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work in progress
Dependencies: FastAnalogIn FastIO USBDevice mbed FastPWM SimpleDMA
Fork of Pinscape_Controller by
main.cpp@15:944bbc29c4dd, 2014-12-29 (annotated)
- Committer:
- mjr
- Date:
- Mon Dec 29 19:26:45 2014 +0000
- Revision:
- 15:944bbc29c4dd
- Parent:
- 14:df700b22ca08
- Child:
- 16:c35f905c3311
Fix and expand comments on LedWiz behavior vis-a-vis levels 48 and 49
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 | 5:a70c0bce770d | 22 | // "Pinscape" is the name of my custom-built virtual pinball cabinet. I wrote this |
mjr | 5:a70c0bce770d | 23 | // software to perform a number of tasks that I needed for my cabinet. It runs on a |
mjr | 5:a70c0bce770d | 24 | // Freescale KL25Z microcontroller, which is a small and inexpensive device that |
mjr | 5:a70c0bce770d | 25 | // attaches to the host PC via USB and can interface with numerous types of external |
mjr | 5:a70c0bce770d | 26 | // hardware. |
mjr | 5:a70c0bce770d | 27 | // |
mjr | 5:a70c0bce770d | 28 | // I designed the software and hardware in this project especially for Pinscape, but |
mjr | 5:a70c0bce770d | 29 | // it uses standard interfaces in Windows and Visual Pinball, so it should be |
mjr | 5:a70c0bce770d | 30 | // readily usable in anyone else's VP-based cabinet. I've tried to document the |
mjr | 5:a70c0bce770d | 31 | // hardware in enough detail for anyone else to duplicate the entire project, and |
mjr | 5:a70c0bce770d | 32 | // the full software is open source. |
mjr | 5:a70c0bce770d | 33 | // |
mjr | 6:cc35eb643e8f | 34 | // The device appears to the host computer as a USB joystick. This works with the |
mjr | 6:cc35eb643e8f | 35 | // standard Windows joystick device drivers, so there's no need to install any |
mjr | 6:cc35eb643e8f | 36 | // software on the PC - Windows should recognize it as a joystick when you plug |
mjr | 6:cc35eb643e8f | 37 | // it in and shouldn't ask you to install anything. If you bring up the control |
mjr | 6:cc35eb643e8f | 38 | // panel for USB Game Controllers, this device will appear as "Pinscape Controller". |
mjr | 6:cc35eb643e8f | 39 | // *Don't* do any calibration with the Windows control panel or third-part |
mjr | 6:cc35eb643e8f | 40 | // calibration tools. The device calibrates itself automatically for the |
mjr | 6:cc35eb643e8f | 41 | // accelerometer data, and has its own special calibration procedure for the |
mjr | 6:cc35eb643e8f | 42 | // plunger (see below). |
mjr | 6:cc35eb643e8f | 43 | // |
mjr | 5:a70c0bce770d | 44 | // The controller provides the following functions. It should be possible to use |
mjr | 5:a70c0bce770d | 45 | // any subet of the features without using all of them. External hardware for any |
mjr | 5:a70c0bce770d | 46 | // particular function can simply be omitted if that feature isn't needed. |
mjr | 5:a70c0bce770d | 47 | // |
mjr | 5:a70c0bce770d | 48 | // - Nudge sensing via the KL25Z's on-board accelerometer. Nudge accelerations are |
mjr | 5:a70c0bce770d | 49 | // processed into a physics model of a rolling ball, and changes to the ball's |
mjr | 5:a70c0bce770d | 50 | // motion are sent to the host computer via the joystick interface. This is designed |
mjr | 5:a70c0bce770d | 51 | // especially to work with Visuall Pinball's nudge handling to produce realistic |
mjr | 5:a70c0bce770d | 52 | // on-screen results in VP. By doing some physics modeling right on the device, |
mjr | 5:a70c0bce770d | 53 | // rather than sending raw accelerometer data to VP, we can produce better results |
mjr | 5:a70c0bce770d | 54 | // using our awareness of the real physical parameters of a pinball cabinet. |
mjr | 5:a70c0bce770d | 55 | // VP's nudge handling has to be more generic, so it can't make the same sorts |
mjr | 5:a70c0bce770d | 56 | // of assumptions that we can about the dynamics of a real cabinet. |
mjr | 5:a70c0bce770d | 57 | // |
mjr | 5:a70c0bce770d | 58 | // The nudge data reports are compatible with the built-in Windows USB joystick |
mjr | 5:a70c0bce770d | 59 | // drivers and with VP's own joystick input scheme, so the nudge sensing is almost |
mjr | 5:a70c0bce770d | 60 | // plug-and-play. There are no Windiows drivers to install, and the only VP work |
mjr | 5:a70c0bce770d | 61 | // needed is to customize a few global preference settings. |
mjr | 5:a70c0bce770d | 62 | // |
mjr | 5:a70c0bce770d | 63 | // - Plunger position sensing via an attached TAOS TSL 1410R CCD linear array sensor. |
mjr | 5:a70c0bce770d | 64 | // The sensor must be wired to a particular set of I/O ports on the KL25Z, and must |
mjr | 5:a70c0bce770d | 65 | // be positioned adjacent to the plunger with proper lighting. The physical and |
mjr | 5:a70c0bce770d | 66 | // electronic installation details are desribed in the project documentation. We read |
mjr | 5:a70c0bce770d | 67 | // the CCD to determine how far back the plunger is pulled, and report this to Visual |
mjr | 5:a70c0bce770d | 68 | // Pinball via the joystick interface. As with the nudge data, this is all nearly |
mjr | 5:a70c0bce770d | 69 | // plug-and-play, in that it works with the default Windows USB drivers and works |
mjr | 5:a70c0bce770d | 70 | // with the existing VP handling for analog plunger input. A few VP settings are |
mjr | 5:a70c0bce770d | 71 | // needed to tell VP to allow the plunger. |
mjr | 5:a70c0bce770d | 72 | // |
mjr | 6:cc35eb643e8f | 73 | // For best results, the plunger sensor should be calibrated. The calibration |
mjr | 6:cc35eb643e8f | 74 | // is stored in non-volatile memory on board the KL25Z, so it's only necessary |
mjr | 6:cc35eb643e8f | 75 | // to do the calibration once, when you first install everything. (You might |
mjr | 6:cc35eb643e8f | 76 | // also want to re-calibrate if you physically remove and reinstall the CCD |
mjr | 6:cc35eb643e8f | 77 | // sensor or the mechanical plunger, since their alignment might change slightly |
mjr | 6:cc35eb643e8f | 78 | // when you put everything back together.) To calibrate, you have to attach a |
mjr | 6:cc35eb643e8f | 79 | // momentary switch (e.g., a push-button switch) between one of the KL25Z ground |
mjr | 6:cc35eb643e8f | 80 | // pins (e.g., jumper J9 pin 12) and PTE29 (J10 pin 9). Press and hold the |
mjr | 6:cc35eb643e8f | 81 | // button for about two seconds - the LED on the KL25Z wlil flash blue while |
mjr | 6:cc35eb643e8f | 82 | // you hold the button, and will turn solid blue when you've held it down long |
mjr | 6:cc35eb643e8f | 83 | // enough to enter calibration mode. This mode will last about 15 seconds. |
mjr | 6:cc35eb643e8f | 84 | // Simply pull the plunger all the way back, hold it for a few moments, and |
mjr | 6:cc35eb643e8f | 85 | // gradually return it to the starting position. *Don't* release it - we want |
mjr | 6:cc35eb643e8f | 86 | // to measure the maximum retracted position and the rest position, but NOT |
mjr | 6:cc35eb643e8f | 87 | // the maximum forward position when the outer barrel spring is compressed. |
mjr | 6:cc35eb643e8f | 88 | // After about 15 seconds, the device will save the new calibration settings |
mjr | 6:cc35eb643e8f | 89 | // to its flash memory, and the LED will return to the regular "heartbeat" |
mjr | 6:cc35eb643e8f | 90 | // flashes. If this is the first time you calibrated, you should observe the |
mjr | 6:cc35eb643e8f | 91 | // color of the flashes change from yellow/green to blue/green to indicate |
mjr | 6:cc35eb643e8f | 92 | // that the plunger has been calibrated. |
mjr | 6:cc35eb643e8f | 93 | // |
mjr | 6:cc35eb643e8f | 94 | // Note that while Visual Pinball itself has good native support for analog |
mjr | 6:cc35eb643e8f | 95 | // plungers, most of the VP tables in circulation don't implement the necessary |
mjr | 6:cc35eb643e8f | 96 | // scripting features to make this work properly. Therefore, you'll have to do |
mjr | 6:cc35eb643e8f | 97 | // a little scripting work for each table you download to add the required code |
mjr | 6:cc35eb643e8f | 98 | // to that individual table. The work has to be customized for each table, so |
mjr | 6:cc35eb643e8f | 99 | // I haven't been able to automate this process, but I have tried to reduce it |
mjr | 6:cc35eb643e8f | 100 | // to a relatively simple recipe that I've documented separately. |
mjr | 5:a70c0bce770d | 101 | // |
mjr | 5:a70c0bce770d | 102 | // - In addition to the CCD sensor, a button should be attached (also described in |
mjr | 5:a70c0bce770d | 103 | // the project documentation) to activate calibration mode for the plunger. When |
mjr | 5:a70c0bce770d | 104 | // calibration mode is activated, the software reads the plunger position for about |
mjr | 5:a70c0bce770d | 105 | // 10 seconds when to note the limits of travel, and uses these limits to ensure |
mjr | 5:a70c0bce770d | 106 | // accurate reports to VP that properly report the actual position of the physical |
mjr | 5:a70c0bce770d | 107 | // plunger. The calibration is stored in non-volatile memory on the KL25Z, so it's |
mjr | 5:a70c0bce770d | 108 | // only necessary to calibrate once - the calibration will survive power cycling |
mjr | 5:a70c0bce770d | 109 | // and reboots of the PC. It's only necessary to recalibrate if the CCD sensor or |
mjr | 5:a70c0bce770d | 110 | // the plunger are removed and reinstalled, since the relative alignment of the |
mjr | 5:a70c0bce770d | 111 | // parts could cahnge slightly when reinstalling. |
mjr | 5:a70c0bce770d | 112 | // |
mjr | 13:72dda449c3c0 | 113 | // - Button input wiring. 24 of the KL25Z's GPIO ports are mapped as digital inputs |
mjr | 13:72dda449c3c0 | 114 | // for buttons and switches. The software reports these as joystick buttons when |
mjr | 13:72dda449c3c0 | 115 | // it sends reports to the PC. These can be used to wire physical pinball-style |
mjr | 13:72dda449c3c0 | 116 | // buttons in the cabinet (e.g., flipper buttons, the Start button) and miscellaneous |
mjr | 13:72dda449c3c0 | 117 | // switches (such as a tilt bob) to the PC. Visual Pinball can use joystick buttons |
mjr | 13:72dda449c3c0 | 118 | // for input - you just have to assign a VP function to each button using VP's |
mjr | 13:72dda449c3c0 | 119 | // keyboard options dialog. To wire a button physically, connect one terminal of |
mjr | 13:72dda449c3c0 | 120 | // the button switch to the KL25Z ground, and connect the other terminal to the |
mjr | 13:72dda449c3c0 | 121 | // the GPIO port you wish to assign to the button. See the buttonMap[] array |
mjr | 13:72dda449c3c0 | 122 | // below for the available GPIO ports and their assigned joystick button numbers. |
mjr | 13:72dda449c3c0 | 123 | // If you're not using a GPIO port, you can just leave it unconnected - the digital |
mjr | 13:72dda449c3c0 | 124 | // inputs have built-in pull-up resistors, so an unconnected port is the same as |
mjr | 13:72dda449c3c0 | 125 | // an open switch (an "off" state for the button). |
mjr | 13:72dda449c3c0 | 126 | // |
mjr | 5:a70c0bce770d | 127 | // - LedWiz emulation. The KL25Z can appear to the PC as an LedWiz device, and will |
mjr | 5:a70c0bce770d | 128 | // accept and process LedWiz commands from the host. The software can turn digital |
mjr | 5:a70c0bce770d | 129 | // output ports on and off, and can set varying PWM intensitiy levels on a subset |
mjr | 5:a70c0bce770d | 130 | // of ports. (The KL25Z can only provide 6 PWM ports. Intensity level settings on |
mjr | 5:a70c0bce770d | 131 | // other ports is ignored, so non-PWM ports can only be used for simple on/off |
mjr | 5:a70c0bce770d | 132 | // devices such as contactors and solenoids.) The KL25Z can only supply 4mA on its |
mjr | 5:a70c0bce770d | 133 | // output ports, so external hardware is required to take advantage of the LedWiz |
mjr | 5:a70c0bce770d | 134 | // emulation. Many different hardware designs are possible, but there's a simple |
mjr | 5:a70c0bce770d | 135 | // reference design in the documentation that uses a Darlington array IC to |
mjr | 5:a70c0bce770d | 136 | // increase the output from each port to 500mA (the same level as the LedWiz), |
mjr | 5:a70c0bce770d | 137 | // plus an extended design that adds an optocoupler and MOSFET to provide very |
mjr | 5:a70c0bce770d | 138 | // high power handling, up to about 45A or 150W, with voltages up to 100V. |
mjr | 5:a70c0bce770d | 139 | // That will handle just about any DC device directly (wtihout relays or other |
mjr | 5:a70c0bce770d | 140 | // amplifiers), and switches fast enough to support PWM devices. |
mjr | 5:a70c0bce770d | 141 | // |
mjr | 5:a70c0bce770d | 142 | // The device can report any desired LedWiz unit number to the host, which makes |
mjr | 5:a70c0bce770d | 143 | // it possible to use the LedWiz emulation on a machine that also has one or more |
mjr | 5:a70c0bce770d | 144 | // actual LedWiz devices intalled. The LedWiz design allows for up to 16 units |
mjr | 5:a70c0bce770d | 145 | // to be installed in one machine - each one is invidually addressable by its |
mjr | 5:a70c0bce770d | 146 | // distinct unit number. |
mjr | 5:a70c0bce770d | 147 | // |
mjr | 5:a70c0bce770d | 148 | // The LedWiz emulation features are of course optional. There's no need to |
mjr | 5:a70c0bce770d | 149 | // build any of the external port hardware (or attach anything to the output |
mjr | 5:a70c0bce770d | 150 | // ports at all) if the LedWiz features aren't needed. Most people won't have |
mjr | 5:a70c0bce770d | 151 | // any use for the LedWiz features. I built them mostly as a learning exercise, |
mjr | 5:a70c0bce770d | 152 | // but with a slight practical need for a handful of extra ports (I'm using the |
mjr | 5:a70c0bce770d | 153 | // cutting-edge 10-contactor setup, so my real LedWiz is full!). |
mjr | 6:cc35eb643e8f | 154 | // |
mjr | 6:cc35eb643e8f | 155 | // The on-board LED on the KL25Z flashes to indicate the current device status: |
mjr | 6:cc35eb643e8f | 156 | // |
mjr | 6:cc35eb643e8f | 157 | // two short red flashes = the device is powered but hasn't successfully |
mjr | 6:cc35eb643e8f | 158 | // connected to the host via USB (either it's not physically connected |
mjr | 6:cc35eb643e8f | 159 | // to the USB port, or there was a problem with the software handshake |
mjr | 6:cc35eb643e8f | 160 | // with the USB device driver on the computer) |
mjr | 6:cc35eb643e8f | 161 | // |
mjr | 6:cc35eb643e8f | 162 | // short red flash = the host computer is in sleep/suspend mode |
mjr | 6:cc35eb643e8f | 163 | // |
mjr | 6:cc35eb643e8f | 164 | // long red/green = the LedWiz unti number has been changed, so a reset |
mjr | 6:cc35eb643e8f | 165 | // is needed. You can simply unplug the device and plug it back in, |
mjr | 6:cc35eb643e8f | 166 | // or presss and hold the reset button on the device for a few seconds. |
mjr | 6:cc35eb643e8f | 167 | // |
mjr | 6:cc35eb643e8f | 168 | // long yellow/green = everything's working, but the plunger hasn't |
mjr | 6:cc35eb643e8f | 169 | // been calibrated; follow the calibration procedure described above. |
mjr | 6:cc35eb643e8f | 170 | // This flash mode won't appear if the CCD has been disabled. Note |
mjr | 6:cc35eb643e8f | 171 | // that the device can't tell whether a CCD is physically attached, |
