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work in progress
Dependencies: FastAnalogIn FastIO USBDevice mbed FastPWM SimpleDMA
Fork of Pinscape_Controller by
main.cpp@8:c732e279ee29, 2014-08-08 (annotated)
- Committer:
- mjr
- Date:
- Fri Aug 08 20:59:39 2014 +0000
- Revision:
- 8:c732e279ee29
- Parent:
- 7:100a25f8bf56
- Child:
- 9:fd65b0a94720
Remove testing button pulses; swap x/y axis order to match VP default settings
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
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 | 5:a70c0bce770d | 113 | // - LedWiz emulation. The KL25Z can appear to the PC as an LedWiz device, and will |
mjr | 5:a70c0bce770d | 114 | // accept and process LedWiz commands from the host. The software can turn digital |
mjr | 5:a70c0bce770d | 115 | // output ports on and off, and can set varying PWM intensitiy levels on a subset |
mjr | 5:a70c0bce770d | 116 | // of ports. (The KL25Z can only provide 6 PWM ports. Intensity level settings on |
mjr | 5:a70c0bce770d | 117 | // other ports is ignored, so non-PWM ports can only be used for simple on/off |
mjr | 5:a70c0bce770d | 118 | // devices such as contactors and solenoids.) The KL25Z can only supply 4mA on its |
mjr | 5:a70c0bce770d | 119 | // output ports, so external hardware is required to take advantage of the LedWiz |
mjr | 5:a70c0bce770d | 120 | // emulation. Many different hardware designs are possible, but there's a simple |
mjr | 5:a70c0bce770d | 121 | // reference design in the documentation that uses a Darlington array IC to |
mjr | 5:a70c0bce770d | 122 | // increase the output from each port to 500mA (the same level as the LedWiz), |
mjr | 5:a70c0bce770d | 123 | // plus an extended design that adds an optocoupler and MOSFET to provide very |
mjr | 5:a70c0bce770d | 124 | // high power handling, up to about 45A or 150W, with voltages up to 100V. |
mjr | 5:a70c0bce770d | 125 | // That will handle just about any DC device directly (wtihout relays or other |
mjr | 5:a70c0bce770d | 126 | // amplifiers), and switches fast enough to support PWM devices. |
mjr | 5:a70c0bce770d | 127 | // |
mjr | 5:a70c0bce770d | 128 | // The device can report any desired LedWiz unit number to the host, which makes |
mjr | 5:a70c0bce770d | 129 | // it possible to use the LedWiz emulation on a machine that also has one or more |
mjr | 5:a70c0bce770d | 130 | // actual LedWiz devices intalled. The LedWiz design allows for up to 16 units |
mjr | 5:a70c0bce770d | 131 | // to be installed in one machine - each one is invidually addressable by its |
mjr | 5:a70c0bce770d | 132 | // distinct unit number. |
mjr | 5:a70c0bce770d | 133 | // |
mjr | 5:a70c0bce770d | 134 | // The LedWiz emulation features are of course optional. There's no need to |
mjr | 5:a70c0bce770d | 135 | // build any of the external port hardware (or attach anything to the output |
mjr | 5:a70c0bce770d | 136 | // ports at all) if the LedWiz features aren't needed. Most people won't have |
mjr | 5:a70c0bce770d | 137 | // any use for the LedWiz features. I built them mostly as a learning exercise, |
mjr | 5:a70c0bce770d | 138 | // but with a slight practical need for a handful of extra ports (I'm using the |
mjr | 5:a70c0bce770d | 139 | // cutting-edge 10-contactor setup, so my real LedWiz is full!). |
mjr | 6:cc35eb643e8f | 140 | // |
mjr | 6:cc35eb643e8f | 141 | // The on-board LED on the KL25Z flashes to indicate the current device status: |
mjr | 6:cc35eb643e8f | 142 | // |
mjr | 6:cc35eb643e8f | 143 | // two short red flashes = the device is powered but hasn't successfully |
mjr | 6:cc35eb643e8f | 144 | // connected to the host via USB (either it's not physically connected |
mjr | 6:cc35eb643e8f | 145 | // to the USB port, or there was a problem with the software handshake |
mjr | 6:cc35eb643e8f | 146 | // with the USB device driver on the computer) |
mjr | 6:cc35eb643e8f | 147 | // |
mjr | 6:cc35eb643e8f | 148 | // short red flash = the host computer is in sleep/suspend mode |
mjr | 6:cc35eb643e8f | 149 | // |
mjr | 6:cc35eb643e8f | 150 | // long red/green = the LedWiz unti number has been changed, so a reset |
mjr | 6:cc35eb643e8f | 151 | // is needed. You can simply unplug the device and plug it back in, |
mjr | 6:cc35eb643e8f | 152 | // or presss and hold the reset button on the device for a few seconds. |
mjr | 6:cc35eb643e8f | 153 | // |
mjr | 6:cc35eb643e8f | 154 | // long yellow/green = everything's working, but the plunger hasn't |
mjr | 6:cc35eb643e8f | 155 | // been calibrated; follow the calibration procedure described above. |
mjr | 6:cc35eb643e8f | 156 | // This flash mode won't appear if the CCD has been disabled. Note |
mjr | 6:cc35eb643e8f | 157 | // that the device can't tell whether a CCD is physically attached, |
mjr | 6:cc35eb643e8f | 158 | // so you should use the config command to disable the CCD software |
mjr | 6:cc35eb643e8f | 159 | // features if you won't be attaching a CCD. |
mjr | 6:cc35eb643e8f | 160 | // |
mjr | 6:cc35eb643e8f | 161 | // alternating blue/green = everything's working |
mjr | 6:cc35eb643e8f | 162 | // |
mjr | 6:cc35eb643e8f | 163 | // Software configuration: you can change option settings by sending special |
mjr | 6:cc35eb643e8f | 164 | // USB commands from the PC. I've provided a Windows program for this purpose; |
mjr | 6:cc35eb643e8f | 165 | // refer to the documentation for details. For reference, here's the format |
mjr | 6:cc35eb643e8f | 166 | // of the USB command for option changes: |
mjr | 6:cc35eb643e8f | 167 | // |
mjr | 6:cc35eb643e8f | 168 | // length of report = 8 bytes |
mjr | 6:cc35eb643e8f | 169 | // byte 0 = 65 (0x41) |
mjr | 6:cc35eb643e8f | 170 | // byte 1 = 1 (0x01) |
mjr | 6:cc35eb643e8f | 171 | // byte 2 = new LedWiz unit number, 0x01 to 0x0f |
mjr | 6:cc35eb643e8f | 172 | // byte 3 = feature enable bit mask: |
mjr | 6:cc35eb643e8f | 173 | // 0x01 = enable CCD (default = on) |
mjr | 5:a70c0bce770d | 174 | |
mjr | 6:cc35eb643e8f | 175 | |
mjr | 0:5acbbe3f4cf4 | 176 | #include "mbed.h" |
mjr | 6:cc35eb643e8f | 177 | #include "math.h" |
