748 | { |
mjr | 6:cc35eb643e8f | 2749 | // connected - flash blue/green |
mjr | 2:c174f9ee414a | 2750 | hb = !hb; |
mjr | 4:02c7cd7b2183 | 2751 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 2752 | ledG = (hb ? 0 : 1); |
mjr | 4:02c7cd7b2183 | 2753 | ledB = (hb ? 1 : 0); |
mjr | 2:c174f9ee414a | 2754 | } |
mjr | 1:d913e0afb2ac | 2755 | |
mjr | 1:d913e0afb2ac | 2756 | // reset the heartbeat timer |
mjr | 1:d913e0afb2ac | 2757 | hbTimer.reset(); |
mjr | 5:a70c0bce770d | 2758 | ++hbcnt; |
mjr | 1:d913e0afb2ac | 2759 | } |
mjr | 1:d913e0afb2ac | 2760 | } |
mjr | 0:5acbbe3f4cf4 | 2761 | } |