mjr | 6:cc35eb643e8f | 172 | // so you should use the config command to disable the CCD software |
mjr | 6:cc35eb643e8f | 173 | // features if you won't be attaching a CCD. |
mjr | 6:cc35eb643e8f | 174 | // |
mjr | 6:cc35eb643e8f | 175 | // alternating blue/green = everything's working |
mjr | 6:cc35eb643e8f | 176 | // |
mjr | 6:cc35eb643e8f | 177 | // Software configuration: you can change option settings by sending special |
mjr | 6:cc35eb643e8f | 178 | // USB commands from the PC. I've provided a Windows program for this purpose; |
mjr | 6:cc35eb643e8f | 179 | // refer to the documentation for details. For reference, here's the format |
mjr | 6:cc35eb643e8f | 180 | // of the USB command for option changes: |
mjr | 6:cc35eb643e8f | 181 | // |
mjr | 6:cc35eb643e8f | 182 | // length of report = 8 bytes |
mjr | 6:cc35eb643e8f | 183 | // byte 0 = 65 (0x41) |
mjr | 6:cc35eb643e8f | 184 | // byte 1 = 1 (0x01) |
mjr | 6:cc35eb643e8f | 185 | // byte 2 = new LedWiz unit number, 0x01 to 0x0f |
mjr | 6:cc35eb643e8f | 186 | // byte 3 = feature enable bit mask: |
mjr | 6:cc35eb643e8f | 187 | // 0x01 = enable CCD (default = on) |
mjr | 9:fd65b0a94720 | 188 | // |
mjr | 9:fd65b0a94720 | 189 | // Plunger calibration mode: the host can activate plunger calibration mode |
mjr | 9:fd65b0a94720 | 190 | // by sending this packet. This has the same effect as pressing and holding |
mjr | 9:fd65b0a94720 | 191 | // the plunger calibration button for two seconds, to allow activating this |
mjr | 9:fd65b0a94720 | 192 | // mode without attaching a physical button. |
mjr | 9:fd65b0a94720 | 193 | // |
mjr | 9:fd65b0a94720 | 194 | // length = 8 bytes |
mjr | 9:fd65b0a94720 | 195 | // byte 0 = 65 (0x41) |
mjr | 9:fd65b0a94720 | 196 | // byte 1 = 2 (0x02) |
mjr | 9:fd65b0a94720 | 197 | // |
mjr | 10:976666ffa4ef | 198 | // Exposure reports: the host can request a report of the full set of pixel |
mjr | 10:976666ffa4ef | 199 | // values for the next frame by sending this special packet: |
mjr | 10:976666ffa4ef | 200 | // |
mjr | 10:976666ffa4ef | 201 | // length = 8 bytes |
mjr | 10:976666ffa4ef | 202 | // byte 0 = 65 (0x41) |
mjr | 10:976666ffa4ef | 203 | // byte 1 = 3 (0x03) |
mjr | 10:976666ffa4ef | 204 | // |
mjr | 10:976666ffa4ef | 205 | // We'll respond with a series of special reports giving the exposure status. |
mjr | 10:976666ffa4ef | 206 | // Each report has the following structure: |
mjr | 10:976666ffa4ef | 207 | // |
mjr | 10:976666ffa4ef | 208 | // bytes 0:1 = 11-bit index, with high 5 bits set to 10000. For |
mjr | 10:976666ffa4ef | 209 | // example, 0x04 0x80 indicates index 4. This is the |
mjr | 10:976666ffa4ef | 210 | // starting pixel number in the report. The first report |
mjr | 10:976666ffa4ef | 211 | // will be 0x00 0x80 to indicate pixel #0. |
mjr | 10:976666ffa4ef | 212 | // bytes 2:3 = 16-bit unsigned int brightness level of pixel at index |
mjr | 10:976666ffa4ef | 213 | // bytes 4:5 = brightness of pixel at index+1 |
mjr | 10:976666ffa4ef | 214 | // etc for the rest of the packet |
mjr | 10:976666ffa4ef | 215 | // |
mjr | 10:976666ffa4ef | 216 | // This still has the form of a joystick packet at the USB level, but |
mjr | 10:976666ffa4ef | 217 | // can be differentiated by the host via the status bits. It would have |
mjr | 10:976666ffa4ef | 218 | // been cleaner to use a different Report ID at the USB level, but this |
mjr | 10:976666ffa4ef | 219 | // would have necessitated a different container structure in the report |
mjr | 10:976666ffa4ef | 220 | // descriptor, which would have broken LedWiz compatibility. Given that |
mjr | 10:976666ffa4ef | 221 | // constraint, we have to re-use the joystick report type, making for |
mjr | 10:976666ffa4ef | 222 | // this somewhat kludgey approach. |
mjr | 6:cc35eb643e8f | 223 | |
mjr | 0:5acbbe3f4cf4 | 224 | #include "mbed.h" |
mjr | 6:cc35eb643e8f | 225 | #include "math.h" |
mjr | 0:5acbbe3f4cf4 | 226 | #include "USBJoystick.h" |
mjr | 0:5acbbe3f4cf4 | 227 | #include "MMA8451Q.h" |
mjr | 1:d913e0afb2ac | 228 | #include "tsl1410r.h" |
mjr | 1:d913e0afb2ac | 229 | #include "FreescaleIAP.h" |
mjr | 2:c174f9ee414a | 230 | #include "crc32.h" |
mjr | 2:c174f9ee414a | 231 | |
mjr | 5:a70c0bce770d | 232 | |
mjr | 5:a70c0bce770d | 233 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 234 | // |
mjr | 5:a70c0bce770d | 235 | // Configuration details |
mjr | 5:a70c0bce770d | 236 | // |
mjr | 2:c174f9ee414a | 237 | |
mjr | 5:a70c0bce770d | 238 | // Our USB device vendor ID, product ID, and version. |
mjr | 5:a70c0bce770d | 239 | // We use the vendor ID for the LedWiz, so that the PC-side software can |
mjr | 5:a70c0bce770d | 240 | // identify us as capable of performing LedWiz commands. The LedWiz uses |
mjr | 5:a70c0bce770d | 241 | // a product ID value from 0xF0 to 0xFF; the last four bits identify the |
mjr | 5:a70c0bce770d | 242 | // unit number (e.g., product ID 0xF7 means unit #7). This allows multiple |
mjr | 5:a70c0bce770d | 243 | // LedWiz units to be installed in a single PC; the software on the PC side |
mjr | 5:a70c0bce770d | 244 | // uses the unit number to route commands to the devices attached to each |
mjr | 5:a70c0bce770d | 245 | // unit. On the real LedWiz, the unit number must be set in the firmware |
mjr | 5:a70c0bce770d | 246 | // at the factory; it's not configurable by the end user. Most LedWiz's |
mjr | 5:a70c0bce770d | 247 | // ship with the unit number set to 0, but the vendor will set different |
mjr | 5:a70c0bce770d | 248 | // unit numbers if requested at the time of purchase. So if you have a |
mjr | 5:a70c0bce770d | 249 | // single LedWiz already installed in your cabinet, and you didn't ask for |
mjr | 5:a70c0bce770d | 250 | // a non-default unit number, your existing LedWiz will be unit 0. |
mjr | 5:a70c0bce770d | 251 | // |
mjr | 5:a70c0bce770d | 252 | // We use unit #7 by default. There doesn't seem to be a requirement that |
mjr | 5:a70c0bce770d | 253 | // unit numbers be contiguous (DirectOutput Framework and other software |
mjr | 5:a70c0bce770d | 254 | // seem happy to have units 0 and 7 installed, without 1-6 existing). |
mjr | 5:a70c0bce770d | 255 | // Marking this unit as #7 should work for almost everybody out of the box; |
mjr | 5:a70c0bce770d | 256 | // the most common case seems to be to have a single LedWiz installed, and |
mjr | 5:a70c0bce770d | 257 | // it's probably extremely rare to more than two. |
mjr | 6:cc35eb643e8f | 258 | // |
mjr | 6:cc35eb643e8f | 259 | // Note that the USB_PRODUCT_ID value set here omits the unit number. We |
mjr | 6:cc35eb643e8f | 260 | // take the unit number from the saved configuration. We provide a |
mjr | 6:cc35eb643e8f | 261 | // configuration command that can be sent via the USB connection to change |
mjr | 6:cc35eb643e8f | 262 | // the unit number, so that users can select the unit number without having |
mjr | 6:cc35eb643e8f | 263 | // to install a different version of the software. We'll combine the base |
mjr | 6:cc35eb643e8f | 264 | // product ID here with the unit number to get the actual product ID that |
mjr | 6:cc35eb643e8f | 265 | // we send to the USB controller. |
mjr | 5:a70c0bce770d | 266 | const uint16_t USB_VENDOR_ID = 0xFAFA; |
mjr | 6:cc35eb643e8f | 267 | const uint16_t USB_PRODUCT_ID = 0x00F0; |
mjr | 6:cc35eb643e8f | 268 | const uint16_t USB_VERSION_NO = 0x0006; |
mjr | 6:cc35eb643e8f | 269 | const uint8_t DEFAULT_LEDWIZ_UNIT_NUMBER = 0x07; |
mjr | 0:5acbbe3f4cf4 | 270 | |
mjr | 9:fd65b0a94720 | 271 | // Number of pixels we read from the sensor on each frame. This can be |
mjr | 9:fd65b0a94720 | 272 | // less than the physical pixel count if desired; we'll read every nth |
mjr | 9:fd65b0a94720 | 273 | // piexl if so. E.g., with a 1280-pixel physical sensor, if npix is 320, |
mjr | 9:fd65b0a94720 | 274 | // we'll read every 4th pixel. It takes time to read each pixel, so the |
mjr | 9:fd65b0a94720 | 275 | // fewer pixels we read, the higher the refresh rate we can achieve. |
mjr | 9:fd65b0a94720 | 276 | // It's therefore better not to read more pixels than we have to. |
mjr | 9:fd65b0a94720 | 277 | // |
mjr | 9:fd65b0a94720 | 278 | // VP seems to have an internal resolution in the 8-bit range, so there's |
mjr | 9:fd65b0a94720 | 279 | // no apparent benefit to reading more than 128-256 pixels when using VP. |
mjr | 9:fd65b0a94720 | 280 | // Empirically, 160 pixels seems about right. The overall travel of a |
mjr | 9:fd65b0a94720 | 281 | // standard pinball plunger is about 3", so 160 pixels gives us resolution |
mjr | 9:fd65b0a94720 | 282 | // of about 1/50". This seems to take full advantage of VP's modeling |
mjr | 9:fd65b0a94720 | 283 | // ability, and is probably also more precise than a human player's |
mjr | 9:fd65b0a94720 | 284 | // perception of the plunger position. |
mjr | 9:fd65b0a94720 | 285 | const int npix = 160; |
mjr | 9:fd65b0a94720 | 286 | |
mjr | 4:02c7cd7b2183 | 287 | // On-board RGB LED elements - we use these for diagnostic displays. |
mjr | 4:02c7cd7b2183 | 288 | DigitalOut ledR(LED1), ledG(LED2), ledB(LED3); |
mjr | 0:5acbbe3f4cf4 | 289 | |
mjr | 1:d913e0afb2ac | 290 | // calibration button - switch input and LED output |
mjr | 1:d913e0afb2ac | 291 | DigitalIn calBtn(PTE29); |
mjr | 1:d913e0afb2ac | 292 | DigitalOut calBtnLed(PTE23); |
mjr | 0:5acbbe3f4cf4 | 293 | |
mjr | 11:bd9da7088e6e | 294 | // Joystick button input pin assignments. You can wire up to |
mjr | 11:bd9da7088e6e | 295 | // 32 GPIO ports to buttons (equipped with momentary switches). |
mjr | 11:bd9da7088e6e | 296 | // Connect each switch between the desired GPIO port and ground |
mjr | 11:bd9da7088e6e | 297 | // (J9 pin 12 or 14). When the button is pressed, we'll tell the |
mjr | 13:72dda449c3c0 | 298 | // host PC that the corresponding joystick button is pressed. We |
mjr | 11:bd9da7088e6e | 299 | // debounce the keystrokes in software, so you can simply wire |
mjr | 11:bd9da7088e6e | 300 | // directly to pushbuttons with no additional external hardware. |
mjr | 11:bd9da7088e6e | 301 | // |
mjr | 11:bd9da7088e6e | 302 | // Note that we assign 24 buttons by default, even though the USB |
mjr | 11:bd9da7088e6e | 303 | // joystick interface can handle up to 32 buttons. VP itself only |
mjr | 11:bd9da7088e6e | 304 | // allows mapping of up to 24 buttons in the preferences dialog |
mjr | 11:bd9da7088e6e | 305 | // (although it can recognize 32 buttons internally). If you want |
mjr | 11:bd9da7088e6e | 306 | // more buttons, you can reassign pins that are assigned by default |
mjr | 11:bd9da7088e6e | 307 | // as LedWiz outputs. To reassign a pin, find the pin you wish to |
mjr | 11:bd9da7088e6e | 308 | // reassign in the LedWizPortMap array below, and change the pin name |
mjr | 11:bd9da7088e6e | 309 | // there to NC (for Not Connected). You can then change one of the |
mjr | 11:bd9da7088e6e | 310 | // "NC" entries below to the reallocated pin name. The limit is 32 |
mjr | 11:bd9da7088e6e | 311 | // buttons total. |
mjr | 11:bd9da7088e6e | 312 | // |
mjr | 11:bd9da7088e6e | 313 | // Note: PTD1 (pin J2-12) should NOT be assigned as a button input, |
mjr | 11:bd9da7088e6e | 314 | // as this pin is physically connected on the KL25Z to the on-board |
mjr | 11:bd9da7088e6e | 315 | // indicator LED's blue segment. This precludes any other use of |
mjr | 11:bd9da7088e6e | 316 | // the pin. |
mjr | 11:bd9da7088e6e | 317 | PinName buttonMap[] = { |
mjr | 11:bd9da7088e6e | 318 | PTC2, // J10 pin 10, joystick button 1 |
mjr | 11:bd9da7088e6e | 319 | PTB3, // J10 pin 8, joystick button 2 |
mjr | 11:bd9da7088e6e | 320 | PTB2, // J10 pin 6, joystick button 3 |
mjr | 11:bd9da7088e6e | 321 | PTB1, // J10 pin 4, joystick button 4 |
mjr | 11:bd9da7088e6e | 322 | |
mjr | 11:bd9da7088e6e | 323 | PTE30, // J10 pin 11, joystick button 5 |
mjr | 11:bd9da7088e6e | 324 | PTE22, // J10 pin 5, joystick button 6 |
mjr | 11:bd9da7088e6e | 325 | |
mjr | 11:bd9da7088e6e | 326 | PTE5, // J9 pin 15, joystick button 7 |
mjr | 11:bd9da7088e6e | 327 | PTE4, // J9 pin 13, joystick button 8 |
mjr | 11:bd9da7088e6e | 328 | PTE3, // J9 pin 11, joystick button 9 |
mjr | 11:bd9da7088e6e | 329 | PTE2, // J9 pin 9, joystick button 10 |
mjr | 11:bd9da7088e6e | 330 | PTB11, // J9 pin 7, joystick button 11 |
mjr | 11:bd9da7088e6e | 331 | PTB10, // J9 pin 5, joystick button 12 |
mjr | 11:bd9da7088e6e | 332 | PTB9, // J9 pin 3, joystick button 13 |
mjr | 11:bd9da7088e6e | 333 | PTB8, // J9 pin 1, joystick button 14 |
mjr | 11:bd9da7088e6e | 334 | |
mjr | 11:bd9da7088e6e | 335 | PTC12, // J2 pin 1, joystick button 15 |
mjr | 11:bd9da7088e6e | 336 | PTC13, // J2 pin 3, joystick button 16 |
mjr | 11:bd9da7088e6e | 337 | PTC16, // J2 pin 5, joystick button 17 |
mjr | 11:bd9da7088e6e | 338 | PTC17, // J2 pin 7, joystick button 18 |
mjr | 11:bd9da7088e6e | 339 | PTA16, // J2 pin 9, joystick button 19 |
mjr | 11:bd9da7088e6e | 340 | PTA17, // J2 pin 11, joystick button 20 |
mjr | 11:bd9da7088e6e | 341 | PTE31, // J2 pin 13, joystick button 21 |
mjr | 11:bd9da7088e6e | 342 | PTD6, // J2 pin 17, joystick button 22 |
mjr | 11:bd9da7088e6e | 343 | PTD7, // J2 pin 19, joystick button 23 |
mjr | 11:bd9da7088e6e | 344 | |
mjr | 11:bd9da7088e6e | 345 | PTE1, // J2 pin 20, joystick button 24 |
mjr | 11:bd9da7088e6e | 346 | |
mjr | 11:bd9da7088e6e | 347 | NC, // not used, joystick button 25 |
mjr | 11:bd9da7088e6e | 348 | NC, // not used, joystick button 26 |
mjr | 11:bd9da7088e6e | 349 | NC, // not used, joystick button 27 |
mjr | 11:bd9da7088e6e | 350 | NC, // not used, joystick button 28 |
mjr | 11:bd9da7088e6e | 351 | NC, // not used, joystick button 29 |
mjr | 11:bd9da7088e6e | 352 | NC, // not used, joystick button 30 |
mjr | 11:bd9da7088e6e | 353 | NC, // not used, joystick button 31 |
mjr | 11:bd9da7088e6e | 354 | NC // not used, joystick button 32 |
mjr | 11:bd9da7088e6e | 355 | }; |
mjr | 11:bd9da7088e6e | 356 | |
mjr | 11:bd9da7088e6e | 357 | // LED-Wiz emulation output pin assignments. |
mjr | 6:cc35eb643e8f | 358 | // |
mjr | 6:cc35eb643e8f | 359 | // The LED-Wiz protocol allows setting individual intensity levels |
mjr | 6:cc35eb643e8f | 360 | // on all outputs, with 48 levels of intensity. This can be used |
mjr | 6:cc35eb643e8f | 361 | // to control lamp brightness and motor speeds, among other things. |
mjr | 6:cc35eb643e8f | 362 | // Unfortunately, the KL25Z only has 10 PWM channels, so while we |
mjr | 6:cc35eb643e8f | 363 | // can support the full complement of 32 outputs, we can only provide |
mjr | 6:cc35eb643e8f | 364 | // PWM dimming/speed control on 10 of them. The remaining outputs |
mjr | 6:cc35eb643e8f | 365 | // can only be switched fully on and fully off - we can't support |
mjr | 6:cc35eb643e8f | 366 | // dimming on these, so they'll ignore any intensity level setting |
mjr | 6:cc35eb643e8f | 367 | // requested by the host. Use these for devices that don't have any |
mjr | 6:cc35eb643e8f | 368 | // use for intensity settings anyway, such as contactors and knockers. |
mjr | 6:cc35eb643e8f | 369 | // |
mjr | 11:bd9da7088e6e | 370 | // Ports with pins assigned as "NC" are not connected. That is, |
mjr | 11:bd9da7088e6e | 371 | // there's no physical pin for that LedWiz port number. You can |