mjr | 0:5acbbe3f4cf4 | 178 | #include "USBJoystick.h" |
mjr | 0:5acbbe3f4cf4 | 179 | #include "MMA8451Q.h" |
mjr | 1:d913e0afb2ac | 180 | #include "tsl1410r.h" |
mjr | 1:d913e0afb2ac | 181 | #include "FreescaleIAP.h" |
mjr | 2:c174f9ee414a | 182 | #include "crc32.h" |
mjr | 2:c174f9ee414a | 183 | |
mjr | 5:a70c0bce770d | 184 | |
mjr | 5:a70c0bce770d | 185 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 186 | // |
mjr | 5:a70c0bce770d | 187 | // Configuration details |
mjr | 5:a70c0bce770d | 188 | // |
mjr | 2:c174f9ee414a | 189 | |
mjr | 5:a70c0bce770d | 190 | // Our USB device vendor ID, product ID, and version. |
mjr | 5:a70c0bce770d | 191 | // We use the vendor ID for the LedWiz, so that the PC-side software can |
mjr | 5:a70c0bce770d | 192 | // identify us as capable of performing LedWiz commands. The LedWiz uses |
mjr | 5:a70c0bce770d | 193 | // a product ID value from 0xF0 to 0xFF; the last four bits identify the |
mjr | 5:a70c0bce770d | 194 | // unit number (e.g., product ID 0xF7 means unit #7). This allows multiple |
mjr | 5:a70c0bce770d | 195 | // LedWiz units to be installed in a single PC; the software on the PC side |
mjr | 5:a70c0bce770d | 196 | // uses the unit number to route commands to the devices attached to each |
mjr | 5:a70c0bce770d | 197 | // unit. On the real LedWiz, the unit number must be set in the firmware |
mjr | 5:a70c0bce770d | 198 | // at the factory; it's not configurable by the end user. Most LedWiz's |
mjr | 5:a70c0bce770d | 199 | // ship with the unit number set to 0, but the vendor will set different |
mjr | 5:a70c0bce770d | 200 | // unit numbers if requested at the time of purchase. So if you have a |
mjr | 5:a70c0bce770d | 201 | // single LedWiz already installed in your cabinet, and you didn't ask for |
mjr | 5:a70c0bce770d | 202 | // a non-default unit number, your existing LedWiz will be unit 0. |
mjr | 5:a70c0bce770d | 203 | // |
mjr | 5:a70c0bce770d | 204 | // We use unit #7 by default. There doesn't seem to be a requirement that |
mjr | 5:a70c0bce770d | 205 | // unit numbers be contiguous (DirectOutput Framework and other software |
mjr | 5:a70c0bce770d | 206 | // seem happy to have units 0 and 7 installed, without 1-6 existing). |
mjr | 5:a70c0bce770d | 207 | // Marking this unit as #7 should work for almost everybody out of the box; |
mjr | 5:a70c0bce770d | 208 | // the most common case seems to be to have a single LedWiz installed, and |
mjr | 5:a70c0bce770d | 209 | // it's probably extremely rare to more than two. |
mjr | 6:cc35eb643e8f | 210 | // |
mjr | 6:cc35eb643e8f | 211 | // Note that the USB_PRODUCT_ID value set here omits the unit number. We |
mjr | 6:cc35eb643e8f | 212 | // take the unit number from the saved configuration. We provide a |
mjr | 6:cc35eb643e8f | 213 | // configuration command that can be sent via the USB connection to change |
mjr | 6:cc35eb643e8f | 214 | // the unit number, so that users can select the unit number without having |
mjr | 6:cc35eb643e8f | 215 | // to install a different version of the software. We'll combine the base |
mjr | 6:cc35eb643e8f | 216 | // product ID here with the unit number to get the actual product ID that |
mjr | 6:cc35eb643e8f | 217 | // we send to the USB controller. |
mjr | 5:a70c0bce770d | 218 | const uint16_t USB_VENDOR_ID = 0xFAFA; |
mjr | 6:cc35eb643e8f | 219 | const uint16_t USB_PRODUCT_ID = 0x00F0; |
mjr | 6:cc35eb643e8f | 220 | const uint16_t USB_VERSION_NO = 0x0006; |
mjr | 6:cc35eb643e8f | 221 | const uint8_t DEFAULT_LEDWIZ_UNIT_NUMBER = 0x07; |
mjr | 0:5acbbe3f4cf4 | 222 | |
mjr | 4:02c7cd7b2183 | 223 | // On-board RGB LED elements - we use these for diagnostic displays. |
mjr | 4:02c7cd7b2183 | 224 | DigitalOut ledR(LED1), ledG(LED2), ledB(LED3); |
mjr | 0:5acbbe3f4cf4 | 225 | |
mjr | 1:d913e0afb2ac | 226 | // calibration button - switch input and LED output |
mjr | 1:d913e0afb2ac | 227 | DigitalIn calBtn(PTE29); |
mjr | 1:d913e0afb2ac | 228 | DigitalOut calBtnLed(PTE23); |
mjr | 0:5acbbe3f4cf4 | 229 | |
mjr | 6:cc35eb643e8f | 230 | // LED-Wiz emulation output pin assignments. The LED-Wiz protocol |
mjr | 6:cc35eb643e8f | 231 | // can support up to 32 outputs. The KL25Z can physically provide |
mjr | 6:cc35eb643e8f | 232 | // about 48 (in addition to the ports we're already using for the |
mjr | 6:cc35eb643e8f | 233 | // CCD sensor and the calibration button), but to stay compatible |
mjr | 6:cc35eb643e8f | 234 | // with the LED-Wiz protocol we'll stop at 32. |
mjr | 6:cc35eb643e8f | 235 | // |
mjr | 6:cc35eb643e8f | 236 | // The LED-Wiz protocol allows setting individual intensity levels |
mjr | 6:cc35eb643e8f | 237 | // on all outputs, with 48 levels of intensity. This can be used |
mjr | 6:cc35eb643e8f | 238 | // to control lamp brightness and motor speeds, among other things. |
mjr | 6:cc35eb643e8f | 239 | // Unfortunately, the KL25Z only has 10 PWM channels, so while we |
mjr | 6:cc35eb643e8f | 240 | // can support the full complement of 32 outputs, we can only provide |
mjr | 6:cc35eb643e8f | 241 | // PWM dimming/speed control on 10 of them. The remaining outputs |
mjr | 6:cc35eb643e8f | 242 | // can only be switched fully on and fully off - we can't support |
mjr | 6:cc35eb643e8f | 243 | // dimming on these, so they'll ignore any intensity level setting |
mjr | 6:cc35eb643e8f | 244 | // requested by the host. Use these for devices that don't have any |
mjr | 6:cc35eb643e8f | 245 | // use for intensity settings anyway, such as contactors and knockers. |
mjr | 6:cc35eb643e8f | 246 | // |
mjr | 6:cc35eb643e8f | 247 | // The mapping between physical output pins on the KL25Z and the |
mjr | 6:cc35eb643e8f | 248 | // assigned LED-Wiz port numbers is essentially arbitrary - you can |
mjr | 6:cc35eb643e8f | 249 | // customize this by changing the entries in the array below if you |
mjr | 6:cc35eb643e8f | 250 | // wish to rearrange the pins for any reason. Be aware that some |
mjr | 6:cc35eb643e8f | 251 | // of the physical outputs are already used for other purposes |
mjr | 6:cc35eb643e8f | 252 | // (e.g., some of the GPIO pins on header J10 are used for the |