mjr | 11:bd9da7088e6e | 372 | // send LedWiz commands to turn NC ports on and off, but doing so |
mjr | 11:bd9da7088e6e | 373 | // will have no effect. The reason we leave some ports unassigned |
mjr | 11:bd9da7088e6e | 374 | // is that we don't have enough physical GPIO pins to fill out the |
mjr | 11:bd9da7088e6e | 375 | // full LedWiz complement of 32 ports. Many pins are already taken |
mjr | 11:bd9da7088e6e | 376 | // for other purposes, such as button inputs or the plunger CCD |
mjr | 11:bd9da7088e6e | 377 | // interface. |
mjr | 11:bd9da7088e6e | 378 | // |
mjr | 6:cc35eb643e8f | 379 | // The mapping between physical output pins on the KL25Z and the |
mjr | 6:cc35eb643e8f | 380 | // assigned LED-Wiz port numbers is essentially arbitrary - you can |
mjr | 6:cc35eb643e8f | 381 | // customize this by changing the entries in the array below if you |
mjr | 6:cc35eb643e8f | 382 | // wish to rearrange the pins for any reason. Be aware that some |
mjr | 6:cc35eb643e8f | 383 | // of the physical outputs are already used for other purposes |
mjr | 6:cc35eb643e8f | 384 | // (e.g., some of the GPIO pins on header J10 are used for the |
mjr | 6:cc35eb643e8f | 385 | // CCD sensor - but you can of course reassign those as well by |
mjr | 6:cc35eb643e8f | 386 | // changing the corresponding declarations elsewhere in this module). |
mjr | 6:cc35eb643e8f | 387 | // The assignments we make here have two main objectives: first, |
mjr | 6:cc35eb643e8f | 388 | // to group the outputs on headers J1 and J2 (to facilitate neater |
mjr | 6:cc35eb643e8f | 389 | // wiring by keeping the output pins together physically), and |
mjr | 6:cc35eb643e8f | 390 | // second, to make the physical pin layout match the LED-Wiz port |
mjr | 6:cc35eb643e8f | 391 | // numbering order to the extent possible. There's one big wrench |
mjr | 6:cc35eb643e8f | 392 | // in the works, though, which is the limited number and discontiguous |
mjr | 6:cc35eb643e8f | 393 | // placement of the KL25Z PWM-capable output pins. This prevents |
mjr | 6:cc35eb643e8f | 394 | // us from doing the most obvious sequential ordering of the pins, |
mjr | 6:cc35eb643e8f | 395 | // so we end up with the outputs arranged into several blocks. |
mjr | 6:cc35eb643e8f | 396 | // Hopefully this isn't too confusing; for more detailed rationale, |
mjr | 6:cc35eb643e8f | 397 | // read on... |
mjr | 6:cc35eb643e8f | 398 | // |
mjr | 6:cc35eb643e8f | 399 | // With the LED-Wiz, the host software configuration usually |
mjr | 6:cc35eb643e8f | 400 | // assumes that each RGB LED is hooked up to three consecutive ports |
mjr | 6:cc35eb643e8f | 401 | // (for the red, green, and blue components, which need to be |
mjr | 6:cc35eb643e8f | 402 | // physically wired to separate outputs to allow each color to be |
mjr | 6:cc35eb643e8f | 403 | // controlled independently). To facilitate this, we arrange the |
mjr | 6:cc35eb643e8f | 404 | // PWM-enabled outputs so that they're grouped together in the |
mjr | 6:cc35eb643e8f | 405 | // port numbering scheme. Unfortunately, these outputs aren't |
mjr | 6:cc35eb643e8f | 406 | // together in a single group in the physical pin layout, so to |
mjr | 6:cc35eb643e8f | 407 | // group them logically in the LED-Wiz port numbering scheme, we |
mjr | 6:cc35eb643e8f | 408 | // have to break up the overall numbering scheme into several blocks. |
mjr | 6:cc35eb643e8f | 409 | // So our port numbering goes sequentially down each column of |
mjr | 6:cc35eb643e8f | 410 | // header pins, but there are several break points where we have |
mjr | 6:cc35eb643e8f | 411 | // to interrupt the obvious sequence to keep the PWM pins grouped |
mjr | 6:cc35eb643e8f | 412 | // logically. |
mjr | 6:cc35eb643e8f | 413 | // |
mjr | 6:cc35eb643e8f | 414 | // In the list below, "pin J1-2" refers to pin 2 on header J1 on |
mjr | 6:cc35eb643e8f | 415 | // the KL25Z, using the standard pin numbering in the KL25Z |
mjr | 6:cc35eb643e8f | 416 | // documentation - this is the physical pin that the port controls. |
mjr | 6:cc35eb643e8f | 417 | // "LW port 1" means LED-Wiz port 1 - this is the LED-Wiz port |
mjr | 6:cc35eb643e8f | 418 | // number that you use on the PC side (in the DirectOutput config |
mjr | 6:cc35eb643e8f | 419 | // file, for example) to address the port. PWM-capable ports are |
mjr | 6:cc35eb643e8f | 420 | // marked as such - we group the PWM-capable ports into the first |
mjr | 6:cc35eb643e8f | 421 | // 10 LED-Wiz port numbers. |
mjr | 11:bd9da7088e6e | 422 | // |
mjr | 11:bd9da7088e6e | 423 | // If you wish to reallocate a pin in the array below to some other |
mjr | 11:bd9da7088e6e | 424 | // use, such as a button input port, simply change the pin name in |
mjr | 11:bd9da7088e6e | 425 | // the entry to NC (for Not Connected). This will disable the given |
mjr | 11:bd9da7088e6e | 426 | // logical LedWiz port number and free up the physical pin. |
mjr | 11:bd9da7088e6e | 427 | // |
mjr | 11:bd9da7088e6e | 428 | // If you wish to reallocate a pin currently assigned to the button |
mjr | 11:bd9da7088e6e | 429 | // input array, simply change the entry for the pin in the buttonMap[] |
mjr | 11:bd9da7088e6e | 430 | // array above to NC (for "not connected"), and plug the pin name into |
mjr | 11:bd9da7088e6e | 431 | // a slot of your choice in the array below. |
mjr | 11:bd9da7088e6e | 432 | // |
mjr | 11:bd9da7088e6e | 433 | // Note: PTD1 (pin J2-12) should NOT be assigned as an LedWiz output, |
mjr | 11:bd9da7088e6e | 434 | // as this pin is physically connected on the KL25Z to the on-board |
mjr | 11:bd9da7088e6e | 435 | // indicator LED's blue segment. This precludes any other use of |
mjr | 11:bd9da7088e6e | 436 | // the pin. |
mjr | 6:cc35eb643e8f | 437 | // |
mjr | 6:cc35eb643e8f | 438 | struct { |
mjr | 6:cc35eb643e8f | 439 | PinName pin; |
mjr | 6:cc35eb643e8f | 440 | bool isPWM; |
mjr | 6:cc35eb643e8f | 441 | } ledWizPortMap[32] = { |
mjr | 6:cc35eb643e8f | 442 | { PTA1, true }, // pin J1-2, LW port 1 (PWM capable - TPM 2.0 = channel 9) |
mjr | 6:cc35eb643e8f | 443 | { PTA2, true }, // pin J1-4, LW port 2 (PWM capable - TPM 2.1 = channel 10) |
mjr | 6:cc35eb643e8f | 444 | { PTD4, true }, // pin J1-6, LW port 3 (PWM capable - TPM 0.4 = channel 5) |
mjr | 6:cc35eb643e8f | 445 | { PTA12, true }, // pin J1-8, LW port 4 (PWM capable - TPM 1.0 = channel 7) |
mjr | 6:cc35eb643e8f | 446 | { PTA4, true }, // pin J1-10, LW port 5 (PWM capable - TPM 0.1 = channel 2) |
mjr | 6:cc35eb643e8f | 447 | { PTA5, true }, // pin J1-12, LW port 6 (PWM capable - TPM 0.2 = channel 3) |
mjr | 6:cc35eb643e8f | 448 | { PTA13, true }, // pin J2-2, LW port 7 (PWM capable - TPM 1.1 = channel 13) |
mjr | 6:cc35eb643e8f | 449 | { PTD5, true }, // pin J2-4, LW port 8 (PWM capable - TPM 0.5 = channel 6) |
mjr | 6:cc35eb643e8f | 450 | { PTD0, true }, // pin J2-6, LW port 9 (PWM capable - TPM 0.0 = channel 1) |
mjr | 6:cc35eb643e8f | 451 | { PTD3, true }, // pin J2-10, LW port 10 (PWM capable - TPM 0.3 = channel 4) |
mjr | 15:944bbc29c4dd | 452 | { PTD2, false }, // pin J2(Althou-8, LW port 11 |
mjr | 9:fd65b0a94720 | 453 | { PTC8, false }, // pin J1-14, LW port 12 |
mjr | 9:fd65b0a94720 | 454 | { PTC9, false }, // pin J1-16, LW port 13 |
mjr | 9:fd65b0a94720 | 455 | { PTC7, false }, // pin J1-1, LW port 14 |
mjr | 9:fd65b0a94720 | 456 | { PTC0, false }, // pin J1-3, LW port 15 |
mjr | 9:fd65b0a94720 | 457 | { PTC3, false }, // pin J1-5, LW port 16 |
mjr | 9:fd65b0a94720 | 458 | { PTC4, false }, // pin J1-7, LW port 17 |
mjr | 9:fd65b0a94720 | 459 | { PTC5, false }, // pin J1-9, LW port 18 |
mjr | 9:fd65b0a94720 | 460 | { PTC6, false }, // pin J1-11, LW port 19 |
mjr | 9:fd65b0a94720 | 461 | { PTC10, false }, // pin J1-13, LW port 20 |
mjr | 9:fd65b0a94720 | 462 | { PTC11, false }, // pin J1-15, LW port 21 |
mjr | 11:bd9da7088e6e | 463 | { PTE0, false }, // pin J2-18, LW port 22 |
mjr | 11:bd9da7088e6e | 464 | { NC, false }, // Not used, LW port 23 |
mjr | 11:bd9da7088e6e | 465 | { NC, false }, // Not used, LW port 24 |
mjr | 11:bd9da7088e6e | 466 | { NC, false }, // Not used, LW port 25 |
mjr | 11:bd9da7088e6e | 467 | { NC, false }, // Not used, LW port 26 |
mjr | 11:bd9da7088e6e | 468 | { NC, false }, // Not used, LW port 27 |
mjr | 11:bd9da7088e6e | 469 | { NC, false }, // Not used, LW port 28 |
mjr | 11:bd9da7088e6e | 470 | { NC, false }, // Not used, LW port 29 |
mjr | 11:bd9da7088e6e | 471 | { NC, false }, // Not used, LW port 30 |
mjr | 11:bd9da7088e6e | 472 | { NC, false }, // Not used, LW port 31 |
mjr | 11:bd9da7088e6e | 473 | { NC, false } // Not used, LW port 32 |
mjr | 6:cc35eb643e8f | 474 | }; |
mjr | 6:cc35eb643e8f | 475 | |
mjr | 6:cc35eb643e8f | 476 | |
mjr | 5:a70c0bce770d | 477 | // I2C address of the accelerometer (this is a constant of the KL25Z) |
mjr | 5:a70c0bce770d | 478 | const int MMA8451_I2C_ADDRESS = (0x1d<<1); |
mjr | 5:a70c0bce770d | 479 | |
mjr | 5:a70c0bce770d | 480 | // SCL and SDA pins for the accelerometer (constant for the KL25Z) |
mjr | 5:a70c0bce770d | 481 | #define MMA8451_SCL_PIN PTE25 |
mjr | 5:a70c0bce770d | 482 | #define MMA8451_SDA_PIN PTE24 |
mjr | 5:a70c0bce770d | 483 | |
mjr | 5:a70c0bce770d | 484 | // Digital in pin to use for the accelerometer interrupt. For the KL25Z, |
mjr | 5:a70c0bce770d | 485 | // this can be either PTA14 or PTA15, since those are the pins physically |
mjr | 5:a70c0bce770d | 486 | // wired on this board to the MMA8451 interrupt controller. |
mjr | 5:a70c0bce770d | 487 | #define MMA8451_INT_PIN PTA15 |
mjr | 5:a70c0bce770d | 488 | |
mjr | 6:cc35eb643e8f | 489 | // Joystick axis report range - we report from -JOYMAX to +JOYMAX |
mjr | 6:cc35eb643e8f | 490 | #define JOYMAX 4096 |
mjr | 6:cc35eb643e8f | 491 | |
mjr | 5:a70c0bce770d | 492 | |
mjr | 5:a70c0bce770d | 493 | // --------------------------------------------------------------------------- |
mjr | 9:fd65b0a94720 | 494 | // utilities |
mjr | 9:fd65b0a94720 | 495 | |
mjr | 9:fd65b0a94720 | 496 | // number of elements in an array |
mjr | 9:fd65b0a94720 | 497 | #define countof(x) (sizeof(x)/sizeof((x)[0])) |
mjr | 9:fd65b0a94720 | 498 | |
mjr | 9:fd65b0a94720 | 499 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 500 | // |
mjr | 5:a70c0bce770d | 501 | // LedWiz emulation |
mjr | 5:a70c0bce770d | 502 | // |
mjr | 5:a70c0bce770d | 503 | |
mjr | 0:5acbbe3f4cf4 | 504 | static int pbaIdx = 0; |
mjr | 0:5acbbe3f4cf4 | 505 | |
mjr | 6:cc35eb643e8f | 506 | // LedWiz output pin interface. We create a cover class to virtualize |
mjr | 6:cc35eb643e8f | 507 | // digital vs PWM outputs and give them a common interface. The KL25Z |
mjr | 6:cc35eb643e8f | 508 | // unfortunately doesn't have enough hardware PWM channels to support |
mjr | 6:cc35eb643e8f | 509 | // PWM on all 32 LedWiz outputs, so we provide as many PWM channels as |
mjr | 6:cc35eb643e8f | 510 | // we can (10), and fill out the rest of the outputs with plain digital |
mjr | 6:cc35eb643e8f | 511 | // outs. |
mjr | 6:cc35eb643e8f | 512 | class LwOut |
mjr | 6:cc35eb643e8f | 513 | { |
mjr | 6:cc35eb643e8f | 514 | public: |
mjr | 6:cc35eb643e8f | 515 | virtual void set(float val) = 0; |
mjr | 6:cc35eb643e8f | 516 | }; |
mjr | 6:cc35eb643e8f | 517 | class LwPwmOut: public LwOut |
mjr | 6:cc35eb643e8f | 518 | { |
mjr | 6:cc35eb643e8f | 519 | public: |
mjr | 13:72dda449c3c0 | 520 | LwPwmOut(PinName pin) : p(pin) { prv = -1; } |
mjr | 13:72dda449c3c0 | 521 | virtual void set(float val) |
mjr | 13:72dda449c3c0 | 522 | { |
mjr | 13:72dda449c3c0 | 523 | if (val != prv) |
mjr | 13:72dda449c3c0 | 524 | p.write(prv = val); |
mjr | 13:72dda449c3c0 | 525 | } |
mjr | 6:cc35eb643e8f | 526 | PwmOut p; |
mjr | 13:72dda449c3c0 | 527 | float prv; |
mjr | 6:cc35eb643e8f | 528 | }; |
mjr | 6:cc35eb643e8f | 529 | class LwDigOut: public LwOut |
mjr | 6:cc35eb643e8f | 530 | { |
mjr | 6:cc35eb643e8f | 531 | public: |
mjr | 13:72dda449c3c0 | 532 | LwDigOut(PinName pin) : p(pin) { prv = -1; } |
mjr | 13:72dda449c3c0 | 533 | virtual void set(float val) |
mjr | 13:72dda449c3c0 | 534 | { |
mjr | 13:72dda449c3c0 | 535 | if (val != prv) |
mjr | 13:72dda449c3c0 | 536 | p.write((prv = val) == 0.0 ? 0 : 1); |
mjr | 13:72dda449c3c0 | 537 | } |
mjr | 6:cc35eb643e8f | 538 | DigitalOut p; |
mjr | 13:72dda449c3c0 | 539 | float prv; |
mjr | 6:cc35eb643e8f | 540 | }; |
mjr | 11:bd9da7088e6e | 541 | class LwUnusedOut: public LwOut |
mjr | 11:bd9da7088e6e | 542 | { |
mjr | 11:bd9da7088e6e | 543 | public: |
mjr | 11:bd9da7088e6e | 544 | LwUnusedOut() { } |
mjr | 11:bd9da7088e6e | 545 | virtual void set(float val) { } |
mjr | 11:bd9da7088e6e | 546 | }; |
mjr | 6:cc35eb643e8f | 547 | |
mjr | 6:cc35eb643e8f | 548 | // output pin array |
mjr | 6:cc35eb643e8f | 549 | static LwOut *lwPin[32]; |
mjr | 6:cc35eb643e8f | 550 | |
mjr | 6:cc35eb643e8f | 551 | // initialize the output pin array |
mjr | 6:cc35eb643e8f | 552 | void initLwOut() |
mjr | 6:cc35eb643e8f | 553 | { |
mjr | 9:fd65b0a94720 | 554 | for (int i = 0 ; i < countof(lwPin) ; ++i) |
mjr | 6:cc35eb643e8f | 555 | { |
mjr | 11:bd9da7088e6e | 556 | PinName p = (i < countof(ledWizPortMap) ? ledWizPortMap[i].pin : NC); |
mjr | 11:bd9da7088e6e | 557 | if (p == NC) |
mjr | 11:bd9da7088e6e | 558 | lwPin[i] = new LwUnusedOut(); |
mjr | 11:bd9da7088e6e | 559 | else if (ledWizPortMap[i].isPWM) |
mjr | 11:bd9da7088e6e | 560 | lwPin[i] = new LwPwmOut(p); |
mjr | 11:bd9da7088e6e | 561 | else |
mjr | 11:bd9da7088e6e | 562 | lwPin[i] = new LwDigOut(p); |
mjr | 6:cc35eb643e8f | 563 | } |
mjr | 6:cc35eb643e8f | 564 | } |
mjr | 6:cc35eb643e8f | 565 | |
mjr | 0:5acbbe3f4cf4 | 566 | // on/off state for each LedWiz output |
mjr | 1:d913e0afb2ac | 567 | static uint8_t wizOn[32]; |
mjr | 0:5acbbe3f4cf4 | 568 | |
mjr | 0:5acbbe3f4cf4 | 569 | // profile (brightness/blink) state for each LedWiz output |
mjr | 1:d913e0afb2ac | 570 | static uint8_t wizVal[32] = { |
mjr | 13:72dda449c3c0 | 571 | 48, 48, 48, 48, 48, 48, 48, 48, |
mjr | 13:72dda449c3c0 | 572 | 48, 48, 48, 48, 48, 48, 48, 48, |
mjr | 13:72dda449c3c0 | 573 | 48, 48, 48, 48, 48, 48, 48, 48, |
mjr | 13:72dda449c3c0 | 574 | 48, 48, 48, 48, 48, 48, 48, 48 |
mjr | 0:5acbbe3f4cf4 | 575 | }; |
mjr | 0:5acbbe3f4cf4 | 576 | |
mjr | 1:d913e0afb2ac | 577 | static float wizState(int idx) |
mjr | 0:5acbbe3f4cf4 | 578 | { |
mjr | 13:72dda449c3c0 | 579 | if (wizOn[idx]) |
mjr | 13:72dda449c3c0 | 580 | { |
mjr | 0:5acbbe3f4cf4 | 581 | // on - map profile brightness state to PWM level |
mjr | 1:d913e0afb2ac | 582 | uint8_t val = wizVal[idx]; |
mjr | 13:72dda449c3c0 | 583 | if (val <= 48) |
mjr | 13:72dda449c3c0 | 584 | { |
mjr | 15:944bbc29c4dd | 585 | // PWM brightness/intensity level. Rescale from the LedWiz |
mjr | 15:944bbc29c4dd | 586 | // 0..48 integer range to our internal PwmOut 0..1 float range. |
mjr | 15:944bbc29c4dd | 587 | // Note that on the actual LedWiz, level 48 is actually about |
mjr | 15:944bbc29c4dd | 588 | // 98% on - contrary to the LedWiz documentation, level 49 is |
mjr | 15:944bbc29c4dd | 589 | // the true 100% level. (In the documentation, level 49 is |
mjr | 15:944bbc29c4dd | 590 | // simply not a valid setting.) Even so, we treat level 48 as |
mjr | 15:944bbc29c4dd | 591 | // 100% on to match the documentation. This won't be perfectly |
mjr | 15:944bbc29c4dd | 592 | // ocmpatible with the actual LedWiz, but it makes for such a |
mjr | 15:944bbc29c4dd | 593 | // small difference in brightness (if the output device is an |
mjr | 15:944bbc29c4dd | 594 | // LED, say) that no one should notice. It seems better to |
mjr | 15:944bbc29c4dd | 595 | // err in this direction, because while the difference in |
mjr | 15:944bbc29c4dd | 596 | // brightness when attached to an LED won't be noticeable, the |
mjr | 15:944bbc29c4dd | 597 | // difference in duty cycle when attached to something like a |
mjr | 15:944bbc29c4dd | 598 | // contactor *can* be noticeable - anything less than 100% |
mjr | 15:944bbc29c4dd | 599 | // can cause a contactor or relay to chatter. There's almost |
mjr | 15:944bbc29c4dd | 600 | // never a situation where you'd want values other than 0% and |
mjr | 15:944bbc29c4dd | 601 | // 100% for a contactor or relay, so treating level 48 as 100% |
mjr | 15:944bbc29c4dd | 602 | // makes us work properly with software that's expecting the |
mjr | 15:944bbc29c4dd | 603 | // documented LedWiz behavior and therefore uses level 48 to |
mjr | 15:944bbc29c4dd | 604 | // turn a contactor or relay fully on. |
mjr | 13:72dda449c3c0 | 605 | return val/48.0; |
mjr | 13:72dda449c3c0 | 606 | } |
mjr | 13:72dda449c3c0 | 607 | else if (val == 49) |
mjr | 13:72dda449c3c0 | 608 | { |
mjr | 15:944bbc29c4dd | 609 | // 49 is undefined in the LedWiz documentation, but actually |
mjr | 15:944bbc29c4dd | 610 | // means 100% on. The documentation says that levels 1-48 are |
mjr | 15:944bbc29c4dd | 611 | // the full PWM range, but empirically it appears that the real |
mjr | 15:944bbc29c4dd | 612 | // range implemented in the firmware is 1-49. Some software on |
mjr | 15:944bbc29c4dd | 613 | // the PC side (notably DOF) is aware of this and uses level 49 |
mjr | 15:944bbc29c4dd | 614 | // to mean "100% on". To ensure compatibility with existing |
mjr | 15:944bbc29c4dd | 615 | // PC-side software, we need to recognize level 49. |
mjr | 13:72dda449c3c0 | 616 | return 1.0; |
mjr | 13:72dda449c3c0 | 617 | } |
mjr | 0:5acbbe3f4cf4 | 618 | else if (val >= 129 && val <= 132) |
mjr | 13:72dda449c3c0 | 619 | { |
mjr | 13:72dda449c3c0 | 620 | // Values of 129-132 select different flashing modes. We don't |
mjr | 13:72dda449c3c0 | 621 | // support any of these. Instead, simply treat them as fully on. |
mjr | 13:72dda449c3c0 | 622 | // Note that DOF doesn't ever use modes 129-132, as it implements |
mjr | 13:72dda449c3c0 | 623 | // all flashing modes itself on the host side, so this limitation |
mjr | 13:72dda449c3c0 | 624 | // won't have any effect on DOF users. You can observe it using |
mjr | 13:72dda449c3c0 | 625 | // LedBlinky, though. |
mjr | 13:72dda449c3c0 | 626 | return 1.0; |
mjr | 13:72dda449c3c0 | 627 | } |
mjr | 0:5acbbe3f4cf4 | 628 | else |
mjr | 13:72dda449c3c0 | 629 | { |
mjr | 13:72dda449c3c0 | 630 | // Other values are undefined in the LedWiz documentation. Hosts |
mjr | 13:72dda449c3c0 | 631 | // *should* never send undefined values, since whatever behavior an |
mjr | 13:72dda449c3c0 | 632 | // LedWiz unit exhibits in response is accidental and could change |
mjr | 13:72dda449c3c0 | 633 | // in a future version. We'll treat all undefined values as equivalent |
mjr | 13:72dda449c3c0 | 634 | // to 48 (fully on). |
mjr | 13:72dda449c3c0 | 635 | // |
mjr | 13:72dda449c3c0 | 636 | // NB: the 49 and 129-132 cases are broken out above for the sake |
mjr | 13:72dda449c3c0 | 637 | // of documentation. We end up using 1.0 as the return value for |
mjr | 13:72dda449c3c0 | 638 | // everything outside of the defined 0-48 range, so we could collapse |
mjr | 13:72dda449c3c0 | 639 | // this whole thing to a single 'else' branch, but I wanted to call |
mjr | 13:72dda449c3c0 | 640 | // out the specific reasons for handling the settings above as we do. |
mjr | 0:5acbbe3f4cf4 | 641 | return 1.0; |
mjr | 13:72dda449c3c0 | 642 | } |
mjr | 0:5acbbe3f4cf4 | 643 | } |
mjr | 13:72dda449c3c0 | 644 | else |
mjr | 13:72dda449c3c0 | 645 | { |
mjr | 13:72dda449c3c0 | 646 | // off - show at 0 intensity |
mjr | 13:72dda449c3c0 | 647 | return 0.0; |
mjr | 0:5acbbe3f4cf4 | 648 | } |
mjr | 0:5acbbe3f4cf4 | 649 | } |
mjr | 0:5acbbe3f4cf4 | 650 | |
mjr | 1:d913e0afb2ac | 651 | static void updateWizOuts() |
mjr | 1:d913e0afb2ac | 652 | { |
mjr | 6:cc35eb643e8f | 653 | for (int i = 0 ; i < 32 ; ++i) |
mjr | 6:cc35eb643e8f | 654 | lwPin[i]->set(wizState(i)); |
mjr | 1:d913e0afb2ac | 655 | } |
mjr | 1:d913e0afb2ac | 656 | |
mjr | 11:bd9da7088e6e | 657 | |
mjr | 11:bd9da7088e6e | 658 | // --------------------------------------------------------------------------- |
mjr | 11:bd9da7088e6e | 659 | // |
mjr | 11:bd9da7088e6e | 660 | // Button input |
mjr | 11:bd9da7088e6e | 661 | // |
mjr | 11:bd9da7088e6e | 662 | |
mjr | 11:bd9da7088e6e | 663 | // button input map array |
mjr | 11:bd9da7088e6e | 664 | DigitalIn *buttonDigIn[32]; |
mjr | 11:bd9da7088e6e | 665 | |
mjr | 12:669df364a565 | 666 | // timer for button reports |
mjr | 12:669df364a565 | 667 | static Timer buttonTimer; |
mjr | 12:669df364a565 | 668 | |
mjr | 11:bd9da7088e6e | 669 | // initialize the button inputs |
mjr | 11:bd9da7088e6e | 670 | void initButtons() |
mjr | 11:bd9da7088e6e | 671 | { |
mjr | 11:bd9da7088e6e | 672 | // create the digital inputs |
mjr | 11:bd9da7088e6e | 673 | for (int i = 0 ; i < countof(buttonDigIn) ; ++i) |
mjr | 11:bd9da7088e6e | 674 | { |
mjr | 11:bd9da7088e6e | 675 | if (i < countof(buttonMap) && buttonMap[i] != NC) |
mjr | 11:bd9da7088e6e | 676 | buttonDigIn[i] = new DigitalIn(buttonMap[i]); |
mjr | 11:bd9da7088e6e | 677 | else |
mjr | 11:bd9da7088e6e | 678 | buttonDigIn[i] = 0; |
mjr | 11:bd9da7088e6e | 679 | } |
mjr | 12:669df364a565 | 680 | |
mjr | 12:669df364a565 | 681 | // start the button timer |
mjr | 12:669df364a565 | 682 | buttonTimer.start(); |
mjr | 11:bd9da7088e6e | 683 | } |
mjr | 11:bd9da7088e6e | 684 | |
mjr | 11:bd9da7088e6e | 685 | |
mjr | 11:bd9da7088e6e | 686 | // read the raw button input state |
mjr | 11:bd9da7088e6e | 687 | uint32_t readButtonsRaw() |
mjr | 11:bd9da7088e6e | 688 | { |
mjr | 11:bd9da7088e6e | 689 | // start with all buttons off |
mjr | 11:bd9da7088e6e | 690 | uint32_t buttons = 0; |
mjr | 11:bd9da7088e6e | 691 | |
mjr | 11:bd9da7088e6e | 692 | // scan the button list |
mjr | 11:bd9da7088e6e | 693 | uint32_t bit = 1; |
mjr | 11:bd9da7088e6e | 694 | for (int i = 0 ; i < countof(buttonDigIn) ; ++i, bit <<= 1) |
mjr | 11:bd9da7088e6e | 695 | { |
mjr | 11:bd9da7088e6e | 696 | if (buttonDigIn[i] != 0 && !buttonDigIn[i]->read()) |
mjr | 11:bd9da7088e6e | 697 | buttons |= bit; |
mjr | 11:bd9da7088e6e | 698 | } |
mjr | 11:bd9da7088e6e | 699 | |
mjr | 11:bd9da7088e6e | 700 | // return the button list |
mjr | 11:bd9da7088e6e | 701 | return buttons; |
mjr | 11:bd9da7088e6e | 702 | } |
mjr | 11:bd9da7088e6e | 703 | |
mjr | 11:bd9da7088e6e | 704 | // Read buttons with debouncing. We keep a circular buffer |
mjr | 11:bd9da7088e6e | 705 | // of recent input readings. We'll AND together the status of |
mjr | 11:bd9da7088e6e | 706 | // each button over the past 50ms. A button that has been on |
mjr | 11:bd9da7088e6e | 707 | // continuously for 50ms will be reported as ON. All others |
mjr | 11:bd9da7088e6e | 708 | // will be reported as OFF. |
mjr | 11:bd9da7088e6e | 709 | uint32_t readButtonsDebounced() |
mjr | 11:bd9da7088e6e | 710 | { |
mjr | 11:bd9da7088e6e | 711 | struct reading { |
mjr | 11:bd9da7088e6e | 712 | int dt; // time since previous reading |
mjr | 11:bd9da7088e6e | 713 | uint32_t b; // button state at this reading |
mjr | 11:bd9da7088e6e | 714 | }; |
mjr | 11:bd9da7088e6e | 715 | static reading readings[8]; // circular buffer of readings |
mjr | 11:bd9da7088e6e | 716 | static int ri = 0; // reading buffer index (next write position) |
mjr | 11:bd9da7088e6e | 717 | |
mjr | 11:bd9da7088e6e | 718 | // get the write pointer |
mjr | 11:bd9da7088e6e | 719 | reading *r = &readings[ri]; |
mjr | 11:bd9da7088e6e | 720 | |
mjr | 11:bd9da7088e6e | 721 | // figure the time since the last reading, and read the raw button state |
mjr | 12:669df364a565 | 722 | r->dt = buttonTimer.read_ms(); |
mjr | 11:bd9da7088e6e | 723 | uint32_t b = r->b = readButtonsRaw(); |
mjr | 11:bd9da7088e6e | 724 | |
mjr | 11:bd9da7088e6e | 725 | // start timing the next interval |
mjr | 12:669df364a565 | 726 | buttonTimer.reset(); |
mjr | 11:bd9da7088e6e | 727 | |
mjr | 14:df700b22ca08 | 728 | // AND together readings over 25ms |
mjr | 11:bd9da7088e6e | 729 | int ms = 0; |
mjr | 14:df700b22ca08 | 730 | for (int i = 1 ; i < countof(readings) && ms < 25 ; ++i) |
mjr | 11:bd9da7088e6e | 731 | { |
mjr | 11:bd9da7088e6e | 732 | // find the next prior reading, wrapping in the circular buffer |
mjr | 11:bd9da7088e6e | 733 | int j = ri - i; |
mjr | 11:bd9da7088e6e | 734 | if (j < 0) |
mjr | 11:bd9da7088e6e | 735 | j = countof(readings) - 1; |
mjr | 11:bd9da7088e6e | 736 | |
mjr | 11:bd9da7088e6e | 737 | reading *rj = &readings[j]; |
mjr | 11:bd9da7088e6e | 738 | |
mjr | 11:bd9da7088e6e | 739 | // AND the buttons for this reading |
mjr | 11:bd9da7088e6e | 740 | b &= rj->b; |
mjr | 11:bd9da7088e6e | 741 | |
mjr | 11:bd9da7088e6e | 742 | // count the time |
mjr | 11:bd9da7088e6e | 743 | ms += rj->dt; |
mjr | 11:bd9da7088e6e | 744 | } |
mjr | 11:bd9da7088e6e | 745 | |
mjr | 11:bd9da7088e6e | 746 | // advance the write position for next time |
mjr | 11:bd9da7088e6e | 747 | ri += 1; |
mjr | 12:669df364a565 | 748 | if (ri >= countof(readings)) |
mjr | 11:bd9da7088e6e | 749 | ri = 0; |
mjr | 11:bd9da7088e6e | 750 | |
mjr | 11:bd9da7088e6e | 751 | // return the debounced result |
mjr | 11:bd9da7088e6e | 752 | return b; |
mjr | 11:bd9da7088e6e | 753 | } |
mjr | 11:bd9da7088e6e | 754 | |
mjr | 5:a70c0bce770d | 755 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 756 | // |
mjr | 5:a70c0bce770d | 757 | // Non-volatile memory (NVM) |
mjr | 5:a70c0bce770d | 758 | // |
mjr | 0:5acbbe3f4cf4 | 759 | |
mjr | 5:a70c0bce770d | 760 | // Structure defining our NVM storage layout. We store a small |
mjr | 2:c174f9ee414a | 761 | // amount of persistent data in flash memory to retain calibration |
mjr | 5:a70c0bce770d | 762 | // data when powered off. |
mjr | 2:c174f9ee414a | 763 | struct NVM |
mjr | 2:c174f9ee414a | 764 | { |
mjr | 2:c174f9ee414a | 765 | // checksum - we use this to determine if the flash record |
mjr | 6:cc35eb643e8f | 766 | // has been properly initialized |
mjr | 2:c174f9ee414a | 767 | uint32_t checksum; |
mjr | 2:c174f9ee414a | 768 | |
mjr | 2:c174f9ee414a | 769 | // signature value |
mjr | 2:c174f9ee414a | 770 | static const uint32_t SIGNATURE = 0x4D4A522A; |
mjr | 6:cc35eb643e8f | 771 | static const uint16_t VERSION = 0x0003; |
mjr | 6:cc35eb643e8f | 772 | |
mjr | 6:cc35eb643e8f | 773 | // Is the data structure valid? We test the signature and |
mjr | 6:cc35eb643e8f | 774 | // checksum to determine if we've been properly stored. |
mjr | 6:cc35eb643e8f | 775 | int valid() const |
mjr | 6:cc35eb643e8f | 776 | { |
mjr | 6:cc35eb643e8f | 777 | return (d.sig == SIGNATURE |
mjr | 6:cc35eb643e8f | 778 | && d.vsn == VERSION |
mjr | 6:cc35eb643e8f | 779 | && d.sz == sizeof(NVM) |
mjr | 6:cc35eb643e8f | 780 | && checksum == CRC32(&d, sizeof(d))); |
mjr | 6:cc35eb643e8f | 781 | } |
mjr | 6:cc35eb643e8f | 782 | |
mjr | 6:cc35eb643e8f | 783 | // save to non-volatile memory |
mjr | 6:cc35eb643e8f | 784 | void save(FreescaleIAP &iap, int addr) |
mjr | 6:cc35eb643e8f | 785 | { |
mjr | 6:cc35eb643e8f | 786 | // update the checksum and structure size |
mjr | 6:cc35eb643e8f | 787 | checksum = CRC32(&d, sizeof(d)); |
mjr | 6:cc35eb643e8f | 788 | d.sz = sizeof(NVM); |
mjr | 6:cc35eb643e8f | 789 | |
mjr | 6:cc35eb643e8f | 790 | // erase the sector |
mjr | 6:cc35eb643e8f | 791 | iap.erase_sector(addr); |
mjr | 6:cc35eb643e8f | 792 | |
mjr | 6:cc35eb643e8f | 793 | // save the data |
mjr | 6:cc35eb643e8f | 794 | iap.program_flash(addr, this, sizeof(*this)); |
mjr | 6:cc35eb643e8f | 795 | } |
mjr | 2:c174f9ee414a | 796 | |
mjr | 9:fd65b0a94720 | 797 | // reset calibration data for calibration mode |
mjr | 9:fd65b0a94720 | 798 | void resetPlunger() |
mjr | 9:fd65b0a94720 | 799 | { |
mjr | 9:fd65b0a94720 | 800 | // set extremes for the calibration data |
mjr | 9:fd65b0a94720 | 801 | d.plungerMax = 0; |
mjr | 9:fd65b0a94720 | 802 | d.plungerZero = npix; |
mjr | 9:fd65b0a94720 | 803 | d.plungerMin = npix; |
mjr | 9:fd65b0a94720 | 804 | } |
mjr | 9:fd65b0a94720 | 805 | |
mjr | 2:c174f9ee414a | 806 | // stored data (excluding the checksum) |
mjr | 2:c174f9ee414a | 807 | struct |
mjr | 2:c174f9ee414a | 808 | { |
mjr | 6:cc35eb643e8f | 809 | // Signature, structure version, and structure size - further verification |
mjr | 6:cc35eb643e8f | 810 | // that we have valid initialized data. The size is a simple proxy for a |
mjr | 6:cc35eb643e8f | 811 | // structure version, as the most common type of change to the structure as |
mjr | 6:cc35eb643e8f | 812 | // the software evolves will be the addition of new elements. We also |
mjr | 6:cc35eb643e8f | 813 | // provide an explicit version number that we can update manually if we |
mjr | 6:cc35eb643e8f | 814 | // make any changes that don't affect the structure size but would affect |
mjr | 6:cc35eb643e8f | 815 | // compatibility with a saved record (e.g., swapping two existing elements). |
mjr | 2:c174f9ee414a | 816 | uint32_t sig; |
mjr | 2:c174f9ee414a | 817 | uint16_t vsn; |
mjr | 6:cc35eb643e8f | 818 | int sz; |
mjr | 2:c174f9ee414a | 819 | |
mjr | 6:cc35eb643e8f | 820 | // has the plunger been manually calibrated? |
mjr | 6:cc35eb643e8f | 821 | int plungerCal; |
mjr | 6:cc35eb643e8f | 822 | |
mjr | 2:c174f9ee414a | 823 | // plunger calibration min and max |
mjr | 2:c174f9ee414a | 824 | int plungerMin; |
mjr | 6:cc35eb643e8f | 825 | int plungerZero; |
mjr | 2:c174f9ee414a | 826 | int plungerMax; |
mjr | 6:cc35eb643e8f | 827 | |
mjr | 6:cc35eb643e8f | 828 | // is the CCD enabled? |
mjr | 6:cc35eb643e8f | 829 | int ccdEnabled; |
mjr | 6:cc35eb643e8f | 830 | |
mjr | 6:cc35eb643e8f | 831 | // LedWiz unit number |
mjr | 6:cc35eb643e8f | 832 | uint8_t ledWizUnitNo; |
mjr | 2:c174f9ee414a | 833 | } d; |
mjr | 2:c174f9ee414a | 834 | }; |
mjr | 2:c174f9ee414a | 835 | |
mjr | 5:a70c0bce770d | 836 | |
mjr | 5:a70c0bce770d | 837 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 838 | // |
mjr | 5:a70c0bce770d | 839 | // Customization joystick subbclass |
mjr | 5:a70c0bce770d | 840 | // |
mjr | 5:a70c0bce770d | 841 | |
mjr | 5:a70c0bce770d | 842 | class MyUSBJoystick: public USBJoystick |
mjr | 5:a70c0bce770d | 843 | { |
mjr | 5:a70c0bce770d | 844 | public: |
mjr | 5:a70c0bce770d | 845 | MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release) |
mjr | 5:a70c0bce770d | 846 | : USBJoystick(vendor_id, product_id, product_release, true) |
mjr | 5:a70c0bce770d | 847 | { |
mjr | 5:a70c0bce770d | 848 | suspended_ = false; |
mjr | 5:a70c0bce770d | 849 | } |
mjr | 5:a70c0bce770d | 850 | |
mjr | 5:a70c0bce770d | 851 | // are we connected? |