mjr | 6:cc35eb643e8f | 253 | // CCD sensor - but you can of course reassign those as well by |
mjr | 6:cc35eb643e8f | 254 | // changing the corresponding declarations elsewhere in this module). |
mjr | 6:cc35eb643e8f | 255 | // The assignments we make here have two main objectives: first, |
mjr | 6:cc35eb643e8f | 256 | // to group the outputs on headers J1 and J2 (to facilitate neater |
mjr | 6:cc35eb643e8f | 257 | // wiring by keeping the output pins together physically), and |
mjr | 6:cc35eb643e8f | 258 | // second, to make the physical pin layout match the LED-Wiz port |
mjr | 6:cc35eb643e8f | 259 | // numbering order to the extent possible. There's one big wrench |
mjr | 6:cc35eb643e8f | 260 | // in the works, though, which is the limited number and discontiguous |
mjr | 6:cc35eb643e8f | 261 | // placement of the KL25Z PWM-capable output pins. This prevents |
mjr | 6:cc35eb643e8f | 262 | // us from doing the most obvious sequential ordering of the pins, |
mjr | 6:cc35eb643e8f | 263 | // so we end up with the outputs arranged into several blocks. |
mjr | 6:cc35eb643e8f | 264 | // Hopefully this isn't too confusing; for more detailed rationale, |
mjr | 6:cc35eb643e8f | 265 | // read on... |
mjr | 6:cc35eb643e8f | 266 | // |
mjr | 6:cc35eb643e8f | 267 | // With the LED-Wiz, the host software configuration usually |
mjr | 6:cc35eb643e8f | 268 | // assumes that each RGB LED is hooked up to three consecutive ports |
mjr | 6:cc35eb643e8f | 269 | // (for the red, green, and blue components, which need to be |
mjr | 6:cc35eb643e8f | 270 | // physically wired to separate outputs to allow each color to be |
mjr | 6:cc35eb643e8f | 271 | // controlled independently). To facilitate this, we arrange the |
mjr | 6:cc35eb643e8f | 272 | // PWM-enabled outputs so that they're grouped together in the |
mjr | 6:cc35eb643e8f | 273 | // port numbering scheme. Unfortunately, these outputs aren't |
mjr | 6:cc35eb643e8f | 274 | // together in a single group in the physical pin layout, so to |
mjr | 6:cc35eb643e8f | 275 | // group them logically in the LED-Wiz port numbering scheme, we |
mjr | 6:cc35eb643e8f | 276 | // have to break up the overall numbering scheme into several blocks. |
mjr | 6:cc35eb643e8f | 277 | // So our port numbering goes sequentially down each column of |
mjr | 6:cc35eb643e8f | 278 | // header pins, but there are several break points where we have |
mjr | 6:cc35eb643e8f | 279 | // to interrupt the obvious sequence to keep the PWM pins grouped |
mjr | 6:cc35eb643e8f | 280 | // logically. |
mjr | 6:cc35eb643e8f | 281 | // |
mjr | 6:cc35eb643e8f | 282 | // In the list below, "pin J1-2" refers to pin 2 on header J1 on |
mjr | 6:cc35eb643e8f | 283 | // the KL25Z, using the standard pin numbering in the KL25Z |
mjr | 6:cc35eb643e8f | 284 | // documentation - this is the physical pin that the port controls. |
mjr | 6:cc35eb643e8f | 285 | // "LW port 1" means LED-Wiz port 1 - this is the LED-Wiz port |
mjr | 6:cc35eb643e8f | 286 | // number that you use on the PC side (in the DirectOutput config |
mjr | 6:cc35eb643e8f | 287 | // file, for example) to address the port. PWM-capable ports are |
mjr | 6:cc35eb643e8f | 288 | // marked as such - we group the PWM-capable ports into the first |
mjr | 6:cc35eb643e8f | 289 | // 10 LED-Wiz port numbers. |
mjr | 6:cc35eb643e8f | 290 | // |
mjr | 6:cc35eb643e8f | 291 | struct { |
mjr | 6:cc35eb643e8f | 292 | PinName pin; |
mjr | 6:cc35eb643e8f | 293 | bool isPWM; |
mjr | 6:cc35eb643e8f | 294 | } ledWizPortMap[32] = { |
mjr | 6:cc35eb643e8f | 295 | { PTA1, true }, // pin J1-2, LW port 1 (PWM capable - TPM 2.0 = channel 9) |
mjr | 6:cc35eb643e8f | 296 | { PTA2, true }, // pin J1-4, LW port 2 (PWM capable - TPM 2.1 = channel 10) |
mjr | 6:cc35eb643e8f | 297 | { PTD4, true }, // pin J1-6, LW port 3 (PWM capable - TPM 0.4 = channel 5) |
mjr | 6:cc35eb643e8f | 298 | { PTA12, true }, // pin J1-8, LW port 4 (PWM capable - TPM 1.0 = channel 7) |
mjr | 6:cc35eb643e8f | 299 | { PTA4, true }, // pin J1-10, LW port 5 (PWM capable - TPM 0.1 = channel 2) |
mjr | 6:cc35eb643e8f | 300 | { PTA5, true }, // pin J1-12, LW port 6 (PWM capable - TPM 0.2 = channel 3) |
mjr | 6:cc35eb643e8f | 301 | { PTA13, true }, // pin J2-2, LW port 7 (PWM capable - TPM 1.1 = channel 13) |
mjr | 6:cc35eb643e8f | 302 | { PTD5, true }, // pin J2-4, LW port 8 (PWM capable - TPM 0.5 = channel 6) |
mjr | 6:cc35eb643e8f | 303 | { PTD0, true }, // pin J2-6, LW port 9 (PWM capable - TPM 0.0 = channel 1) |
mjr | 6:cc35eb643e8f | 304 | { PTD3, true }, // pin J2-10, LW port 10 (PWM capable - TPM 0.3 = channel 4) |
mjr | 6:cc35eb643e8f | 305 | { PTC8, false }, // pin J1-14, LW port 11 |
mjr | 6:cc35eb643e8f | 306 | { PTC9, false }, // pin J1-16, LW port 12 |
mjr | 6:cc35eb643e8f | 307 | { PTC7, false }, // pin J1-1, LW port 13 |
mjr | 6:cc35eb643e8f | 308 | { PTC0, false }, // pin J1-3, LW port 14 |
mjr | 6:cc35eb643e8f | 309 | { PTC3, false }, // pin J1-5, LW port 15 |
mjr | 6:cc35eb643e8f | 310 | { PTC4, false }, // pin J1-7, LW port 16 |
mjr | 6:cc35eb643e8f | 311 | { PTC5, false }, // pin J1-9, LW port 17 |
mjr | 6:cc35eb643e8f | 312 | { PTC6, false }, // pin J1-11, LW port 18 |
mjr | 6:cc35eb643e8f | 313 | { PTC10, false }, // pin J1-13, LW port 19 |
mjr | 6:cc35eb643e8f | 314 | { PTC11, false }, // pin J1-15, LW port 20 |
mjr | 6:cc35eb643e8f | 315 | { PTC12, false }, // pin J2-1, LW port 21 |
mjr | 6:cc35eb643e8f | 316 | { PTC13, false }, // pin J2-3, LW port 22 |
mjr | 6:cc35eb643e8f | 317 | { PTC16, false }, // pin J2-5, LW port 23 |
mjr | 6:cc35eb643e8f | 318 | { PTC17, false }, // pin J2-7, LW port 24 |
mjr | 6:cc35eb643e8f | 319 | { PTA16, false }, // pin J2-9, LW port 25 |
mjr | 6:cc35eb643e8f | 320 | { PTA17, false }, // pin J2-11, LW port 26 |
mjr | 6:cc35eb643e8f | 321 | { PTE31, false }, // pin J2-13, LW port 27 |
mjr | 6:cc35eb643e8f | 322 | { PTD6, false }, // pin J2-17, LW port 29 |
mjr | 6:cc35eb643e8f | 323 | { PTD7, false }, // pin J2-19, LW port 30 |
mjr | 6:cc35eb643e8f | 324 | { PTE0, false }, // pin J2-18, LW port 31 |