mjr | 5:a70c0bce770d | 852 | int isConnected() { return configured(); } |
mjr | 5:a70c0bce770d | 853 | |
mjr | 5:a70c0bce770d | 854 | // Are we in suspend mode? |
mjr | 5:a70c0bce770d | 855 | int isSuspended() const { return suspended_; } |
mjr | 5:a70c0bce770d | 856 | |
mjr | 5:a70c0bce770d | 857 | protected: |
mjr | 5:a70c0bce770d | 858 | virtual void suspendStateChanged(unsigned int suspended) |
mjr | 5:a70c0bce770d | 859 | { suspended_ = suspended; } |
mjr | 5:a70c0bce770d | 860 | |
mjr | 5:a70c0bce770d | 861 | // are we suspended? |
mjr | 5:a70c0bce770d | 862 | int suspended_; |
mjr | 5:a70c0bce770d | 863 | }; |
mjr | 5:a70c0bce770d | 864 | |
mjr | 5:a70c0bce770d | 865 | // --------------------------------------------------------------------------- |
mjr | 6:cc35eb643e8f | 866 | // |
mjr | 6:cc35eb643e8f | 867 | // Some simple math service routines |
mjr | 6:cc35eb643e8f | 868 | // |
mjr | 6:cc35eb643e8f | 869 | |
mjr | 6:cc35eb643e8f | 870 | inline float square(float x) { return x*x; } |
mjr | 6:cc35eb643e8f | 871 | inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); } |
mjr | 6:cc35eb643e8f | 872 | |
mjr | 6:cc35eb643e8f | 873 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 874 | // |
mjr | 5:a70c0bce770d | 875 | // Accelerometer (MMA8451Q) |
mjr | 5:a70c0bce770d | 876 | // |
mjr | 5:a70c0bce770d | 877 | |
mjr | 5:a70c0bce770d | 878 | // The MMA8451Q is the KL25Z's on-board 3-axis accelerometer. |
mjr | 5:a70c0bce770d | 879 | // |
mjr | 5:a70c0bce770d | 880 | // This is a custom wrapper for the library code to interface to the |
mjr | 6:cc35eb643e8f | 881 | // MMA8451Q. This class encapsulates an interrupt handler and |
mjr | 6:cc35eb643e8f | 882 | // automatic calibration. |
mjr | 5:a70c0bce770d | 883 | // |
mjr | 5:a70c0bce770d | 884 | // We install an interrupt handler on the accelerometer "data ready" |
mjr | 6:cc35eb643e8f | 885 | // interrupt to ensure that we fetch each sample immediately when it |
mjr | 6:cc35eb643e8f | 886 | // becomes available. The accelerometer data rate is fiarly high |
mjr | 6:cc35eb643e8f | 887 | // (800 Hz), so it's not practical to keep up with it by polling. |
mjr | 6:cc35eb643e8f | 888 | // Using an interrupt handler lets us respond quickly and read |
mjr | 6:cc35eb643e8f | 889 | // every sample. |
mjr | 5:a70c0bce770d | 890 | // |
mjr | 6:cc35eb643e8f | 891 | // We automatically calibrate the accelerometer so that it's not |
mjr | 6:cc35eb643e8f | 892 | // necessary to get it exactly level when installing it, and so |
mjr | 6:cc35eb643e8f | 893 | // that it's also not necessary to calibrate it manually. There's |
mjr | 6:cc35eb643e8f | 894 | // lots of experience that tells us that manual calibration is a |
mjr | 6:cc35eb643e8f | 895 | // terrible solution, mostly because cabinets tend to shift slightly |
mjr | 6:cc35eb643e8f | 896 | // during use, requiring frequent recalibration. Instead, we |
mjr | 6:cc35eb643e8f | 897 | // calibrate automatically. We continuously monitor the acceleration |
mjr | 6:cc35eb643e8f | 898 | // data, watching for periods of constant (or nearly constant) values. |
mjr | 6:cc35eb643e8f | 899 | // Any time it appears that the machine has been at rest for a while |
mjr | 6:cc35eb643e8f | 900 | // (about 5 seconds), we'll average the readings during that rest |
mjr | 6:cc35eb643e8f | 901 | // period and use the result as the level rest position. This is |
mjr | 6:cc35eb643e8f | 902 | // is ongoing, so we'll quickly find the center point again if the |
mjr | 6:cc35eb643e8f | 903 | // machine is moved during play (by an especially aggressive bout |
mjr | 6:cc35eb643e8f | 904 | // of nudging, say). |
mjr | 5:a70c0bce770d | 905 | // |
mjr | 5:a70c0bce770d | 906 | |
mjr | 6:cc35eb643e8f | 907 | // accelerometer input history item, for gathering calibration data |
mjr | 6:cc35eb643e8f | 908 | struct AccHist |
mjr | 5:a70c0bce770d | 909 | { |
mjr | 6:cc35eb643e8f | 910 | AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; } |
mjr | 6:cc35eb643e8f | 911 | void set(float x, float y, AccHist *prv) |
mjr | 6:cc35eb643e8f | 912 | { |
mjr | 6:cc35eb643e8f | 913 | // save the raw position |
mjr | 6:cc35eb643e8f | 914 | this->x = x; |
mjr | 6:cc35eb643e8f | 915 | this->y = y; |
mjr | 6:cc35eb643e8f | 916 | this->d = distance(prv); |
mjr | 6:cc35eb643e8f | 917 | } |
mjr | 6:cc35eb643e8f | 918 | |
mjr | 6:cc35eb643e8f | 919 | // reading for this entry |
mjr | 5:a70c0bce770d | 920 | float x, y; |
mjr | 5:a70c0bce770d | 921 | |
mjr | 6:cc35eb643e8f | 922 | // distance from previous entry |
mjr | 6:cc35eb643e8f | 923 | float d; |
mjr | 5:a70c0bce770d | 924 | |
mjr | 6:cc35eb643e8f | 925 | // total and count of samples averaged over this period |
mjr | 6:cc35eb643e8f | 926 | float xtot, ytot; |
mjr | 6:cc35eb643e8f | 927 | int cnt; |
mjr | 6:cc35eb643e8f | 928 | |
mjr | 6:cc35eb643e8f | 929 | void clearAvg() { xtot = ytot = 0.0; cnt = 0; } |
mjr | 6:cc35eb643e8f | 930 | void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; } |
mjr | 6:cc35eb643e8f | 931 | float xAvg() const { return xtot/cnt; } |
mjr | 6:cc35eb643e8f | 932 | float yAvg() const { return ytot/cnt; } |
mjr | 5:a70c0bce770d | 933 | |
mjr | 6:cc35eb643e8f | 934 | float distance(AccHist *p) |
mjr | 6:cc35eb643e8f | 935 | { return sqrt(square(p->x - x) + square(p->y - y)); } |
mjr | 5:a70c0bce770d | 936 | }; |
mjr | 5:a70c0bce770d | 937 | |
mjr | 5:a70c0bce770d | 938 | // accelerometer wrapper class |
mjr | 3:3514575d4f86 | 939 | class Accel |
mjr | 3:3514575d4f86 | 940 | { |
mjr | 3:3514575d4f86 | 941 | public: |
mjr | 3:3514575d4f86 | 942 | Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin) |
mjr | 3:3514575d4f86 | 943 | : mma_(sda, scl, i2cAddr), intIn_(irqPin) |
mjr | 3:3514575d4f86 | 944 | { |
mjr | 5:a70c0bce770d | 945 | // remember the interrupt pin assignment |
mjr | 5:a70c0bce770d | 946 | irqPin_ = irqPin; |
mjr | 5:a70c0bce770d | 947 | |
mjr | 5:a70c0bce770d | 948 | // reset and initialize |
mjr | 5:a70c0bce770d | 949 | reset(); |
mjr | 5:a70c0bce770d | 950 | } |
mjr | 5:a70c0bce770d | 951 | |
mjr | 5:a70c0bce770d | 952 | void reset() |
mjr | 5:a70c0bce770d | 953 | { |
mjr | 6:cc35eb643e8f | 954 | // clear the center point |
mjr | 6:cc35eb643e8f | 955 | cx_ = cy_ = 0.0; |
mjr | 6:cc35eb643e8f | 956 | |
mjr | 6:cc35eb643e8f | 957 | // start the calibration timer |
mjr | 5:a70c0bce770d | 958 | tCenter_.start(); |
mjr | 5:a70c0bce770d | 959 | iAccPrv_ = nAccPrv_ = 0; |
mjr | 6:cc35eb643e8f | 960 | |
mjr | 5:a70c0bce770d | 961 | // reset and initialize the MMA8451Q |
mjr | 5:a70c0bce770d | 962 | mma_.init(); |
mjr | 6:cc35eb643e8f | 963 | |
mjr | 6:cc35eb643e8f | 964 | // set the initial integrated velocity reading to zero |
mjr | 6:cc35eb643e8f | 965 | vx_ = vy_ = 0; |
mjr | 3:3514575d4f86 | 966 | |
mjr | 6:cc35eb643e8f | 967 | // set up our accelerometer interrupt handling |
mjr | 6:cc35eb643e8f | 968 | intIn_.rise(this, &Accel::isr); |
mjr | 5:a70c0bce770d | 969 | mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2); |
mjr | 3:3514575d4f86 | 970 | |
mjr | 3:3514575d4f86 | 971 | // read the current registers to clear the data ready flag |
mjr | 6:cc35eb643e8f | 972 | mma_.getAccXYZ(ax_, ay_, az_); |
mjr | 3:3514575d4f86 | 973 | |
mjr | 3:3514575d4f86 | 974 | // start our timers |
mjr | 3:3514575d4f86 | 975 | tGet_.start(); |
mjr | 3:3514575d4f86 | 976 | tInt_.start(); |
mjr | 3:3514575d4f86 | 977 | } |
mjr | 3:3514575d4f86 | 978 | |
mjr | 9:fd65b0a94720 | 979 | void get(int &x, int &y) |
mjr | 3:3514575d4f86 | 980 | { |
mjr | 3:3514575d4f86 | 981 | // disable interrupts while manipulating the shared data |
mjr | 3:3514575d4f86 | 982 | __disable_irq(); |
mjr | 3:3514575d4f86 | 983 | |
mjr | 3:3514575d4f86 | 984 | // read the shared data and store locally for calculations |
mjr | 6:cc35eb643e8f | 985 | float ax = ax_, ay = ay_; |
mjr | 6:cc35eb643e8f | 986 | float vx = vx_, vy = vy_; |
mjr | 5:a70c0bce770d | 987 | |
mjr | 6:cc35eb643e8f | 988 | // reset the velocity sum for the next run |
mjr | 6:cc35eb643e8f | 989 | vx_ = vy_ = 0; |
mjr | 3:3514575d4f86 | 990 | |
mjr | 3:3514575d4f86 | 991 | // get the time since the last get() sample |
mjr | 3:3514575d4f86 | 992 | float dt = tGet_.read_us()/1.0e6; |
mjr | 3:3514575d4f86 | 993 | tGet_.reset(); |
mjr | 3:3514575d4f86 | 994 | |
mjr | 3:3514575d4f86 | 995 | // done manipulating the shared data |
mjr | 3:3514575d4f86 | 996 | __enable_irq(); |
mjr | 3:3514575d4f86 | 997 | |
mjr | 6:cc35eb643e8f | 998 | // adjust the readings for the integration time |
mjr | 6:cc35eb643e8f | 999 | vx /= dt; |
mjr | 6:cc35eb643e8f | 1000 | vy /= dt; |
mjr | 6:cc35eb643e8f | 1001 | |
mjr | 6:cc35eb643e8f | 1002 | // add this sample to the current calibration interval's running total |
mjr | 6:cc35eb643e8f | 1003 | AccHist *p = accPrv_ + iAccPrv_; |
mjr | 6:cc35eb643e8f | 1004 | p->addAvg(ax, ay); |
mjr | 6:cc35eb643e8f | 1005 | |
mjr | 5:a70c0bce770d | 1006 | // check for auto-centering every so often |
mjr | 5:a70c0bce770d | 1007 | if (tCenter_.read_ms() > 1000) |
mjr | 5:a70c0bce770d | 1008 | { |
mjr | 5:a70c0bce770d | 1009 | // add the latest raw sample to the history list |
mjr | 6:cc35eb643e8f | 1010 | AccHist *prv = p; |
mjr | 5:a70c0bce770d | 1011 | iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv; |
mjr | 6:cc35eb643e8f | 1012 | p = accPrv_ + iAccPrv_; |
mjr | 6:cc35eb643e8f | 1013 | p->set(ax, ay, prv); |
mjr | 5:a70c0bce770d | 1014 | |
mjr | 5:a70c0bce770d | 1015 | // if we have a full complement, check for stability |
mjr | 5:a70c0bce770d | 1016 | if (nAccPrv_ >= maxAccPrv) |
mjr | 5:a70c0bce770d | 1017 | { |
mjr | 5:a70c0bce770d | 1018 | // check if we've been stable for all recent samples |
mjr | 6:cc35eb643e8f | 1019 | static const float accTol = .01; |
mjr | 6:cc35eb643e8f | 1020 | AccHist *p0 = accPrv_; |
mjr | 6:cc35eb643e8f | 1021 | if (p0[0].d < accTol |
mjr | 6:cc35eb643e8f | 1022 | && p0[1].d < accTol |
mjr | 6:cc35eb643e8f | 1023 | && p0[2].d < accTol |
mjr | 6:cc35eb643e8f | 1024 | && p0[3].d < accTol |
mjr | 6:cc35eb643e8f | 1025 | && p0[4].d < accTol) |
mjr | 5:a70c0bce770d | 1026 | { |
mjr | 6:cc35eb643e8f | 1027 | // Figure the new calibration point as the average of |
mjr | 6:cc35eb643e8f | 1028 | // the samples over the rest period |
mjr | 6:cc35eb643e8f | 1029 | cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0; |
mjr | 6:cc35eb643e8f | 1030 | cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0; |
mjr | 5:a70c0bce770d | 1031 | } |
mjr | 5:a70c0bce770d | 1032 | } |
mjr | 5:a70c0bce770d | 1033 | else |
mjr | 5:a70c0bce770d | 1034 | { |
mjr | 5:a70c0bce770d | 1035 | // not enough samples yet; just up the count |
mjr | 5:a70c0bce770d | 1036 | ++nAccPrv_; |
mjr | 5:a70c0bce770d | 1037 | } |
mjr | 6:cc35eb643e8f | 1038 | |
mjr | 6:cc35eb643e8f | 1039 | // clear the new item's running totals |
mjr | 6:cc35eb643e8f | 1040 | p->clearAvg(); |
mjr | 5:a70c0bce770d | 1041 | |
mjr | 5:a70c0bce770d | 1042 | // reset the timer |
mjr | 5:a70c0bce770d | 1043 | tCenter_.reset(); |
mjr | 5:a70c0bce770d | 1044 | } |
mjr | 5:a70c0bce770d | 1045 | |
mjr | 6:cc35eb643e8f | 1046 | // report our integrated velocity reading in x,y |
mjr | 6:cc35eb643e8f | 1047 | x = rawToReport(vx); |
mjr | 6:cc35eb643e8f | 1048 | y = rawToReport(vy); |
mjr | 5:a70c0bce770d | 1049 | |
mjr | 6:cc35eb643e8f | 1050 | #ifdef DEBUG_PRINTF |
mjr | 6:cc35eb643e8f | 1051 | if (x != 0 || y != 0) |
mjr | 6:cc35eb643e8f | 1052 | printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt); |
mjr | 6:cc35eb643e8f | 1053 | #endif |
mjr | 3:3514575d4f86 | 1054 | } |
mjr | 3:3514575d4f86 | 1055 | |
mjr | 3:3514575d4f86 | 1056 | private: |
mjr | 6:cc35eb643e8f | 1057 | // adjust a raw acceleration figure to a usb report value |
mjr | 6:cc35eb643e8f | 1058 | int rawToReport(float v) |
mjr | 5:a70c0bce770d | 1059 | { |
mjr | 6:cc35eb643e8f | 1060 | // scale to the joystick report range and round to integer |
mjr | 6:cc35eb643e8f | 1061 | int i = int(round(v*JOYMAX)); |
mjr | 5:a70c0bce770d | 1062 | |
mjr | 6:cc35eb643e8f | 1063 | // if it's near the center, scale it roughly as 20*(i/20)^2, |
mjr | 6:cc35eb643e8f | 1064 | // to suppress noise near the rest position |
mjr | 6:cc35eb643e8f | 1065 | static const int filter[] = { |
mjr | 6:cc35eb643e8f | 1066 | -18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0, |
mjr | 6:cc35eb643e8f | 1067 | 0, |
mjr | 6:cc35eb643e8f | 1068 | 0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18 |
mjr | 6:cc35eb643e8f | 1069 | }; |
mjr | 6:cc35eb643e8f | 1070 | return (i > 20 || i < -20 ? i : filter[i+20]); |
mjr | 5:a70c0bce770d | 1071 | } |
mjr | 5:a70c0bce770d | 1072 | |
mjr | 3:3514575d4f86 | 1073 | // interrupt handler |
mjr | 3:3514575d4f86 | 1074 | void isr() |
mjr | 3:3514575d4f86 | 1075 | { |
mjr | 3:3514575d4f86 | 1076 | // Read the axes. Note that we have to read all three axes |
mjr | 3:3514575d4f86 | 1077 | // (even though we only really use x and y) in order to clear |
mjr | 3:3514575d4f86 | 1078 | // the "data ready" status bit in the accelerometer. The |
mjr | 3:3514575d4f86 | 1079 | // interrupt only occurs when the "ready" bit transitions from |
mjr | 3:3514575d4f86 | 1080 | // off to on, so we have to make sure it's off. |
mjr | 5:a70c0bce770d | 1081 | float x, y, z; |
mjr | 5:a70c0bce770d | 1082 | mma_.getAccXYZ(x, y, z); |
mjr | 3:3514575d4f86 | 1083 | |
mjr | 3:3514575d4f86 | 1084 | // calculate the time since the last interrupt |
mjr | 3:3514575d4f86 | 1085 | float dt = tInt_.read_us()/1.0e6; |
mjr | 3:3514575d4f86 | 1086 | tInt_.reset(); |
mjr | 6:cc35eb643e8f | 1087 | |
mjr | 6:cc35eb643e8f | 1088 | // integrate the time slice from the previous reading to this reading |
mjr | 6:cc35eb643e8f | 1089 | vx_ += (x + ax_ - 2*cx_)*dt/2; |
mjr | 6:cc35eb643e8f | 1090 | vy_ += (y + ay_ - 2*cy_)*dt/2; |
mjr | 3:3514575d4f86 | 1091 | |
mjr | 6:cc35eb643e8f | 1092 | // store the updates |
mjr | 6:cc35eb643e8f | 1093 | ax_ = x; |
mjr | 6:cc35eb643e8f | 1094 | ay_ = y; |
mjr | 6:cc35eb643e8f | 1095 | az_ = z; |
mjr | 3:3514575d4f86 | 1096 | } |
mjr | 3:3514575d4f86 | 1097 | |
mjr | 3:3514575d4f86 | 1098 | // underlying accelerometer object |
mjr | 3:3514575d4f86 | 1099 | MMA8451Q mma_; |
mjr | 3:3514575d4f86 | 1100 | |
mjr | 5:a70c0bce770d | 1101 | // last raw acceleration readings |
mjr | 6:cc35eb643e8f | 1102 | float ax_, ay_, az_; |
mjr | 5:a70c0bce770d | 1103 | |
mjr | 6:cc35eb643e8f | 1104 | // integrated velocity reading since last get() |
mjr | 6:cc35eb643e8f | 1105 | float vx_, vy_; |
mjr | 6:cc35eb643e8f | 1106 | |
mjr | 3:3514575d4f86 | 1107 | // timer for measuring time between get() samples |
mjr | 3:3514575d4f86 | 1108 | Timer tGet_; |
mjr | 3:3514575d4f86 | 1109 | |
mjr | 3:3514575d4f86 | 1110 | // timer for measuring time between interrupts |
mjr | 3:3514575d4f86 | 1111 | Timer tInt_; |
mjr | 5:a70c0bce770d | 1112 | |
mjr | 6:cc35eb643e8f | 1113 | // Calibration reference point for accelerometer. This is the |
mjr | 6:cc35eb643e8f | 1114 | // average reading on the accelerometer when in the neutral position |
mjr | 6:cc35eb643e8f | 1115 | // at rest. |
mjr | 6:cc35eb643e8f | 1116 | float cx_, cy_; |
mjr | 5:a70c0bce770d | 1117 | |
mjr | 5:a70c0bce770d | 1118 | // timer for atuo-centering |
mjr | 5:a70c0bce770d | 1119 | Timer tCenter_; |
mjr | 6:cc35eb643e8f | 1120 | |
mjr | 6:cc35eb643e8f | 1121 | // Auto-centering history. This is a separate history list that |
mjr | 6:cc35eb643e8f | 1122 | // records results spaced out sparesely over time, so that we can |
mjr | 6:cc35eb643e8f | 1123 | // watch for long-lasting periods of rest. When we observe nearly |
mjr | 6:cc35eb643e8f | 1124 | // no motion for an extended period (on the order of 5 seconds), we |
mjr | 6:cc35eb643e8f | 1125 | // take this to mean that the cabinet is at rest in its neutral |
mjr | 6:cc35eb643e8f | 1126 | // position, so we take this as the calibration zero point for the |
mjr | 6:cc35eb643e8f | 1127 | // accelerometer. We update this history continuously, which allows |
mjr | 6:cc35eb643e8f | 1128 | // us to continuously re-calibrate the accelerometer. This ensures |
mjr | 6:cc35eb643e8f | 1129 | // that we'll automatically adjust to any actual changes in the |
mjr | 6:cc35eb643e8f | 1130 | // cabinet's orientation (e.g., if it gets moved slightly by an |
mjr | 6:cc35eb643e8f | 1131 | // especially strong nudge) as well as any systematic drift in the |
mjr | 6:cc35eb643e8f | 1132 | // accelerometer measurement bias (e.g., from temperature changes). |
mjr | 5:a70c0bce770d | 1133 | int iAccPrv_, nAccPrv_; |
mjr | 5:a70c0bce770d | 1134 | static const int maxAccPrv = 5; |
mjr | 6:cc35eb643e8f | 1135 | AccHist accPrv_[maxAccPrv]; |
mjr | 6:cc35eb643e8f | 1136 | |
mjr | 5:a70c0bce770d | 1137 | // interurupt pin name |
mjr | 5:a70c0bce770d | 1138 | PinName irqPin_; |
mjr | 5:a70c0bce770d | 1139 | |
mjr | 5:a70c0bce770d | 1140 | // interrupt router |
mjr | 5:a70c0bce770d | 1141 | InterruptIn intIn_; |
mjr | 3:3514575d4f86 | 1142 | }; |
mjr | 3:3514575d4f86 | 1143 | |
mjr | 5:a70c0bce770d | 1144 | |
mjr | 5:a70c0bce770d | 1145 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 1146 | // |
mjr | 14:df700b22ca08 | 1147 | // Clear the I2C bus for the MMA8451Q. This seems necessary some of the time |
mjr | 5:a70c0bce770d | 1148 | // for reasons that aren't clear to me. Doing a hard power cycle has the same |
mjr | 5:a70c0bce770d | 1149 | // effect, but when we do a soft reset, the hardware sometimes seems to leave |
mjr | 5:a70c0bce770d | 1150 | // the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through |
mjr | 14:df700b22ca08 | 1151 | // the SCL line is supposed to clear this condition. I'm not convinced this |
mjr | 14:df700b22ca08 | 1152 | // actually works with the way this component is wired on the KL25Z, but it |
mjr | 14:df700b22ca08 | 1153 | // seems harmless, so we'll do it on reset in case it does some good. What |
mjr | 14:df700b22ca08 | 1154 | // we really seem to need is a way to power cycle the MMA8451Q if it ever |
mjr | 14:df700b22ca08 | 1155 | // gets stuck, but this is simply not possible in software on the KL25Z. |
mjr | 14:df700b22ca08 | 1156 | // |
mjr | 14:df700b22ca08 | 1157 | // If the accelerometer does get stuck, and a software reboot doesn't reset |
mjr | 14:df700b22ca08 | 1158 | // it, the only workaround is to manually power cycle the whole KL25Z by |
mjr | 14:df700b22ca08 | 1159 | // unplugging both of its USB connections. |
mjr | 5:a70c0bce770d | 1160 | // |
mjr | 5:a70c0bce770d | 1161 | void clear_i2c() |
mjr | 5:a70c0bce770d | 1162 | { |
mjr | 5:a70c0bce770d | 1163 | // assume a general-purpose output pin to the I2C clock |
mjr | 5:a70c0bce770d | 1164 | DigitalOut scl(MMA8451_SCL_PIN); |
mjr | 5:a70c0bce770d | 1165 | DigitalIn sda(MMA8451_SDA_PIN); |
mjr | 5:a70c0bce770d | 1166 | |
mjr | 5:a70c0bce770d | 1167 | // clock the SCL 9 times |
mjr | 5:a70c0bce770d | 1168 | for (int i = 0 ; i < 9 ; ++i) |
mjr | 5:a70c0bce770d | 1169 | { |
mjr | 5:a70c0bce770d | 1170 | scl = 1; |
mjr | 5:a70c0bce770d | 1171 | wait_us(20); |
mjr | 5:a70c0bce770d | 1172 | scl = 0; |
mjr | 5:a70c0bce770d | 1173 | wait_us(20); |
mjr | 5:a70c0bce770d | 1174 | } |
mjr | 5:a70c0bce770d | 1175 | } |
mjr | 14:df700b22ca08 | 1176 | |
mjr | 14:df700b22ca08 | 1177 | // --------------------------------------------------------------------------- |
mjr | 14:df700b22ca08 | 1178 | // |
mjr | 14:df700b22ca08 | 1179 | // CCD read interval callback. When reading the CCD, we'll call this |
mjr | 14:df700b22ca08 | 1180 | // several times over the course of the read loop to refresh the button |
mjr | 14:df700b22ca08 | 1181 | // states. This allows us to debounce the buttons while the long CCD |
mjr | 14:df700b22ca08 | 1182 | // read cycle is taking place, so that we can reliably report button |
mjr | 14:df700b22ca08 | 1183 | // states after each CCD read cycle. (The read cycle takes about 30ms, |
mjr | 14:df700b22ca08 | 1184 | // which should be enough time to reliably debounce the buttons.) |
mjr | 14:df700b22ca08 | 1185 | // |
mjr | 14:df700b22ca08 | 1186 | void ccdReadCB(void *) |
mjr | 14:df700b22ca08 | 1187 | { |
mjr | 14:df700b22ca08 | 1188 | // read the keyboard |
mjr | 14:df700b22ca08 | 1189 | readButtonsDebounced(); |
mjr | 14:df700b22ca08 | 1190 | } |
mjr | 5:a70c0bce770d | 1191 | |
mjr | 5:a70c0bce770d | 1192 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 1193 | // |
mjr | 5:a70c0bce770d | 1194 | // Main program loop. This is invoked on startup and runs forever. Our |
mjr | 5:a70c0bce770d | 1195 | // main work is to read our devices (the accelerometer and the CCD), process |
mjr | 5:a70c0bce770d | 1196 | // the readings into nudge and plunger position data, and send the results |
mjr | 5:a70c0bce770d | 1197 | // to the host computer via the USB joystick interface. We also monitor |
mjr | 5:a70c0bce770d | 1198 | // the USB connection for incoming LedWiz commands and process those into |
mjr | 5:a70c0bce770d | 1199 | // port outputs. |
mjr | 5:a70c0bce770d | 1200 | // |
mjr | 0:5acbbe3f4cf4 | 1201 | int main(void) |
mjr | 0:5acbbe3f4cf4 | 1202 | { |
mjr | 1:d913e0afb2ac | 1203 | // turn off our on-board indicator LED |
mjr | 4:02c7cd7b2183 | 1204 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 1205 | ledG = 1; |
mjr | 4:02c7cd7b2183 | 1206 | ledB = 1; |
mjr | 1:d913e0afb2ac | 1207 | |
mjr | 6:cc35eb643e8f | 1208 | // initialize the LedWiz ports |
mjr | 6:cc35eb643e8f | 1209 | initLwOut(); |
mjr | 6:cc35eb643e8f | 1210 | |
mjr | 11:bd9da7088e6e | 1211 | // initialize the button input ports |
mjr | 11:bd9da7088e6e | 1212 | initButtons(); |
mjr | 11:bd9da7088e6e | 1213 | |
mjr | 6:cc35eb643e8f | 1214 | // we don't need a reset yet |
mjr | 6:cc35eb643e8f | 1215 | bool needReset = false; |
mjr | 6:cc35eb643e8f | 1216 | |
mjr | 5:a70c0bce770d | 1217 | // clear the I2C bus for the accelerometer |
mjr | 5:a70c0bce770d | 1218 | clear_i2c(); |
mjr | 5:a70c0bce770d | 1219 | |
mjr | 2:c174f9ee414a | 1220 | // set up a flash memory controller |
mjr | 2:c174f9ee414a | 1221 | FreescaleIAP iap; |
mjr | 2:c174f9ee414a | 1222 | |
mjr | 2:c174f9ee414a | 1223 | // use the last sector of flash for our non-volatile memory structure |
mjr | 2:c174f9ee414a | 1224 | int flash_addr = (iap.flash_size() - SECTOR_SIZE); |
mjr | 2:c174f9ee414a | 1225 | NVM *flash = (NVM *)flash_addr; |
mjr | 2:c174f9ee414a | 1226 | NVM cfg; |
mjr | 2:c174f9ee414a | 1227 | |
mjr | 2:c174f9ee414a | 1228 | // check for valid flash |
mjr | 6:cc35eb643e8f | 1229 | bool flash_valid = flash->valid(); |
mjr | 2:c174f9ee414a | 1230 | |
mjr | 2:c174f9ee414a | 1231 | // if the flash is valid, load it; otherwise initialize to defaults |
mjr | 2:c174f9ee414a | 1232 | if (flash_valid) { |
mjr | 2:c174f9ee414a | 1233 | memcpy(&cfg, flash, sizeof(cfg)); |
mjr | 6:cc35eb643e8f | 1234 | printf("Flash restored: plunger cal=%d, min=%d, zero=%d, max=%d\r\n", |
mjr | 6:cc35eb643e8f | 1235 | cfg.d.plungerCal, cfg.d.plungerMin, cfg.d.plungerZero, cfg.d.plungerMax); |
mjr | 2:c174f9ee414a | 1236 | } |
mjr | 2:c174f9ee414a | 1237 | else { |
mjr | 2:c174f9ee414a | 1238 | printf("Factory reset\r\n"); |
mjr | 2:c174f9ee414a | 1239 | cfg.d.sig = cfg.SIGNATURE; |
mjr | 2:c174f9ee414a | 1240 | cfg.d.vsn = cfg.VERSION; |
mjr | 6:cc35eb643e8f | 1241 | cfg.d.plungerCal = 0; |
mjr | 6:cc35eb643e8f | 1242 | cfg.d.plungerZero = 0; |
mjr | 2:c174f9ee414a | 1243 | cfg.d.plungerMin = 0; |
mjr | 2:c174f9ee414a | 1244 | cfg.d.plungerMax = npix; |
mjr | 6:cc35eb643e8f | 1245 | cfg.d.ledWizUnitNo = DEFAULT_LEDWIZ_UNIT_NUMBER; |
mjr | 6:cc35eb643e8f | 1246 | cfg.d.ccdEnabled = true; |
mjr | 2:c174f9ee414a | 1247 | } |
mjr | 1:d913e0afb2ac | 1248 | |
mjr | 6:cc35eb643e8f | 1249 | // Create the joystick USB client. Note that we use the LedWiz unit |
mjr | 6:cc35eb643e8f | 1250 | // number from the saved configuration. |
mjr | 6:cc35eb643e8f | 1251 | MyUSBJoystick js( |
mjr | 6:cc35eb643e8f | 1252 | USB_VENDOR_ID, |
mjr | 6:cc35eb643e8f | 1253 | USB_PRODUCT_ID | cfg.d.ledWizUnitNo, |
mjr | 6:cc35eb643e8f | 1254 | USB_VERSION_NO); |
mjr | 6:cc35eb643e8f | 1255 | |
mjr | 1:d913e0afb2ac | 1256 | // plunger calibration button debounce timer |
mjr | 1:d913e0afb2ac | 1257 | Timer calBtnTimer; |
mjr | 1:d913e0afb2ac | 1258 | calBtnTimer.start(); |
mjr | 1:d913e0afb2ac | 1259 | int calBtnLit = false; |
mjr | 1:d913e0afb2ac | 1260 | |
mjr | 1:d913e0afb2ac | 1261 | // Calibration button state: |
mjr | 1:d913e0afb2ac | 1262 | // 0 = not pushed |
mjr | 1:d913e0afb2ac | 1263 | // 1 = pushed, not yet debounced |
mjr | 1:d913e0afb2ac | 1264 | // 2 = pushed, debounced, waiting for hold time |
mjr | 1:d913e0afb2ac | 1265 | // 3 = pushed, hold time completed - in calibration mode |
mjr | 1:d913e0afb2ac | 1266 | int calBtnState = 0; |
mjr | 1:d913e0afb2ac | 1267 | |
mjr | 1:d913e0afb2ac | 1268 | // set up a timer for our heartbeat indicator |
mjr | 1:d913e0afb2ac | 1269 | Timer hbTimer; |
mjr | 1:d913e0afb2ac | 1270 | hbTimer.start(); |
mjr | 1:d913e0afb2ac | 1271 | int hb = 0; |
mjr | 5:a70c0bce770d | 1272 | uint16_t hbcnt = 0; |
mjr | 1:d913e0afb2ac | 1273 | |
mjr | 1:d913e0afb2ac | 1274 | // set a timer for accelerometer auto-centering |
mjr | 1:d913e0afb2ac | 1275 | Timer acTimer; |
mjr | 1:d913e0afb2ac | 1276 | acTimer.start(); |
mjr | 1:d913e0afb2ac | 1277 | |
mjr | 0:5acbbe3f4cf4 | 1278 | // create the accelerometer object |
mjr | 5:a70c0bce770d | 1279 | Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN); |
mjr | 0:5acbbe3f4cf4 | 1280 | |
mjr | 0:5acbbe3f4cf4 | 1281 | // create the CCD array object |
mjr | 1:d913e0afb2ac | 1282 | TSL1410R ccd(PTE20, PTE21, PTB0); |
mjr | 2:c174f9ee414a | 1283 | |
mjr | 1:d913e0afb2ac | 1284 | // last accelerometer report, in mouse coordinates |
mjr | 6:cc35eb643e8f | 1285 | int x = 0, y = 0, z = 0; |
mjr | 6:cc35eb643e8f | 1286 | |
mjr | 6:cc35eb643e8f | 1287 | // previous two plunger readings, for "debouncing" the results (z0 is |
mjr | 6:cc35eb643e8f | 1288 | // the most recent, z1 is the one before that) |
mjr | 6:cc35eb643e8f | 1289 | int z0 = 0, z1 = 0, z2 = 0; |
mjr | 6:cc35eb643e8f | 1290 | |
mjr | 6:cc35eb643e8f | 1291 | // Firing in progress: we set this when we detect the start of rapid |
mjr | 6:cc35eb643e8f | 1292 | // plunger movement from a retracted position towards the rest position. |
mjr | 6:cc35eb643e8f | 1293 | // The actual plunger spring return speed seems to be too slow for VP, |
mjr | 6:cc35eb643e8f | 1294 | // so when we detect the start of this motion, we immediately tell VP |
mjr | 6:cc35eb643e8f | 1295 | // to return the plunger to rest, then we monitor the real plunger |
mjr | 6:cc35eb643e8f | 1296 | // until it atcually stops. |
mjr | 9:fd65b0a94720 | 1297 | int firing = 0; |
mjr | 2:c174f9ee414a | 1298 | |
mjr | 2:c174f9ee414a | 1299 | // start the first CCD integration cycle |
mjr | 2:c174f9ee414a | 1300 | ccd.clear(); |
mjr | 9:fd65b0a94720 | 1301 | |
mjr | 9:fd65b0a94720 | 1302 | // Device status. We report this on each update so that the host config |
mjr | 9:fd65b0a94720 | 1303 | // tool can detect our current settings. This is a bit mask consisting |
mjr | 9:fd65b0a94720 | 1304 | // of these bits: |
mjr | 9:fd65b0a94720 | 1305 | // 0x01 -> plunger sensor enabled |
mjr | 9:fd65b0a94720 | 1306 | uint16_t statusFlags = (cfg.d.ccdEnabled ? 0x01 : 0x00); |
mjr | 10:976666ffa4ef | 1307 | |
mjr | 10:976666ffa4ef | 1308 | // flag: send a pixel dump after the next read |
mjr | 10:976666ffa4ef | 1309 | bool reportPix = false; |
mjr | 1:d913e0afb2ac | 1310 | |
mjr | 1:d913e0afb2ac | 1311 | // we're all set up - now just loop, processing sensor reports and |
mjr | 1:d913e0afb2ac | 1312 | // host requests |
mjr | 0:5acbbe3f4cf4 | 1313 | for (;;) |
mjr | 0:5acbbe3f4cf4 | 1314 | { |
mjr | 0:5acbbe3f4cf4 | 1315 | // Look for an incoming report. Continue processing input as |
mjr | 0:5acbbe3f4cf4 | 1316 | // long as there's anything pending - this ensures that we |
mjr | 0:5acbbe3f4cf4 | 1317 | // handle input in as timely a fashion as possible by deferring |
mjr | 0:5acbbe3f4cf4 | 1318 | // output tasks as long as there's input to process. |
mjr | 0:5acbbe3f4cf4 | 1319 | HID_REPORT report; |
mjr | 6:cc35eb643e8f | 1320 | while (js.readNB(&report)) |
mjr | 0:5acbbe3f4cf4 | 1321 | { |
mjr | 6:cc35eb643e8f | 1322 | // all Led-Wiz reports are 8 bytes exactly |
mjr | 6:cc35eb643e8f | 1323 | if (report.length == 8) |
mjr | 1:d913e0afb2ac | 1324 | { |
mjr | 6:cc35eb643e8f | 1325 | uint8_t *data = report.data; |
mjr | 6:cc35eb643e8f | 1326 | if (data[0] == 64) |
mjr | 0:5acbbe3f4cf4 | 1327 | { |
mjr | 6:cc35eb643e8f | 1328 | // LWZ-SBA - first four bytes are bit-packed on/off flags |
mjr | 6:cc35eb643e8f | 1329 | // for the outputs; 5th byte is the pulse speed (0-7) |
mjr | 6:cc35eb643e8f | 1330 | //printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n", |
mjr | 6:cc35eb643e8f | 1331 | // data[1], data[2], data[3], data[4], data[5]); |
mjr | 0:5acbbe3f4cf4 | 1332 | |
mjr | 6:cc35eb643e8f | 1333 | // update all on/off states |
mjr | 6:cc35eb643e8f | 1334 | for (int i = 0, bit = 1, ri = 1 ; i < 32 ; ++i, bit <<= 1) |
mjr | 6:cc35eb643e8f | 1335 | { |
mjr | 6:cc35eb643e8f | 1336 | if (bit == 0x100) { |
mjr | 6:cc35eb643e8f | 1337 | bit = 1; |
mjr | 6:cc35eb643e8f | 1338 | ++ri; |
mjr | 6:cc35eb643e8f | 1339 | } |
mjr | 6:cc35eb643e8f | 1340 | wizOn[i] = ((data[ri] & bit) != 0); |
mjr | 6:cc35eb643e8f | 1341 | } |
mjr | 6:cc35eb643e8f | 1342 | |
mjr | 6:cc35eb643e8f | 1343 | // update the physical outputs |
mjr | 1:d913e0afb2ac | 1344 | updateWizOuts(); |
mjr | 6:cc35eb643e8f | 1345 | |
mjr | 6:cc35eb643e8f | 1346 | // reset the PBA counter |
mjr | 6:cc35eb643e8f | 1347 | pbaIdx = 0; |
mjr | 6:cc35eb643e8f | 1348 | } |
mjr | 6:cc35eb643e8f | 1349 | else if (data[0] == 65) |
mjr | 6:cc35eb643e8f | 1350 | { |
mjr | 6:cc35eb643e8f | 1351 | // Private control message. This isn't an LedWiz message - it's |
mjr | 6:cc35eb643e8f | 1352 | // an extension for this device. 65 is an invalid PBA setting, |
mjr | 6:cc35eb643e8f | 1353 | // and isn't used for any other LedWiz message, so we appropriate |
mjr | 6:cc35eb643e8f | 1354 | // it for our own private use. The first byte specifies the |
mjr | 6:cc35eb643e8f | 1355 | // message type. |
mjr | 6:cc35eb643e8f | 1356 | if (data[1] == 1) |
mjr | 6:cc35eb643e8f | 1357 | { |
mjr | 9:fd65b0a94720 | 1358 | // 1 = Set Configuration: |