mjr | 6:cc35eb643e8f | 325 | { PTE1, false } // pin J2-20, LW port 32 |
mjr | 6:cc35eb643e8f | 326 | }; |
mjr | 6:cc35eb643e8f | 327 | |
mjr | 6:cc35eb643e8f | 328 | |
mjr | 5:a70c0bce770d | 329 | // I2C address of the accelerometer (this is a constant of the KL25Z) |
mjr | 5:a70c0bce770d | 330 | const int MMA8451_I2C_ADDRESS = (0x1d<<1); |
mjr | 5:a70c0bce770d | 331 | |
mjr | 5:a70c0bce770d | 332 | // SCL and SDA pins for the accelerometer (constant for the KL25Z) |
mjr | 5:a70c0bce770d | 333 | #define MMA8451_SCL_PIN PTE25 |
mjr | 5:a70c0bce770d | 334 | #define MMA8451_SDA_PIN PTE24 |
mjr | 5:a70c0bce770d | 335 | |
mjr | 5:a70c0bce770d | 336 | // Digital in pin to use for the accelerometer interrupt. For the KL25Z, |
mjr | 5:a70c0bce770d | 337 | // this can be either PTA14 or PTA15, since those are the pins physically |
mjr | 5:a70c0bce770d | 338 | // wired on this board to the MMA8451 interrupt controller. |
mjr | 5:a70c0bce770d | 339 | #define MMA8451_INT_PIN PTA15 |
mjr | 5:a70c0bce770d | 340 | |
mjr | 6:cc35eb643e8f | 341 | // Joystick axis report range - we report from -JOYMAX to +JOYMAX |
mjr | 6:cc35eb643e8f | 342 | #define JOYMAX 4096 |
mjr | 6:cc35eb643e8f | 343 | |
mjr | 5:a70c0bce770d | 344 | |
mjr | 5:a70c0bce770d | 345 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 346 | // |
mjr | 5:a70c0bce770d | 347 | // LedWiz emulation |
mjr | 5:a70c0bce770d | 348 | // |
mjr | 5:a70c0bce770d | 349 | |
mjr | 0:5acbbe3f4cf4 | 350 | static int pbaIdx = 0; |
mjr | 0:5acbbe3f4cf4 | 351 | |
mjr | 6:cc35eb643e8f | 352 | // LedWiz output pin interface. We create a cover class to virtualize |
mjr | 6:cc35eb643e8f | 353 | // digital vs PWM outputs and give them a common interface. The KL25Z |
mjr | 6:cc35eb643e8f | 354 | // unfortunately doesn't have enough hardware PWM channels to support |
mjr | 6:cc35eb643e8f | 355 | // PWM on all 32 LedWiz outputs, so we provide as many PWM channels as |
mjr | 6:cc35eb643e8f | 356 | // we can (10), and fill out the rest of the outputs with plain digital |
mjr | 6:cc35eb643e8f | 357 | // outs. |
mjr | 6:cc35eb643e8f | 358 | class LwOut |
mjr | 6:cc35eb643e8f | 359 | { |
mjr | 6:cc35eb643e8f | 360 | public: |
mjr | 6:cc35eb643e8f | 361 | virtual void set(float val) = 0; |
mjr | 6:cc35eb643e8f | 362 | }; |
mjr | 6:cc35eb643e8f | 363 | class LwPwmOut: public LwOut |
mjr | 6:cc35eb643e8f | 364 | { |
mjr | 6:cc35eb643e8f | 365 | public: |
mjr | 6:cc35eb643e8f | 366 | LwPwmOut(PinName pin) : p(pin) { } |
mjr | 6:cc35eb643e8f | 367 | virtual void set(float val) { p = val; } |
mjr | 6:cc35eb643e8f | 368 | PwmOut p; |
mjr | 6:cc35eb643e8f | 369 | }; |
mjr | 6:cc35eb643e8f | 370 | class LwDigOut: public LwOut |
mjr | 6:cc35eb643e8f | 371 | { |
mjr | 6:cc35eb643e8f | 372 | public: |
mjr | 6:cc35eb643e8f | 373 | LwDigOut(PinName pin) : p(pin) { } |
mjr | 6:cc35eb643e8f | 374 | virtual void set(float val) { p = val; } |
mjr | 6:cc35eb643e8f | 375 | DigitalOut p; |
mjr | 6:cc35eb643e8f | 376 | }; |
mjr | 6:cc35eb643e8f | 377 | |
mjr | 6:cc35eb643e8f | 378 | // output pin array |
mjr | 6:cc35eb643e8f | 379 | static LwOut *lwPin[32]; |
mjr | 6:cc35eb643e8f | 380 | |
mjr | 6:cc35eb643e8f | 381 | // initialize the output pin array |
mjr | 6:cc35eb643e8f | 382 | void initLwOut() |
mjr | 6:cc35eb643e8f | 383 | { |
mjr | 6:cc35eb643e8f | 384 | for (int i = 0 ; i < sizeof(lwPin) / sizeof(lwPin[0]) ; ++i) |
mjr | 6:cc35eb643e8f | 385 | { |
mjr | 6:cc35eb643e8f | 386 | PinName p = ledWizPortMap[i].pin; |
mjr | 6:cc35eb643e8f | 387 | lwPin[i] = (ledWizPortMap[i].isPWM |
mjr | 6:cc35eb643e8f | 388 | ? (LwOut *)new LwPwmOut(p) |
mjr | 6:cc35eb643e8f | 389 | : (LwOut *)new LwDigOut(p)); |
mjr | 6:cc35eb643e8f | 390 | } |
mjr | 6:cc35eb643e8f | 391 | } |
mjr | 6:cc35eb643e8f | 392 | |
mjr | 0:5acbbe3f4cf4 | 393 | // on/off state for each LedWiz output |
mjr | 1:d913e0afb2ac | 394 | static uint8_t wizOn[32]; |
mjr | 0:5acbbe3f4cf4 | 395 | |
mjr | 0:5acbbe3f4cf4 | 396 | // profile (brightness/blink) state for each LedWiz output |
mjr | 1:d913e0afb2ac | 397 | static uint8_t wizVal[32] = { |
mjr | 0:5acbbe3f4cf4 | 398 | 0, 0, 0, 0, 0, 0, 0, 0, |
mjr | 0:5acbbe3f4cf4 | 399 | 0, 0, 0, 0, 0, 0, 0, 0, |
mjr | 0:5acbbe3f4cf4 | 400 | 0, 0, 0, 0, 0, 0, 0, 0, |
mjr | 0:5acbbe3f4cf4 | 401 | 0, 0, 0, 0, 0, 0, 0, 0 |
mjr | 0:5acbbe3f4cf4 | 402 | }; |
mjr | 0:5acbbe3f4cf4 | 403 | |
mjr | 1:d913e0afb2ac | 404 | static float wizState(int idx) |
mjr | 0:5acbbe3f4cf4 | 405 | { |
mjr | 1:d913e0afb2ac | 406 | if (wizOn[idx]) { |
mjr | 0:5acbbe3f4cf4 | 407 | // on - map profile brightness state to PWM level |
mjr | 1:d913e0afb2ac | 408 | uint8_t val = wizVal[idx]; |
mjr | 0:5acbbe3f4cf4 | 409 | if (val >= 1 && val <= 48) |
mjr | 0:5acbbe3f4cf4 | 410 | return 1.0 - val/48.0; |
mjr | 0:5acbbe3f4cf4 | 411 | else if (val >= 129 && val <= 132) |
mjr | 0:5acbbe3f4cf4 | 412 | return 0.0; |
mjr | 0:5acbbe3f4cf4 | 413 | else |
mjr | 0:5acbbe3f4cf4 | 414 | return 1.0; |
mjr | 0:5acbbe3f4cf4 | 415 | } |
mjr | 0:5acbbe3f4cf4 | 416 | else { |
mjr | 0:5acbbe3f4cf4 | 417 | // off |
mjr | 0:5acbbe3f4cf4 | 418 | return 1.0; |
mjr | 0:5acbbe3f4cf4 | 419 | } |
mjr | 0:5acbbe3f4cf4 | 420 | } |
mjr | 0:5acbbe3f4cf4 | 421 | |
mjr | 1:d913e0afb2ac | 422 | static void updateWizOuts() |
mjr | 1:d913e0afb2ac | 423 | { |
mjr | 6:cc35eb643e8f | 424 | for (int i = 0 ; i < 32 ; ++i) |
mjr | 6:cc35eb643e8f | 425 | lwPin[i]->set(wizState(i)); |
mjr | 1:d913e0afb2ac | 426 | } |
mjr | 1:d913e0afb2ac | 427 | |
mjr | 5:a70c0bce770d | 428 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 429 | // |
mjr | 5:a70c0bce770d | 430 | // Non-volatile memory (NVM) |
mjr | 5:a70c0bce770d | 431 | // |
mjr | 0:5acbbe3f4cf4 | 432 | |
mjr | 5:a70c0bce770d | 433 | // Structure defining our NVM storage layout. We store a small |
mjr | 2:c174f9ee414a | 434 | // amount of persistent data in flash memory to retain calibration |
mjr | 5:a70c0bce770d | 435 | // data when powered off. |
mjr | 2:c174f9ee414a | 436 | struct NVM |
mjr | 2:c174f9ee414a | 437 | { |
mjr | 2:c174f9ee414a | 438 | // checksum - we use this to determine if the flash record |
mjr | 6:cc35eb643e8f | 439 | // has been properly initialized |
mjr | 2:c174f9ee414a | 440 | uint32_t checksum; |
mjr | 2:c174f9ee414a | 441 | |
mjr | 2:c174f9ee414a | 442 | // signature value |
mjr | 2:c174f9ee414a | 443 | static const uint32_t SIGNATURE = 0x4D4A522A; |
mjr | 6:cc35eb643e8f | 444 | static const uint16_t VERSION = 0x0003; |
mjr | 6:cc35eb643e8f | 445 | |
mjr | 6:cc35eb643e8f | 446 | // Is the data structure valid? We test the signature and |
mjr | 6:cc35eb643e8f | 447 | // checksum to determine if we've been properly stored. |
mjr | 6:cc35eb643e8f | 448 | int valid() const |
mjr | 6:cc35eb643e8f | 449 | { |
mjr | 6:cc35eb643e8f | 450 | return (d.sig == SIGNATURE |
mjr | 6:cc35eb643e8f | 451 | && d.vsn == VERSION |
mjr | 6:cc35eb643e8f | 452 | && d.sz == sizeof(NVM) |
mjr | 6:cc35eb643e8f | 453 | && checksum == CRC32(&d, sizeof(d))); |
mjr | 6:cc35eb643e8f | 454 | } |
mjr | 6:cc35eb643e8f | 455 | |
mjr | 6:cc35eb643e8f | 456 | // save to non-volatile memory |
mjr | 6:cc35eb643e8f | 457 | void save(FreescaleIAP &iap, int addr) |
mjr | 6:cc35eb643e8f | 458 | { |
mjr | 6:cc35eb643e8f | 459 | // update the checksum and structure size |
mjr | 6:cc35eb643e8f | 460 | checksum = CRC32(&d, sizeof(d)); |
mjr | 6:cc35eb643e8f | 461 | d.sz = sizeof(NVM); |
mjr | 6:cc35eb643e8f | 462 | |
mjr | 6:cc35eb643e8f | 463 | // erase the sector |
mjr | 6:cc35eb643e8f | 464 | iap.erase_sector(addr); |
mjr | 6:cc35eb643e8f | 465 | |
mjr | 6:cc35eb643e8f | 466 | // save the data |
mjr | 6:cc35eb643e8f | 467 | iap.program_flash(addr, this, sizeof(*this)); |
mjr | 6:cc35eb643e8f | 468 | } |
mjr | 2:c174f9ee414a | 469 | |
mjr | 2:c174f9ee414a | 470 | // stored data (excluding the checksum) |
mjr | 2:c174f9ee414a | 471 | struct |
mjr | 2:c174f9ee414a | 472 | { |
mjr | 6:cc35eb643e8f | 473 | // Signature, structure version, and structure size - further verification |
mjr | 6:cc35eb643e8f | 474 | // that we have valid initialized data. The size is a simple proxy for a |
mjr | 6:cc35eb643e8f | 475 | // structure version, as the most common type of change to the structure as |
mjr | 6:cc35eb643e8f | 476 | // the software evolves will be the addition of new elements. We also |
mjr | 6:cc35eb643e8f | 477 | // provide an explicit version number that we can update manually if we |
mjr | 6:cc35eb643e8f | 478 | // make any changes that don't affect the structure size but would affect |
mjr | 6:cc35eb643e8f | 479 | // compatibility with a saved record (e.g., swapping two existing elements). |
mjr | 2:c174f9ee414a | 480 | uint32_t sig; |
mjr | 2:c174f9ee414a | 481 | uint16_t vsn; |
mjr | 6:cc35eb643e8f | 482 | int sz; |
mjr | 2:c174f9ee414a | 483 | |
mjr | 6:cc35eb643e8f | 484 | // has the plunger been manually calibrated? |
mjr | 6:cc35eb643e8f | 485 | int plungerCal; |
mjr | 6:cc35eb643e8f | 486 | |
mjr | 2:c174f9ee414a | 487 | // plunger calibration min and max |
mjr | 2:c174f9ee414a | 488 | int plungerMin; |
mjr | 6:cc35eb643e8f | 489 | int plungerZero; |
mjr | 2:c174f9ee414a | 490 | int plungerMax; |
mjr | 6:cc35eb643e8f | 491 | |
mjr | 6:cc35eb643e8f | 492 | // is the CCD enabled? |
mjr | 6:cc35eb643e8f | 493 | int ccdEnabled; |
mjr | 6:cc35eb643e8f | 494 | |
mjr | 6:cc35eb643e8f | 495 | // LedWiz unit number |
mjr | 6:cc35eb643e8f | 496 | uint8_t ledWizUnitNo; |
mjr | 2:c174f9ee414a | 497 | } d; |
mjr | 2:c174f9ee414a | 498 | }; |
mjr | 2:c174f9ee414a | 499 | |
mjr | 5:a70c0bce770d | 500 | |
mjr | 5:a70c0bce770d | 501 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 502 | // |
mjr | 5:a70c0bce770d | 503 | // Customization joystick subbclass |
mjr | 5:a70c0bce770d | 504 | // |
mjr | 5:a70c0bce770d | 505 | |
mjr | 5:a70c0bce770d | 506 | class MyUSBJoystick: public USBJoystick |
mjr | 5:a70c0bce770d | 507 | { |
mjr | 5:a70c0bce770d | 508 | public: |
mjr | 5:a70c0bce770d | 509 | MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release) |
mjr | 5:a70c0bce770d | 510 | : USBJoystick(vendor_id, product_id, product_release, true) |
mjr | 5:a70c0bce770d | 511 | { |
mjr | 5:a70c0bce770d | 512 | suspended_ = false; |
mjr | 5:a70c0bce770d | 513 | } |
mjr | 5:a70c0bce770d | 514 | |
mjr | 5:a70c0bce770d | 515 | // are we connected? |
mjr | 5:a70c0bce770d | 516 | int isConnected() { return configured(); } |
mjr | 5:a70c0bce770d | 517 | |
mjr | 5:a70c0bce770d | 518 | // Are we in suspend mode? |
mjr | 5:a70c0bce770d | 519 | int isSuspended() const { return suspended_; } |
mjr | 5:a70c0bce770d | 520 | |
mjr | 5:a70c0bce770d | 521 | protected: |
mjr | 5:a70c0bce770d | 522 | virtual void suspendStateChanged(unsigned int suspended) |
mjr | 5:a70c0bce770d | 523 | { suspended_ = suspended; } |
mjr | 5:a70c0bce770d | 524 | |
mjr | 5:a70c0bce770d | 525 | // are we suspended? |
mjr | 5:a70c0bce770d | 526 | int suspended_; |
mjr | 5:a70c0bce770d | 527 | }; |
mjr | 5:a70c0bce770d | 528 | |
mjr | 5:a70c0bce770d | 529 | // --------------------------------------------------------------------------- |
mjr | 6:cc35eb643e8f | 530 | // |
mjr | 6:cc35eb643e8f | 531 | // Some simple math service routines |
mjr | 6:cc35eb643e8f | 532 | // |
mjr | 6:cc35eb643e8f | 533 | |
mjr | 6:cc35eb643e8f | 534 | inline float square(float x) { return x*x; } |
mjr | 6:cc35eb643e8f | 535 | inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); } |
mjr | 6:cc35eb643e8f | 536 | |
mjr | 6:cc35eb643e8f | 537 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 538 | // |
mjr | 5:a70c0bce770d | 539 | // Accelerometer (MMA8451Q) |
mjr | 5:a70c0bce770d | 540 | // |
mjr | 5:a70c0bce770d | 541 | |
mjr | 5:a70c0bce770d | 542 | // The MMA8451Q is the KL25Z's on-board 3-axis accelerometer. |
mjr | 5:a70c0bce770d | 543 | // |
mjr | 5:a70c0bce770d | 544 | // This is a custom wrapper for the library code to interface to the |
mjr | 6:cc35eb643e8f | 545 | // MMA8451Q. This class encapsulates an interrupt handler and |
mjr | 6:cc35eb643e8f | 546 | // automatic calibration. |
mjr | 5:a70c0bce770d | 547 | // |
mjr | 5:a70c0bce770d | 548 | // We install an interrupt handler on the accelerometer "data ready" |