mjr | 6:cc35eb643e8f | 1359 | // data[2] = LedWiz unit number (0x00 to 0x0f) |
mjr | 6:cc35eb643e8f | 1360 | // data[3] = feature enable bit mask: |
mjr | 6:cc35eb643e8f | 1361 | // 0x01 = enable CCD |
mjr | 6:cc35eb643e8f | 1362 | |
mjr | 6:cc35eb643e8f | 1363 | // we'll need a reset if the LedWiz unit number is changing |
mjr | 6:cc35eb643e8f | 1364 | uint8_t newUnitNo = data[2] & 0x0f; |
mjr | 6:cc35eb643e8f | 1365 | needReset |= (newUnitNo != cfg.d.ledWizUnitNo); |
mjr | 6:cc35eb643e8f | 1366 | |
mjr | 6:cc35eb643e8f | 1367 | // set the configuration parameters from the message |
mjr | 6:cc35eb643e8f | 1368 | cfg.d.ledWizUnitNo = newUnitNo; |
mjr | 6:cc35eb643e8f | 1369 | cfg.d.ccdEnabled = data[3] & 0x01; |
mjr | 6:cc35eb643e8f | 1370 | |
mjr | 9:fd65b0a94720 | 1371 | // update the status flags |
mjr | 9:fd65b0a94720 | 1372 | statusFlags = (statusFlags & ~0x01) | (data[3] & 0x01); |
mjr | 9:fd65b0a94720 | 1373 | |
mjr | 9:fd65b0a94720 | 1374 | // if the ccd is no longer enabled, use 0 for z reports |
mjr | 9:fd65b0a94720 | 1375 | if (!cfg.d.ccdEnabled) |
mjr | 9:fd65b0a94720 | 1376 | z = 0; |
mjr | 9:fd65b0a94720 | 1377 | |
mjr | 6:cc35eb643e8f | 1378 | // save the configuration |
mjr | 6:cc35eb643e8f | 1379 | cfg.save(iap, flash_addr); |
mjr | 6:cc35eb643e8f | 1380 | } |
mjr | 9:fd65b0a94720 | 1381 | else if (data[1] == 2) |
mjr | 9:fd65b0a94720 | 1382 | { |
mjr | 9:fd65b0a94720 | 1383 | // 2 = Calibrate plunger |
mjr | 9:fd65b0a94720 | 1384 | // (No parameters) |
mjr | 9:fd65b0a94720 | 1385 | |
mjr | 9:fd65b0a94720 | 1386 | // enter calibration mode |
mjr | 9:fd65b0a94720 | 1387 | calBtnState = 3; |
mjr | 9:fd65b0a94720 | 1388 | calBtnTimer.reset(); |
mjr | 9:fd65b0a94720 | 1389 | cfg.resetPlunger(); |
mjr | 9:fd65b0a94720 | 1390 | } |
mjr | 10:976666ffa4ef | 1391 | else if (data[1] == 3) |
mjr | 10:976666ffa4ef | 1392 | { |
mjr | 10:976666ffa4ef | 1393 | // 3 = pixel dump |
mjr | 10:976666ffa4ef | 1394 | // (No parameters) |
mjr | 10:976666ffa4ef | 1395 | reportPix = true; |
mjr | 10:976666ffa4ef | 1396 | |
mjr | 10:976666ffa4ef | 1397 | // show purple until we finish sending the report |
mjr | 10:976666ffa4ef | 1398 | ledR = 0; |
mjr | 10:976666ffa4ef | 1399 | ledB = 0; |
mjr | 10:976666ffa4ef | 1400 | ledG = 1; |
mjr | 10:976666ffa4ef | 1401 | } |
mjr | 6:cc35eb643e8f | 1402 | } |
mjr | 6:cc35eb643e8f | 1403 | else |
mjr | 6:cc35eb643e8f | 1404 | { |
mjr | 6:cc35eb643e8f | 1405 | // LWZ-PBA - full state dump; each byte is one output |
mjr | 6:cc35eb643e8f | 1406 | // in the current bank. pbaIdx keeps track of the bank; |
mjr | 6:cc35eb643e8f | 1407 | // this is incremented implicitly by each PBA message. |
mjr | 6:cc35eb643e8f | 1408 | //printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n", |
mjr | 6:cc35eb643e8f | 1409 | // pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); |
mjr | 6:cc35eb643e8f | 1410 | |
mjr | 6:cc35eb643e8f | 1411 | // update all output profile settings |
mjr | 6:cc35eb643e8f | 1412 | for (int i = 0 ; i < 8 ; ++i) |
mjr | 6:cc35eb643e8f | 1413 | wizVal[pbaIdx + i] = data[i]; |
mjr | 6:cc35eb643e8f | 1414 | |
mjr | 6:cc35eb643e8f | 1415 | // update the physical LED state if this is the last bank |
mjr | 6:cc35eb643e8f | 1416 | if (pbaIdx == 24) |
mjr | 13:72dda449c3c0 | 1417 | { |
mjr | 6:cc35eb643e8f | 1418 | updateWizOuts(); |
mjr | 13:72dda449c3c0 | 1419 | pbaIdx = 0; |
mjr | 13:72dda449c3c0 | 1420 | } |
mjr | 13:72dda449c3c0 | 1421 | else |
mjr | 13:72dda449c3c0 | 1422 | pbaIdx += 8; |
mjr | 6:cc35eb643e8f | 1423 | } |
mjr | 0:5acbbe3f4cf4 | 1424 | } |
mjr | 0:5acbbe3f4cf4 | 1425 | } |
mjr | 1:d913e0afb2ac | 1426 | |
mjr | 1:d913e0afb2ac | 1427 | // check for plunger calibration |
mjr | 1:d913e0afb2ac | 1428 | if (!calBtn) |
mjr | 0:5acbbe3f4cf4 | 1429 | { |
mjr | 1:d913e0afb2ac | 1430 | // check the state |
mjr | 1:d913e0afb2ac | 1431 | switch (calBtnState) |
mjr | 0:5acbbe3f4cf4 | 1432 | { |
mjr | 1:d913e0afb2ac | 1433 | case 0: |
mjr | 1:d913e0afb2ac | 1434 | // button not yet pushed - start debouncing |
mjr | 1:d913e0afb2ac | 1435 | calBtnTimer.reset(); |
mjr | 1:d913e0afb2ac | 1436 | calBtnState = 1; |
mjr | 1:d913e0afb2ac | 1437 | break; |
mjr | 1:d913e0afb2ac | 1438 | |
mjr | 1:d913e0afb2ac | 1439 | case 1: |
mjr | 1:d913e0afb2ac | 1440 | // pushed, not yet debounced - if the debounce time has |
mjr | 1:d913e0afb2ac | 1441 | // passed, start the hold period |
mjr | 9:fd65b0a94720 | 1442 | if (calBtnTimer.read_ms() > 50) |
mjr | 1:d913e0afb2ac | 1443 | calBtnState = 2; |
mjr | 1:d913e0afb2ac | 1444 | break; |
mjr | 1:d913e0afb2ac | 1445 | |
mjr | 1:d913e0afb2ac | 1446 | case 2: |
mjr | 1:d913e0afb2ac | 1447 | // in the hold period - if the button has been held down |
mjr | 1:d913e0afb2ac | 1448 | // for the entire hold period, move to calibration mode |
mjr | 9:fd65b0a94720 | 1449 | if (calBtnTimer.read_ms() > 2050) |
mjr | 1:d913e0afb2ac | 1450 | { |
mjr | 1:d913e0afb2ac | 1451 | // enter calibration mode |
mjr | 1:d913e0afb2ac | 1452 | calBtnState = 3; |
mjr | 9:fd65b0a94720 | 1453 | calBtnTimer.reset(); |
mjr | 9:fd65b0a94720 | 1454 | cfg.resetPlunger(); |
mjr | 1:d913e0afb2ac | 1455 | } |
mjr | 1:d913e0afb2ac | 1456 | break; |
mjr | 2:c174f9ee414a | 1457 | |
mjr | 2:c174f9ee414a | 1458 | case 3: |
mjr | 9:fd65b0a94720 | 1459 | // Already in calibration mode - pushing the button here |
mjr | 9:fd65b0a94720 | 1460 | // doesn't change the current state, but we won't leave this |
mjr | 9:fd65b0a94720 | 1461 | // state as long as it's held down. So nothing changes here. |
mjr | 2:c174f9ee414a | 1462 | break; |
mjr | 0:5acbbe3f4cf4 | 1463 | } |
mjr | 0:5acbbe3f4cf4 | 1464 | } |
mjr | 1:d913e0afb2ac | 1465 | else |
mjr | 1:d913e0afb2ac | 1466 | { |
mjr | 2:c174f9ee414a | 1467 | // Button released. If we're in calibration mode, and |
mjr | 2:c174f9ee414a | 1468 | // the calibration time has elapsed, end the calibration |
mjr | 2:c174f9ee414a | 1469 | // and save the results to flash. |
mjr | 2:c174f9ee414a | 1470 | // |
mjr | 2:c174f9ee414a | 1471 | // Otherwise, return to the base state without saving anything. |
mjr | 2:c174f9ee414a | 1472 | // If the button is released before we make it to calibration |
mjr | 2:c174f9ee414a | 1473 | // mode, it simply cancels the attempt. |
mjr | 9:fd65b0a94720 | 1474 | if (calBtnState == 3 && calBtnTimer.read_ms() > 15000) |
mjr | 2:c174f9ee414a | 1475 | { |
mjr | 2:c174f9ee414a | 1476 | // exit calibration mode |
mjr | 1:d913e0afb2ac | 1477 | calBtnState = 0; |
mjr | 2:c174f9ee414a | 1478 | |
mjr | 6:cc35eb643e8f | 1479 | // save the updated configuration |
mjr | 6:cc35eb643e8f | 1480 | cfg.d.plungerCal = 1; |
mjr | 6:cc35eb643e8f | 1481 | cfg.save(iap, flash_addr); |
mjr | 2:c174f9ee414a | 1482 | |
mjr | 2:c174f9ee414a | 1483 | // the flash state is now valid |
mjr | 2:c174f9ee414a | 1484 | flash_valid = true; |
mjr | 2:c174f9ee414a | 1485 | } |
mjr | 2:c174f9ee414a | 1486 | else if (calBtnState != 3) |
mjr | 2:c174f9ee414a | 1487 | { |
mjr | 2:c174f9ee414a | 1488 | // didn't make it to calibration mode - cancel the operation |
mjr | 1:d913e0afb2ac | 1489 | calBtnState = 0; |
mjr | 2:c174f9ee414a | 1490 | } |
mjr | 1:d913e0afb2ac | 1491 | } |
mjr | 1:d913e0afb2ac | 1492 | |
mjr | 1:d913e0afb2ac | 1493 | // light/flash the calibration button light, if applicable |
mjr | 1:d913e0afb2ac | 1494 | int newCalBtnLit = calBtnLit; |
mjr | 1:d913e0afb2ac | 1495 | switch (calBtnState) |
mjr | 0:5acbbe3f4cf4 | 1496 | { |
mjr | 1:d913e0afb2ac | 1497 | case 2: |
mjr | 1:d913e0afb2ac | 1498 | // in the hold period - flash the light |
mjr | 9:fd65b0a94720 | 1499 | newCalBtnLit = ((calBtnTimer.read_ms()/250) & 1); |
mjr | 1:d913e0afb2ac | 1500 | break; |
mjr | 1:d913e0afb2ac | 1501 | |
mjr | 1:d913e0afb2ac | 1502 | case 3: |
mjr | 1:d913e0afb2ac | 1503 | // calibration mode - show steady on |
mjr | 1:d913e0afb2ac | 1504 | newCalBtnLit = true; |
mjr | 1:d913e0afb2ac | 1505 | break; |
mjr | 1:d913e0afb2ac | 1506 | |
mjr | 1:d913e0afb2ac | 1507 | default: |
mjr | 1:d913e0afb2ac | 1508 | // not calibrating/holding - show steady off |
mjr | 1:d913e0afb2ac | 1509 | newCalBtnLit = false; |
mjr | 1:d913e0afb2ac | 1510 | break; |
mjr | 1:d913e0afb2ac | 1511 | } |
mjr | 3:3514575d4f86 | 1512 | |
mjr | 3:3514575d4f86 | 1513 | // light or flash the external calibration button LED, and |
mjr | 3:3514575d4f86 | 1514 | // do the same with the on-board blue LED |
mjr | 1:d913e0afb2ac | 1515 | if (calBtnLit != newCalBtnLit) |
mjr | 1:d913e0afb2ac | 1516 | { |
mjr | 1:d913e0afb2ac | 1517 | calBtnLit = newCalBtnLit; |
mjr | 2:c174f9ee414a | 1518 | if (calBtnLit) { |
mjr | 2:c174f9ee414a | 1519 | calBtnLed = 1; |
mjr | 4:02c7cd7b2183 | 1520 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 1521 | ledG = 1; |
mjr | 9:fd65b0a94720 | 1522 | ledB = 0; |
mjr | 2:c174f9ee414a | 1523 | } |
mjr | 2:c174f9ee414a | 1524 | else { |
mjr | 2:c174f9ee414a | 1525 | calBtnLed = 0; |
mjr | 4:02c7cd7b2183 | 1526 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 1527 | ledG = 1; |
mjr | 9:fd65b0a94720 | 1528 | ledB = 1; |
mjr | 2:c174f9ee414a | 1529 | } |
mjr | 1:d913e0afb2ac | 1530 | } |
mjr | 1:d913e0afb2ac | 1531 | |
mjr | 6:cc35eb643e8f | 1532 | // read the plunger sensor, if it's enabled |
mjr | 10:976666ffa4ef | 1533 | uint16_t pix[npix]; |
mjr | 6:cc35eb643e8f | 1534 | if (cfg.d.ccdEnabled) |
mjr | 6:cc35eb643e8f | 1535 | { |
mjr | 6:cc35eb643e8f | 1536 | // start with the previous reading, in case we don't have a |
mjr | 6:cc35eb643e8f | 1537 | // clear result on this frame |
mjr | 6:cc35eb643e8f | 1538 | int znew = z; |
mjr | 2:c174f9ee414a | 1539 | |
mjr | 6:cc35eb643e8f | 1540 | // read the array |
mjr | 14:df700b22ca08 | 1541 | ccd.read(pix, npix, ccdReadCB, 0, 3); |
mjr | 6:cc35eb643e8f | 1542 | |
mjr | 6:cc35eb643e8f | 1543 | // get the average brightness at each end of the sensor |
mjr | 6:cc35eb643e8f | 1544 | long avg1 = (long(pix[0]) + long(pix[1]) + long(pix[2]) + long(pix[3]) + long(pix[4]))/5; |
mjr | 6:cc35eb643e8f | 1545 | long avg2 = (long(pix[npix-1]) + long(pix[npix-2]) + long(pix[npix-3]) + long(pix[npix-4]) + long(pix[npix-5]))/5; |
mjr | 6:cc35eb643e8f | 1546 | |
mjr | 6:cc35eb643e8f | 1547 | // figure the midpoint in the brightness; multiply by 3 so that we can |
mjr | 6:cc35eb643e8f | 1548 | // compare sums of three pixels at a time to smooth out noise |
mjr | 6:cc35eb643e8f | 1549 | long midpt = (avg1 + avg2)/2 * 3; |
mjr | 6:cc35eb643e8f | 1550 | |
mjr | 6:cc35eb643e8f | 1551 | // Work from the bright end to the dark end. VP interprets the |
mjr | 6:cc35eb643e8f | 1552 | // Z axis value as the amount the plunger is pulled: zero is the |
mjr | 6:cc35eb643e8f | 1553 | // rest position, and the axis maximum is fully pulled. So we |
mjr | 6:cc35eb643e8f | 1554 | // essentially want to report how much of the sensor is lit, |
mjr | 6:cc35eb643e8f | 1555 | // since this increases as the plunger is pulled back. |
mjr | 6:cc35eb643e8f | 1556 | int si = 1, di = 1; |
mjr | 6:cc35eb643e8f | 1557 | if (avg1 < avg2) |
mjr | 6:cc35eb643e8f | 1558 | si = npix - 2, di = -1; |
mjr | 6:cc35eb643e8f | 1559 | |
mjr | 6:cc35eb643e8f | 1560 | // If the bright end and dark end don't differ by enough, skip this |
mjr | 6:cc35eb643e8f | 1561 | // reading entirely - we must have an overexposed or underexposed frame. |
mjr | 6:cc35eb643e8f | 1562 | // Otherwise proceed with the scan. |
mjr | 6:cc35eb643e8f | 1563 | if (labs(avg1 - avg2) > 0x1000) |
mjr | 6:cc35eb643e8f | 1564 | { |
mjr | 6:cc35eb643e8f | 1565 | uint16_t *pixp = pix + si; |
mjr | 6:cc35eb643e8f | 1566 | for (int n = 1 ; n < npix - 1 ; ++n, pixp += di) |
mjr | 6:cc35eb643e8f | 1567 | { |
mjr | 6:cc35eb643e8f | 1568 | // if we've crossed the midpoint, report this position |
mjr | 6:cc35eb643e8f | 1569 | if (long(pixp[-1]) + long(pixp[0]) + long(pixp[1]) < midpt) |
mjr | 6:cc35eb643e8f | 1570 | { |
mjr | 6:cc35eb643e8f | 1571 | // note the new position |
mjr | 6:cc35eb643e8f | 1572 | int pos = n; |
mjr | 6:cc35eb643e8f | 1573 | |
mjr | 6:cc35eb643e8f | 1574 | // Calibrate, or apply calibration, depending on the mode. |
mjr | 6:cc35eb643e8f | 1575 | // In either case, normalize to our range. VP appears to |
mjr | 6:cc35eb643e8f | 1576 | // ignore negative Z axis values. |
mjr | 6:cc35eb643e8f | 1577 | if (calBtnState == 3) |
mjr | 6:cc35eb643e8f | 1578 | { |
mjr | 6:cc35eb643e8f | 1579 | // calibrating - note if we're expanding the calibration envelope |
mjr | 6:cc35eb643e8f | 1580 | if (pos < cfg.d.plungerMin) |
mjr | 6:cc35eb643e8f | 1581 | cfg.d.plungerMin = pos; |
mjr | 6:cc35eb643e8f | 1582 | if (pos < cfg.d.plungerZero) |
mjr | 6:cc35eb643e8f | 1583 | cfg.d.plungerZero = pos; |
mjr | 6:cc35eb643e8f | 1584 | if (pos > cfg.d.plungerMax) |
mjr | 6:cc35eb643e8f | 1585 | cfg.d.plungerMax = pos; |
mjr | 6:cc35eb643e8f | 1586 | |
mjr | 6:cc35eb643e8f | 1587 | // normalize to the full physical range while calibrating |
mjr | 6:cc35eb643e8f | 1588 | znew = int(round(float(pos)/npix * JOYMAX)); |
mjr | 6:cc35eb643e8f | 1589 | } |
mjr | 6:cc35eb643e8f | 1590 | else |
mjr | 6:cc35eb643e8f | 1591 | { |
mjr | 6:cc35eb643e8f | 1592 | // Running normally - normalize to the calibration range. Note |
mjr | 6:cc35eb643e8f | 1593 | // that values below the zero point are allowed - the zero point |
mjr | 6:cc35eb643e8f | 1594 | // represents the park position, where the plunger sits when at |
mjr | 6:cc35eb643e8f | 1595 | // rest, but a mechanical plunger has a smmall amount of travel |
mjr | 6:cc35eb643e8f | 1596 | // in the "push" direction. We represent forward travel with |
mjr | 6:cc35eb643e8f | 1597 | // negative z values. |
mjr | 6:cc35eb643e8f | 1598 | if (pos > cfg.d.plungerMax) |
mjr | 6:cc35eb643e8f | 1599 | pos = cfg.d.plungerMax; |
mjr | 6:cc35eb643e8f | 1600 | znew = int(round(float(pos - cfg.d.plungerZero) |
mjr | 6:cc35eb643e8f | 1601 | / (cfg.d.plungerMax - cfg.d.plungerZero + 1) * JOYMAX)); |
mjr | 6:cc35eb643e8f | 1602 | } |
mjr | 6:cc35eb643e8f | 1603 | |
mjr | 6:cc35eb643e8f | 1604 | // done |
mjr | 6:cc35eb643e8f | 1605 | break; |
mjr | 6:cc35eb643e8f | 1606 | } |
mjr | 6:cc35eb643e8f | 1607 | } |
mjr | 6:cc35eb643e8f | 1608 | } |
mjr | 7:100a25f8bf56 | 1609 | |
mjr | 7:100a25f8bf56 | 1610 | // Determine if the plunger is being fired - i.e., if the player |
mjr | 7:100a25f8bf56 | 1611 | // has just released the plunger from a retracted position. |
mjr | 6:cc35eb643e8f | 1612 | // |
mjr | 7:100a25f8bf56 | 1613 | // We treat firing as an event. That is, we tell VP when the |
mjr | 7:100a25f8bf56 | 1614 | // plunger is fired, and then stop sending data until the firing |
mjr | 7:100a25f8bf56 | 1615 | // is complete, allowing VP to carry out the firing motion using |
mjr | 7:100a25f8bf56 | 1616 | // its internal model plunger rather than trying to track the |
mjr | 7:100a25f8bf56 | 1617 | // intermediate positions of the mechanical plunger throughout |
mjr | 9:fd65b0a94720 | 1618 | // the firing motion. This is essential because the firing |
mjr | 9:fd65b0a94720 | 1619 | // motion is too fast for us to track - in the time it takes us |
mjr | 9:fd65b0a94720 | 1620 | // to read one frame, the plunger can make it all the way to the |