mjr | 6:cc35eb643e8f | 549 | // interrupt to ensure that we fetch each sample immediately when it |
mjr | 6:cc35eb643e8f | 550 | // becomes available. The accelerometer data rate is fiarly high |
mjr | 6:cc35eb643e8f | 551 | // (800 Hz), so it's not practical to keep up with it by polling. |
mjr | 6:cc35eb643e8f | 552 | // Using an interrupt handler lets us respond quickly and read |
mjr | 6:cc35eb643e8f | 553 | // every sample. |
mjr | 5:a70c0bce770d | 554 | // |
mjr | 6:cc35eb643e8f | 555 | // We automatically calibrate the accelerometer so that it's not |
mjr | 6:cc35eb643e8f | 556 | // necessary to get it exactly level when installing it, and so |
mjr | 6:cc35eb643e8f | 557 | // that it's also not necessary to calibrate it manually. There's |
mjr | 6:cc35eb643e8f | 558 | // lots of experience that tells us that manual calibration is a |
mjr | 6:cc35eb643e8f | 559 | // terrible solution, mostly because cabinets tend to shift slightly |
mjr | 6:cc35eb643e8f | 560 | // during use, requiring frequent recalibration. Instead, we |
mjr | 6:cc35eb643e8f | 561 | // calibrate automatically. We continuously monitor the acceleration |
mjr | 6:cc35eb643e8f | 562 | // data, watching for periods of constant (or nearly constant) values. |
mjr | 6:cc35eb643e8f | 563 | // Any time it appears that the machine has been at rest for a while |
mjr | 6:cc35eb643e8f | 564 | // (about 5 seconds), we'll average the readings during that rest |
mjr | 6:cc35eb643e8f | 565 | // period and use the result as the level rest position. This is |
mjr | 6:cc35eb643e8f | 566 | // is ongoing, so we'll quickly find the center point again if the |
mjr | 6:cc35eb643e8f | 567 | // machine is moved during play (by an especially aggressive bout |
mjr | 6:cc35eb643e8f | 568 | // of nudging, say). |
mjr | 5:a70c0bce770d | 569 | // |
mjr | 5:a70c0bce770d | 570 | |
mjr | 6:cc35eb643e8f | 571 | // accelerometer input history item, for gathering calibration data |
mjr | 6:cc35eb643e8f | 572 | struct AccHist |
mjr | 5:a70c0bce770d | 573 | { |
mjr | 6:cc35eb643e8f | 574 | AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; } |
mjr | 6:cc35eb643e8f | 575 | void set(float x, float y, AccHist *prv) |
mjr | 6:cc35eb643e8f | 576 | { |
mjr | 6:cc35eb643e8f | 577 | // save the raw position |
mjr | 6:cc35eb643e8f | 578 | this->x = x; |
mjr | 6:cc35eb643e8f | 579 | this->y = y; |
mjr | 6:cc35eb643e8f | 580 | this->d = distance(prv); |
mjr | 6:cc35eb643e8f | 581 | } |
mjr | 6:cc35eb643e8f | 582 | |
mjr | 6:cc35eb643e8f | 583 | // reading for this entry |
mjr | 5:a70c0bce770d | 584 | float x, y; |
mjr | 5:a70c0bce770d | 585 | |
mjr | 6:cc35eb643e8f | 586 | // distance from previous entry |
mjr | 6:cc35eb643e8f | 587 | float d; |
mjr | 5:a70c0bce770d | 588 | |
mjr | 6:cc35eb643e8f | 589 | // total and count of samples averaged over this period |
mjr | 6:cc35eb643e8f | 590 | float xtot, ytot; |
mjr | 6:cc35eb643e8f | 591 | int cnt; |
mjr | 6:cc35eb643e8f | 592 | |
mjr | 6:cc35eb643e8f | 593 | void clearAvg() { xtot = ytot = 0.0; cnt = 0; } |
mjr | 6:cc35eb643e8f | 594 | void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; } |
mjr | 6:cc35eb643e8f | 595 | float xAvg() const { return xtot/cnt; } |
mjr | 6:cc35eb643e8f | 596 | float yAvg() const { return ytot/cnt; } |
mjr | 5:a70c0bce770d | 597 | |
mjr | 6:cc35eb643e8f | 598 | float distance(AccHist *p) |
mjr | 6:cc35eb643e8f | 599 | { return sqrt(square(p->x - x) + square(p->y - y)); } |
mjr | 5:a70c0bce770d | 600 | }; |
mjr | 5:a70c0bce770d | 601 | |
mjr | 5:a70c0bce770d | 602 | // accelerometer wrapper class |
mjr | 3:3514575d4f86 | 603 | class Accel |
mjr | 3:3514575d4f86 | 604 | { |
mjr | 3:3514575d4f86 | 605 | public: |
mjr | 3:3514575d4f86 | 606 | Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin) |
mjr | 3:3514575d4f86 | 607 | : mma_(sda, scl, i2cAddr), intIn_(irqPin) |
mjr | 3:3514575d4f86 | 608 | { |
mjr | 5:a70c0bce770d | 609 | // remember the interrupt pin assignment |
mjr | 5:a70c0bce770d | 610 | irqPin_ = irqPin; |
mjr | 5:a70c0bce770d | 611 | |
mjr | 5:a70c0bce770d | 612 | // reset and initialize |
mjr | 5:a70c0bce770d | 613 | reset(); |
mjr | 5:a70c0bce770d | 614 | } |
mjr | 5:a70c0bce770d | 615 | |
mjr | 5:a70c0bce770d | 616 | void reset() |
mjr | 5:a70c0bce770d | 617 | { |
mjr | 6:cc35eb643e8f | 618 | // clear the center point |
mjr | 6:cc35eb643e8f | 619 | cx_ = cy_ = 0.0; |
mjr | 6:cc35eb643e8f | 620 | |
mjr | 6:cc35eb643e8f | 621 | // start the calibration timer |
mjr | 5:a70c0bce770d | 622 | tCenter_.start(); |
mjr | 5:a70c0bce770d | 623 | iAccPrv_ = nAccPrv_ = 0; |
mjr | 6:cc35eb643e8f | 624 | |
mjr | 5:a70c0bce770d | 625 | // reset and initialize the MMA8451Q |
mjr | 5:a70c0bce770d | 626 | mma_.init(); |
mjr | 6:cc35eb643e8f | 627 | |
mjr | 6:cc35eb643e8f | 628 | // set the initial integrated velocity reading to zero |
mjr | 6:cc35eb643e8f | 629 | vx_ = vy_ = 0; |
mjr | 3:3514575d4f86 | 630 | |
mjr | 6:cc35eb643e8f | 631 | // set up our accelerometer interrupt handling |
mjr | 6:cc35eb643e8f | 632 | intIn_.rise(this, &Accel::isr); |
mjr | 5:a70c0bce770d | 633 | mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2); |
mjr | 3:3514575d4f86 | 634 | |
mjr | 3:3514575d4f86 | 635 | // read the current registers to clear the data ready flag |
mjr | 6:cc35eb643e8f | 636 | mma_.getAccXYZ(ax_, ay_, az_); |
mjr | 3:3514575d4f86 | 637 | |
mjr | 3:3514575d4f86 | 638 | // start our timers |
mjr | 3:3514575d4f86 | 639 | tGet_.start(); |
mjr | 3:3514575d4f86 | 640 | tInt_.start(); |
mjr | 3:3514575d4f86 | 641 | } |
mjr | 3:3514575d4f86 | 642 | |
mjr | 6:cc35eb643e8f | 643 | void get(int &x, int &y, int &rx, int &ry) |
mjr | 3:3514575d4f86 | 644 | { |
mjr | 3:3514575d4f86 | 645 | // disable interrupts while manipulating the shared data |
mjr | 3:3514575d4f86 | 646 | __disable_irq(); |
mjr | 3:3514575d4f86 | 647 | |
mjr | 3:3514575d4f86 | 648 | // read the shared data and store locally for calculations |
mjr | 6:cc35eb643e8f | 649 | float ax = ax_, ay = ay_; |
mjr | 6:cc35eb643e8f | 650 | float vx = vx_, vy = vy_; |
mjr | 5:a70c0bce770d | 651 | |
mjr | 6:cc35eb643e8f | 652 | // reset the velocity sum for the next run |
mjr | 6:cc35eb643e8f | 653 | vx_ = vy_ = 0; |
mjr | 3:3514575d4f86 | 654 | |
mjr | 3:3514575d4f86 | 655 | // get the time since the last get() sample |
mjr | 3:3514575d4f86 | 656 | float dt = tGet_.read_us()/1.0e6; |
mjr | 3:3514575d4f86 | 657 | tGet_.reset(); |
mjr | 3:3514575d4f86 | 658 | |
mjr | 3:3514575d4f86 | 659 | // done manipulating the shared data |
mjr | 3:3514575d4f86 | 660 | __enable_irq(); |
mjr | 3:3514575d4f86 | 661 | |
mjr | 6:cc35eb643e8f | 662 | // adjust the readings for the integration time |
mjr | 6:cc35eb643e8f | 663 | vx /= dt; |
mjr | 6:cc35eb643e8f | 664 | vy /= dt; |
mjr | 6:cc35eb643e8f | 665 | |
mjr | 6:cc35eb643e8f | 666 | // add this sample to the current calibration interval's running total |
mjr | 6:cc35eb643e8f | 667 | AccHist *p = accPrv_ + iAccPrv_; |
mjr | 6:cc35eb643e8f | 668 | p->addAvg(ax, ay); |
mjr | 6:cc35eb643e8f | 669 | |
mjr | 5:a70c0bce770d | 670 | // check for auto-centering every so often |
mjr | 5:a70c0bce770d | 671 | if (tCenter_.read_ms() > 1000) |
mjr | 5:a70c0bce770d | 672 | { |
mjr | 5:a70c0bce770d | 673 | // add the latest raw sample to the history list |
mjr | 6:cc35eb643e8f | 674 | AccHist *prv = p; |
mjr | 5:a70c0bce770d | 675 | iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv; |
mjr | 6:cc35eb643e8f | 676 | p = accPrv_ + iAccPrv_; |
mjr | 6:cc35eb643e8f | 677 | p->set(ax, ay, prv); |
mjr | 5:a70c0bce770d | 678 | |
mjr | 5:a70c0bce770d | 679 | // if we have a full complement, check for stability |
mjr | 5:a70c0bce770d | 680 | if (nAccPrv_ >= maxAccPrv) |
mjr | 5:a70c0bce770d | 681 | { |
mjr | 5:a70c0bce770d | 682 | // check if we've been stable for all recent samples |
mjr | 6:cc35eb643e8f | 683 | static const float accTol = .01; |
mjr | 6:cc35eb643e8f | 684 | AccHist *p0 = accPrv_; |
mjr | 6:cc35eb643e8f | 685 | if (p0[0].d < accTol |
mjr | 6:cc35eb643e8f | 686 | && p0[1].d < accTol |
mjr | 6:cc35eb643e8f | 687 | && p0[2].d < accTol |
mjr | 6:cc35eb643e8f | 688 | && p0[3].d < accTol |
mjr | 6:cc35eb643e8f | 689 | && p0[4].d < accTol) |
mjr | 5:a70c0bce770d | 690 | { |
mjr | 6:cc35eb643e8f | 691 | // Figure the new calibration point as the average of |
mjr | 6:cc35eb643e8f | 692 | // the samples over the rest period |
mjr | 6:cc35eb643e8f | 693 | cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0; |
mjr | 6:cc35eb643e8f | 694 | cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0; |
mjr | 5:a70c0bce770d | 695 | } |
mjr | 5:a70c0bce770d | 696 | } |
mjr | 5:a70c0bce770d | 697 | else |
mjr | 5:a70c0bce770d | 698 | { |
mjr | 5:a70c0bce770d | 699 | // not enough samples yet; just up the count |
mjr | 5:a70c0bce770d | 700 | ++nAccPrv_; |
mjr | 5:a70c0bce770d | 701 | } |
mjr | 6:cc35eb643e8f | 702 | |
mjr | 6:cc35eb643e8f | 703 | // clear the new item's running totals |
mjr | 6:cc35eb643e8f | 704 | p->clearAvg(); |
mjr | 5:a70c0bce770d | 705 | |
mjr | 5:a70c0bce770d | 706 | // reset the timer |
mjr | 5:a70c0bce770d | 707 | tCenter_.reset(); |
mjr | 5:a70c0bce770d | 708 | } |
mjr | 5:a70c0bce770d | 709 | |
mjr | 6:cc35eb643e8f | 710 | // report our integrated velocity reading in x,y |
mjr | 6:cc35eb643e8f | 711 | x = rawToReport(vx); |
mjr | 6:cc35eb643e8f | 712 | y = rawToReport(vy); |
mjr | 5:a70c0bce770d | 713 | |
mjr | 6:cc35eb643e8f | 714 | // apply a small dead zone near the center |
mjr | 6:cc35eb643e8f | 715 | // if (abs(x) < 6) x = 0; |
mjr | 6:cc35eb643e8f | 716 | // if (abs(y) < 6) y = 0; |
mjr | 5:a70c0bce770d | 717 | |
mjr | 5:a70c0bce770d | 718 | // report the calibrated instantaneous acceleration in rx,ry |
mjr | 6:cc35eb643e8f | 719 | rx = int(round((ax - cx_)*JOYMAX)); |
mjr | 6:cc35eb643e8f | 720 | ry = int(round((ay - cy_)*JOYMAX)); |
mjr | 6:cc35eb643e8f | 721 | |
mjr | 6:cc35eb643e8f | 722 | #ifdef DEBUG_PRINTF |
mjr | 6:cc35eb643e8f | 723 | if (x != 0 || y != 0) |
mjr | 6:cc35eb643e8f | 724 | printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt); |
mjr | 6:cc35eb643e8f | 725 | #endif |
mjr | 3:3514575d4f86 | 726 | } |
mjr | 3:3514575d4f86 | 727 | |
mjr | 3:3514575d4f86 | 728 | private: |
mjr | 6:cc35eb643e8f | 729 | // adjust a raw acceleration figure to a usb report value |
mjr | 6:cc35eb643e8f | 730 | int rawToReport(float v) |
mjr | 5:a70c0bce770d | 731 | { |
mjr | 6:cc35eb643e8f | 732 | // scale to the joystick report range and round to integer |
mjr | 6:cc35eb643e8f | 733 | int i = int(round(v*JOYMAX)); |
mjr | 5:a70c0bce770d | 734 | |
mjr | 6:cc35eb643e8f | 735 | // if it's near the center, scale it roughly as 20*(i/20)^2, |
mjr | 6:cc35eb643e8f | 736 | // to suppress noise near the rest position |
mjr | 6:cc35eb643e8f | 737 | static const int filter[] = { |
mjr | 6:cc35eb643e8f | 738 | -18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0, |
mjr | 6:cc35eb643e8f | 739 | 0, |
mjr | 6:cc35eb643e8f | 740 | 0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18 |
mjr | 6:cc35eb643e8f | 741 | }; |
mjr | 6:cc35eb643e8f | 742 | return (i > 20 || i < -20 ? i : filter[i+20]); |
mjr | 5:a70c0bce770d | 743 | } |
mjr | 5:a70c0bce770d | 744 | |
mjr | 3:3514575d4f86 | 745 | // interrupt handler |
mjr | 3:3514575d4f86 | 746 | void isr() |
mjr | 3:3514575d4f86 | 747 | { |
mjr | 3:3514575d4f86 | 748 | // Read the axes. Note that we have to read all three axes |
mjr | 3:3514575d4f86 | 749 | // (even though we only really use x and y) in order to clear |
mjr | 3:3514575d4f86 | 750 | // the "data ready" status bit in the accelerometer. The |
mjr | 3:3514575d4f86 | 751 | // interrupt only occurs when the "ready" bit transitions from |
mjr | 3:3514575d4f86 | 752 | // off to on, so we have to make sure it's off. |
mjr | 5:a70c0bce770d | 753 | float x, y, z; |
mjr | 5:a70c0bce770d | 754 | mma_.getAccXYZ(x, y, z); |
mjr | 3:3514575d4f86 | 755 | |
mjr | 3:3514575d4f86 | 756 | // calculate the time since the last interrupt |
mjr | 3:3514575d4f86 | 757 | float dt = tInt_.read_us()/1.0e6; |
mjr | 3:3514575d4f86 | 758 | tInt_.reset(); |
mjr | 6:cc35eb643e8f | 759 | |