mjr | 9:fd65b0a94720 | 1621 | // zero position and bounce back halfway. Fortunately, the range |
mjr | 9:fd65b0a94720 | 1622 | // of motions for the plunger is limited, so if we see any rapid |
mjr | 9:fd65b0a94720 | 1623 | // change of position toward the rest position, it's reasonably |
mjr | 9:fd65b0a94720 | 1624 | // safe to interpret it as a firing event. |
mjr | 9:fd65b0a94720 | 1625 | // |
mjr | 9:fd65b0a94720 | 1626 | // This isn't foolproof. The user can trick us by doing a |
mjr | 9:fd65b0a94720 | 1627 | // controlled rapid forward push but stopping short of the rest |
mjr | 9:fd65b0a94720 | 1628 | // position. We'll misinterpret that as a firing event. But |
mjr | 9:fd65b0a94720 | 1629 | // that's not a natural motion that a user would make with a |
mjr | 9:fd65b0a94720 | 1630 | // plunger, so it's probably an acceptable false positive. |
mjr | 9:fd65b0a94720 | 1631 | // |
mjr | 9:fd65b0a94720 | 1632 | // Possible future enhancement: we could add a second physical |
mjr | 9:fd65b0a94720 | 1633 | // sensor that detects when the plunger reaches the zero position |
mjr | 9:fd65b0a94720 | 1634 | // and asserts an interrupt. In the interrupt handler, set a |
mjr | 9:fd65b0a94720 | 1635 | // flag indicating the zero position signal. On each scan of |
mjr | 9:fd65b0a94720 | 1636 | // the CCD, also check that flag; if it's set, enter firing |
mjr | 9:fd65b0a94720 | 1637 | // event mode just as we do now. The key here is that the |
mjr | 9:fd65b0a94720 | 1638 | // secondary sensor would have to be something much faster |
mjr | 9:fd65b0a94720 | 1639 | // than our CCD scan - it would have to react on, say, the |
mjr | 9:fd65b0a94720 | 1640 | // millisecond time scale. A simple mechanical switch or a |
mjr | 9:fd65b0a94720 | 1641 | // proximity sensor could work. This would let us detect |
mjr | 9:fd65b0a94720 | 1642 | // with certainty when the plunger physically fires, eliminating |
mjr | 9:fd65b0a94720 | 1643 | // the case where the use can fool us with motion that's fast |
mjr | 9:fd65b0a94720 | 1644 | // enough to look like a release but doesn't actually reach the |
mjr | 9:fd65b0a94720 | 1645 | // starting position. |
mjr | 6:cc35eb643e8f | 1646 | // |
mjr | 7:100a25f8bf56 | 1647 | // To detremine when a firing even occurs, we watch for rapid |
mjr | 7:100a25f8bf56 | 1648 | // motion from a retracted position towards the rest position - |
mjr | 7:100a25f8bf56 | 1649 | // that is, large position changes in the negative direction over |
mjr | 7:100a25f8bf56 | 1650 | // a couple of consecutive readings. When we see a rapid move |
mjr | 7:100a25f8bf56 | 1651 | // toward zero, we set our internal 'firing' flag, immediately |
mjr | 7:100a25f8bf56 | 1652 | // report to VP that the plunger has returned to the zero |
mjr | 7:100a25f8bf56 | 1653 | // position, and then suspend reports until the mechanical |
mjr | 7:100a25f8bf56 | 1654 | // readings indicate that the plunger has come to rest (indicated |
mjr | 7:100a25f8bf56 | 1655 | // by several readings in a row at roughly the same position). |
mjr | 9:fd65b0a94720 | 1656 | // |
mjr | 9:fd65b0a94720 | 1657 | // Tolerance for firing is 1/3 of the current pull distance, or |
mjr | 9:fd65b0a94720 | 1658 | // about 1/2", whichever is greater. Making this value too small |
mjr | 9:fd65b0a94720 | 1659 | // makes for too many false positives. Empirically, 1/4" is too |
mjr | 9:fd65b0a94720 | 1660 | // twitchy, so set a floor at about 1/2". But we can be less |
mjr | 9:fd65b0a94720 | 1661 | // sensitive the further back the plunger is pulled, since even |
mjr | 9:fd65b0a94720 | 1662 | // a long pull will snap back quickly. Note that JOYMAX always |
mjr | 9:fd65b0a94720 | 1663 | // corresponds to about 3", no matter how many pixels we're |
mjr | 9:fd65b0a94720 | 1664 | // reading, since the physical sensor is about 3" long; so we |
mjr | 9:fd65b0a94720 | 1665 | // factor out the pixel count calculate (approximate) physical |
mjr | 9:fd65b0a94720 | 1666 | // distances based on the normalized axis range. |
mjr | 9:fd65b0a94720 | 1667 | // |
mjr | 9:fd65b0a94720 | 1668 | // Firing pattern: when firing, don't simply report a solid 0, |
mjr | 9:fd65b0a94720 | 1669 | // but instead report a series of pseudo-bouces. This looks |
mjr | 9:fd65b0a94720 | 1670 | // more realistic, beacause the real plunger is also bouncing |
mjr | 9:fd65b0a94720 | 1671 | // around during this time. To get maximum firing power in |
mjr | 9:fd65b0a94720 | 1672 | // the simulation, though, our pseudo-bounces are tiny cmopared |
mjr | 9:fd65b0a94720 | 1673 | // to the real thing. |
mjr | 9:fd65b0a94720 | 1674 | const int restTol = JOYMAX/24; |
mjr | 9:fd65b0a94720 | 1675 | int fireTol = z/3 > JOYMAX/6 ? z/3 : JOYMAX/6; |
mjr | 9:fd65b0a94720 | 1676 | static const int firePattern[] = { |
mjr | 9:fd65b0a94720 | 1677 | -JOYMAX/12, -JOYMAX/12, -JOYMAX/12, |
mjr | 9:fd65b0a94720 | 1678 | }; |
mjr | 9:fd65b0a94720 | 1679 | if (firing != 0) |
mjr | 6:cc35eb643e8f | 1680 | { |
mjr | 6:cc35eb643e8f | 1681 | // Firing in progress - we've already told VP to send its |
mjr | 6:cc35eb643e8f | 1682 | // model plunger all the way back to the rest position, so |
mjr | 6:cc35eb643e8f | 1683 | // send no further reports until the mechanical plunger |
mjr | 6:cc35eb643e8f | 1684 | // actually comes to rest somewhere. |
mjr | 6:cc35eb643e8f | 1685 | if (abs(z0 - z2) < restTol && abs(znew - z2) < restTol) |
mjr | 6:cc35eb643e8f | 1686 | { |
mjr | 6:cc35eb643e8f | 1687 | // the plunger is back at rest - firing is done |
mjr | 9:fd65b0a94720 | 1688 | firing = 0; |
mjr | 6:cc35eb643e8f | 1689 | |
mjr | 6:cc35eb643e8f | 1690 | // resume normal reporting |
mjr | 6:cc35eb643e8f | 1691 | z = z2; |
mjr | 6:cc35eb643e8f | 1692 | } |
mjr | 9:fd65b0a94720 | 1693 | else if (firing < countof(firePattern)) |
mjr | 9:fd65b0a94720 | 1694 | { |
mjr | 9:fd65b0a94720 | 1695 | // firing - report the next position in the pseudo-bounce |
mjr | 9:fd65b0a94720 | 1696 | // pattern |
mjr | 9:fd65b0a94720 | 1697 | z = firePattern[firing++]; |
mjr | 9:fd65b0a94720 | 1698 | } |
mjr | 9:fd65b0a94720 | 1699 | else |
mjr | 9:fd65b0a94720 | 1700 | { |
mjr | 9:fd65b0a94720 | 1701 | // firing, out of pseudo-bounce items - just report the |
mjr | 9:fd65b0a94720 | 1702 | // rest position |
mjr | 9:fd65b0a94720 | 1703 | z = 0; |
mjr | 9:fd65b0a94720 | 1704 | } |
mjr | 6:cc35eb643e8f | 1705 | } |
mjr | 6:cc35eb643e8f | 1706 | else if (z0 < z2 && z1 < z2 && znew < z2 |
mjr | 6:cc35eb643e8f | 1707 | && (z0 < z2 - fireTol |
mjr | 6:cc35eb643e8f | 1708 | || z1 < z2 - fireTol |
mjr | 6:cc35eb643e8f | 1709 | || znew < z2 - fireTol)) |
mjr | 6:cc35eb643e8f | 1710 | { |
mjr | 6:cc35eb643e8f | 1711 | // Big jumps toward rest position in last two readings - |
mjr | 6:cc35eb643e8f | 1712 | // firing has begun. Report an immediate return to the |
mjr | 6:cc35eb643e8f | 1713 | // rest position, and send no further reports until the |
mjr | 6:cc35eb643e8f | 1714 | // physical plunger has come to rest. This effectively |
mjr | 6:cc35eb643e8f | 1715 | // detaches VP's model plunger from the real world for |
mjr | 6:cc35eb643e8f | 1716 | // the duration of the spring return, letting VP evolve |
mjr | 6:cc35eb643e8f | 1717 | // its model without trying to synchronize with the |
mjr | 6:cc35eb643e8f | 1718 | // mechanical version. The release motion is too fast |
mjr | 6:cc35eb643e8f | 1719 | // for that to work well; we can't take samples quickly |
mjr | 6:cc35eb643e8f | 1720 | // enough to get prcise velocity or acceleration |
mjr | 6:cc35eb643e8f | 1721 | // readings. It's better to let VP figure the speed |
mjr | 6:cc35eb643e8f | 1722 | // and acceleration through modeling. Plus, that lets |
mjr | 6:cc35eb643e8f | 1723 | // each virtual table set the desired parameters for its |
mjr | 6:cc35eb643e8f | 1724 | // virtual plunger, rather than imposing the actual |
mjr | 6:cc35eb643e8f | 1725 | // mechanical charateristics of the physical plunger on |
mjr | 6:cc35eb643e8f | 1726 | // every table. |
mjr | 9:fd65b0a94720 | 1727 | firing = 1; |
mjr | 9:fd65b0a94720 | 1728 | |
mjr | 9:fd65b0a94720 | 1729 | // report the first firing pattern position |
mjr | 9:fd65b0a94720 | 1730 | z = firePattern[0]; |
mjr | 6:cc35eb643e8f | 1731 | } |
mjr | 6:cc35eb643e8f | 1732 | else |
mjr | 6:cc35eb643e8f | 1733 | { |
mjr | 6:cc35eb643e8f | 1734 | // everything normal; report the 3rd recent position on |
mjr | 6:cc35eb643e8f | 1735 | // tape delay |
mjr | 6:cc35eb643e8f | 1736 | z = z2; |
mjr | 6:cc35eb643e8f | 1737 | } |
mjr | 6:cc35eb643e8f | 1738 | |
mjr | 6:cc35eb643e8f | 1739 | // shift in the new reading |
mjr | 6:cc35eb643e8f | 1740 | z2 = z1; |
mjr | 6:cc35eb643e8f | 1741 | z1 = z0; |
mjr | 6:cc35eb643e8f | 1742 | z0 = znew; |
mjr | 2:c174f9ee414a | 1743 | } |
mjr | 9:fd65b0a94720 | 1744 | else |
mjr | 9:fd65b0a94720 | 1745 | { |
mjr | 9:fd65b0a94720 | 1746 | // plunger disabled - pause 10ms to throttle updates to a |
mjr | 9:fd65b0a94720 | 1747 | // reasonable pace |
mjr | 9:fd65b0a94720 | 1748 | wait_ms(10); |
mjr | 9:fd65b0a94720 | 1749 | } |
mjr | 6:cc35eb643e8f | 1750 | |
mjr | 1:d913e0afb2ac | 1751 | // read the accelerometer |
mjr | 9:fd65b0a94720 | 1752 | int xa, ya; |
mjr | 9:fd65b0a94720 | 1753 | accel.get(xa, ya); |
mjr | 1:d913e0afb2ac | 1754 | |
mjr | 6:cc35eb643e8f | 1755 | // confine the results to our joystick axis range |
mjr | 6:cc35eb643e8f | 1756 | if (xa < -JOYMAX) xa = -JOYMAX; |
mjr | 6:cc35eb643e8f | 1757 | if (xa > JOYMAX) xa = JOYMAX; |
mjr | 6:cc35eb643e8f | 1758 | if (ya < -JOYMAX) ya = -JOYMAX; |
mjr | 6:cc35eb643e8f | 1759 | if (ya > JOYMAX) ya = JOYMAX; |
mjr | 1:d913e0afb2ac | 1760 | |
mjr | 6:cc35eb643e8f | 1761 | // store the updated accelerometer coordinates |
mjr | 6:cc35eb643e8f | 1762 | x = xa; |
mjr | 6:cc35eb643e8f | 1763 | y = ya; |
mjr | 6:cc35eb643e8f | 1764 | |
mjr | 11:bd9da7088e6e | 1765 | // update the buttons |
mjr | 11:bd9da7088e6e | 1766 | uint32_t buttons = readButtonsDebounced(); |
mjr | 11:bd9da7088e6e | 1767 | |
mjr | 8:c732e279ee29 | 1768 | // Send the status report. Note that the nominal x and y axes |
mjr | 8:c732e279ee29 | 1769 | // are reversed - this makes it more intuitive to set up in VP. |
mjr | 8:c732e279ee29 | 1770 | // If we mount the Freesale card flat on the floor of the cabinet |
mjr | 8:c732e279ee29 | 1771 | // with the USB connectors facing the front of the cabinet, this |
mjr | 8:c732e279ee29 | 1772 | // arrangement of our nominal axes aligns with VP's standard |
mjr | 8:c732e279ee29 | 1773 | // setting, so that we can configure VP with X Axis = X on the |
mjr | 8:c732e279ee29 | 1774 | // joystick and Y Axis = Y on the joystick. |
mjr | 11:bd9da7088e6e | 1775 | js.update(y, x, z, buttons, statusFlags); |
mjr | 1:d913e0afb2ac | 1776 | |
mjr | 10:976666ffa4ef | 1777 | // If we're in pixel dump mode, report all pixel exposure values |
mjr | 10:976666ffa4ef | 1778 | if (reportPix) |
mjr | 10:976666ffa4ef | 1779 | { |
mjr | 10:976666ffa4ef | 1780 | // we have satisfied this request |
mjr | 10:976666ffa4ef | 1781 | reportPix = false; |
mjr | 10:976666ffa4ef | 1782 | |
mjr | 10:976666ffa4ef | 1783 | // send reports for all pixels |
mjr | 10:976666ffa4ef | 1784 | int idx = 0; |
mjr | 10:976666ffa4ef | 1785 | while (idx < npix) |
mjr | 10:976666ffa4ef | 1786 | js.updateExposure(idx, npix, pix); |
mjr | 10:976666ffa4ef | 1787 | |
mjr | 10:976666ffa4ef | 1788 | // The pixel dump requires many USB reports, since each report |
mjr | 10:976666ffa4ef | 1789 | // can only send a few pixel values. An integration cycle has |
mjr | 10:976666ffa4ef | 1790 | // been running all this time, since each read starts a new |
mjr | 10:976666ffa4ef | 1791 | // cycle. Our timing is longer than usual on this round, so |
mjr | 10:976666ffa4ef | 1792 | // the integration won't be comparable to a normal cycle. Throw |
mjr | 10:976666ffa4ef | 1793 | // this one away by doing a read now, and throwing it away - that |
mjr | 10:976666ffa4ef | 1794 | // will get the timing of the *next* cycle roughly back to normal. |
mjr | 10:976666ffa4ef | 1795 | ccd.read(pix, npix); |
mjr | 10:976666ffa4ef | 1796 | } |
mjr | 10:976666ffa4ef | 1797 | |
mjr | 6:cc35eb643e8f | 1798 | #ifdef DEBUG_PRINTF |
mjr | 6:cc35eb643e8f | 1799 | if (x != 0 || y != 0) |
mjr | 6:cc35eb643e8f | 1800 | printf("%d,%d\r\n", x, y); |
mjr | 6:cc35eb643e8f | 1801 | #endif |
mjr | 6:cc35eb643e8f | 1802 | |
mjr | 6:cc35eb643e8f | 1803 | // provide a visual status indication on the on-board LED |
mjr | 5:a70c0bce770d | 1804 | if (calBtnState < 2 && hbTimer.read_ms() > 1000) |
mjr | 1:d913e0afb2ac | 1805 | { |
mjr | 5:a70c0bce770d | 1806 | if (js.isSuspended() || !js.isConnected()) |
mjr | 2:c174f9ee414a | 1807 | { |
mjr | 5:a70c0bce770d | 1808 | // suspended - turn off the LED |
mjr | 4:02c7cd7b2183 | 1809 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 1810 | ledG = 1; |
mjr | 4:02c7cd7b2183 | 1811 | ledB = 1; |
mjr | 5:a70c0bce770d | 1812 | |
mjr | 5:a70c0bce770d | 1813 | // show a status flash every so often |
mjr | 5:a70c0bce770d | 1814 | if (hbcnt % 3 == 0) |
mjr | 5:a70c0bce770d | 1815 | { |
mjr | 6:cc35eb643e8f | 1816 | // disconnected = red/red flash; suspended = red |
mjr | 5:a70c0bce770d | 1817 | for (int n = js.isConnected() ? 1 : 2 ; n > 0 ; --n) |
mjr | 5:a70c0bce770d | 1818 | { |
mjr | 5:a70c0bce770d | 1819 | ledR = 0; |
mjr | 5:a70c0bce770d | 1820 | wait(0.05); |
mjr | 5:a70c0bce770d | 1821 | ledR = 1; |
mjr | 5:a70c0bce770d | 1822 | wait(0.25); |
mjr | 5:a70c0bce770d | 1823 | } |
mjr | 5:a70c0bce770d | 1824 | } |
mjr | 2:c174f9ee414a | 1825 | } |
mjr | 6:cc35eb643e8f | 1826 | else if (needReset) |
mjr | 2:c174f9ee414a | 1827 | { |
mjr | 6:cc35eb643e8f | 1828 | // connected, need to reset due to changes in config parameters - |
mjr | 6:cc35eb643e8f | 1829 | // flash red/green |
mjr | 6:cc35eb643e8f | 1830 | hb = !hb; |
mjr | 6:cc35eb643e8f | 1831 | ledR = (hb ? 0 : 1); |
mjr | 6:cc35eb643e8f | 1832 | ledG = (hb ? 1 : 0); |
mjr | 6:cc35eb643e8f | 1833 | ledB = 0; |
mjr | 6:cc35eb643e8f | 1834 | } |
mjr | 6:cc35eb643e8f | 1835 | else if (cfg.d.ccdEnabled && !cfg.d.plungerCal) |
mjr | 6:cc35eb643e8f | 1836 | { |
mjr | 6:cc35eb643e8f | 1837 | // connected, plunger calibration needed - flash yellow/green |
mjr | 6:cc35eb643e8f | 1838 | hb = !hb; |
mjr | 6:cc35eb643e8f | 1839 | ledR = (hb ? 0 : 1); |
mjr | 6:cc35eb643e8f | 1840 | ledG = 0; |
mjr | 6:cc35eb643e8f | 1841 | ledB = 1; |
mjr | 6:cc35eb643e8f | 1842 | } |
mjr | 6:cc35eb643e8f | 1843 | else |
mjr | 6:cc35eb643e8f | 1844 | { |
mjr | 6:cc35eb643e8f | 1845 | // connected - flash blue/green |
mjr | 2:c174f9ee414a | 1846 | hb = !hb; |
mjr | 4:02c7cd7b2183 | 1847 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 1848 | ledG = (hb ? 0 : 1); |
mjr | 4:02c7cd7b2183 | 1849 | ledB = (hb ? 1 : 0); |
mjr | 2:c174f9ee414a | 1850 | } |
mjr | 1:d913e0afb2ac | 1851 | |
mjr | 1:d913e0afb2ac | 1852 | // reset the heartbeat timer |
mjr | 1:d913e0afb2ac | 1853 | hbTimer.reset(); |
mjr | 5:a70c0bce770d | 1854 | ++hbcnt; |
mjr | 1:d913e0afb2ac | 1855 | } |
mjr | 1:d913e0afb2ac | 1856 | } |
mjr | 0:5acbbe3f4cf4 | 1857 | } |