mjr | 6:cc35eb643e8f | 760 | // integrate the time slice from the previous reading to this reading |
mjr | 6:cc35eb643e8f | 761 | vx_ += (x + ax_ - 2*cx_)*dt/2; |
mjr | 6:cc35eb643e8f | 762 | vy_ += (y + ay_ - 2*cy_)*dt/2; |
mjr | 3:3514575d4f86 | 763 | |
mjr | 6:cc35eb643e8f | 764 | // store the updates |
mjr | 6:cc35eb643e8f | 765 | ax_ = x; |
mjr | 6:cc35eb643e8f | 766 | ay_ = y; |
mjr | 6:cc35eb643e8f | 767 | az_ = z; |
mjr | 3:3514575d4f86 | 768 | } |
mjr | 3:3514575d4f86 | 769 | |
mjr | 3:3514575d4f86 | 770 | // underlying accelerometer object |
mjr | 3:3514575d4f86 | 771 | MMA8451Q mma_; |
mjr | 3:3514575d4f86 | 772 | |
mjr | 5:a70c0bce770d | 773 | // last raw acceleration readings |
mjr | 6:cc35eb643e8f | 774 | float ax_, ay_, az_; |
mjr | 5:a70c0bce770d | 775 | |
mjr | 6:cc35eb643e8f | 776 | // integrated velocity reading since last get() |
mjr | 6:cc35eb643e8f | 777 | float vx_, vy_; |
mjr | 6:cc35eb643e8f | 778 | |
mjr | 3:3514575d4f86 | 779 | // timer for measuring time between get() samples |
mjr | 3:3514575d4f86 | 780 | Timer tGet_; |
mjr | 3:3514575d4f86 | 781 | |
mjr | 3:3514575d4f86 | 782 | // timer for measuring time between interrupts |
mjr | 3:3514575d4f86 | 783 | Timer tInt_; |
mjr | 5:a70c0bce770d | 784 | |
mjr | 6:cc35eb643e8f | 785 | // Calibration reference point for accelerometer. This is the |
mjr | 6:cc35eb643e8f | 786 | // average reading on the accelerometer when in the neutral position |
mjr | 6:cc35eb643e8f | 787 | // at rest. |
mjr | 6:cc35eb643e8f | 788 | float cx_, cy_; |
mjr | 5:a70c0bce770d | 789 | |
mjr | 5:a70c0bce770d | 790 | // timer for atuo-centering |
mjr | 5:a70c0bce770d | 791 | Timer tCenter_; |
mjr | 6:cc35eb643e8f | 792 | |
mjr | 6:cc35eb643e8f | 793 | // Auto-centering history. This is a separate history list that |
mjr | 6:cc35eb643e8f | 794 | // records results spaced out sparesely over time, so that we can |
mjr | 6:cc35eb643e8f | 795 | // watch for long-lasting periods of rest. When we observe nearly |
mjr | 6:cc35eb643e8f | 796 | // no motion for an extended period (on the order of 5 seconds), we |
mjr | 6:cc35eb643e8f | 797 | // take this to mean that the cabinet is at rest in its neutral |
mjr | 6:cc35eb643e8f | 798 | // position, so we take this as the calibration zero point for the |
mjr | 6:cc35eb643e8f | 799 | // accelerometer. We update this history continuously, which allows |
mjr | 6:cc35eb643e8f | 800 | // us to continuously re-calibrate the accelerometer. This ensures |
mjr | 6:cc35eb643e8f | 801 | // that we'll automatically adjust to any actual changes in the |
mjr | 6:cc35eb643e8f | 802 | // cabinet's orientation (e.g., if it gets moved slightly by an |
mjr | 6:cc35eb643e8f | 803 | // especially strong nudge) as well as any systematic drift in the |
mjr | 6:cc35eb643e8f | 804 | // accelerometer measurement bias (e.g., from temperature changes). |
mjr | 5:a70c0bce770d | 805 | int iAccPrv_, nAccPrv_; |
mjr | 5:a70c0bce770d | 806 | static const int maxAccPrv = 5; |
mjr | 6:cc35eb643e8f | 807 | AccHist accPrv_[maxAccPrv]; |
mjr | 6:cc35eb643e8f | 808 | |
mjr | 5:a70c0bce770d | 809 | // interurupt pin name |
mjr | 5:a70c0bce770d | 810 | PinName irqPin_; |
mjr | 5:a70c0bce770d | 811 | |
mjr | 5:a70c0bce770d | 812 | // interrupt router |
mjr | 5:a70c0bce770d | 813 | InterruptIn intIn_; |
mjr | 3:3514575d4f86 | 814 | }; |
mjr | 3:3514575d4f86 | 815 | |
mjr | 5:a70c0bce770d | 816 | |
mjr | 5:a70c0bce770d | 817 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 818 | // |
mjr | 5:a70c0bce770d | 819 | // Clear the I2C bus for the MMA8451!. This seems necessary some of the time |
mjr | 5:a70c0bce770d | 820 | // for reasons that aren't clear to me. Doing a hard power cycle has the same |
mjr | 5:a70c0bce770d | 821 | // effect, but when we do a soft reset, the hardware sometimes seems to leave |
mjr | 5:a70c0bce770d | 822 | // the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through |
mjr | 5:a70c0bce770d | 823 | // the SCL line is supposed to clear this conidtion. |
mjr | 5:a70c0bce770d | 824 | // |
mjr | 5:a70c0bce770d | 825 | void clear_i2c() |
mjr | 5:a70c0bce770d | 826 | { |
mjr | 5:a70c0bce770d | 827 | // assume a general-purpose output pin to the I2C clock |
mjr | 5:a70c0bce770d | 828 | DigitalOut scl(MMA8451_SCL_PIN); |
mjr | 5:a70c0bce770d | 829 | DigitalIn sda(MMA8451_SDA_PIN); |
mjr | 5:a70c0bce770d | 830 | |
mjr | 5:a70c0bce770d | 831 | // clock the SCL 9 times |
mjr | 5:a70c0bce770d | 832 | for (int i = 0 ; i < 9 ; ++i) |
mjr | 5:a70c0bce770d | 833 | { |
mjr | 5:a70c0bce770d | 834 | scl = 1; |
mjr | 5:a70c0bce770d | 835 | wait_us(20); |
mjr | 5:a70c0bce770d | 836 | scl = 0; |
mjr | 5:a70c0bce770d | 837 | wait_us(20); |
mjr | 5:a70c0bce770d | 838 | } |
mjr | 5:a70c0bce770d | 839 | } |
mjr | 5:a70c0bce770d | 840 | |
mjr | 5:a70c0bce770d | 841 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 842 | // |
mjr | 5:a70c0bce770d | 843 | // Main program loop. This is invoked on startup and runs forever. Our |
mjr | 5:a70c0bce770d | 844 | // main work is to read our devices (the accelerometer and the CCD), process |
mjr | 5:a70c0bce770d | 845 | // the readings into nudge and plunger position data, and send the results |
mjr | 5:a70c0bce770d | 846 | // to the host computer via the USB joystick interface. We also monitor |
mjr | 5:a70c0bce770d | 847 | // the USB connection for incoming LedWiz commands and process those into |
mjr | 5:a70c0bce770d | 848 | // port outputs. |
mjr | 5:a70c0bce770d | 849 | // |
mjr | 0:5acbbe3f4cf4 | 850 | int main(void) |
mjr | 0:5acbbe3f4cf4 | 851 | { |
mjr | 1:d913e0afb2ac | 852 | // turn off our on-board indicator LED |
mjr | 4:02c7cd7b2183 | 853 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 854 | ledG = 1; |
mjr | 4:02c7cd7b2183 | 855 | ledB = 1; |
mjr | 1:d913e0afb2ac | 856 | |
mjr | 6:cc35eb643e8f | 857 | // initialize the LedWiz ports |
mjr | 6:cc35eb643e8f | 858 | initLwOut(); |
mjr | 6:cc35eb643e8f | 859 | |
mjr | 6:cc35eb643e8f | 860 | // we don't need a reset yet |
mjr | 6:cc35eb643e8f | 861 | bool needReset = false; |
mjr | 6:cc35eb643e8f | 862 | |
mjr | 5:a70c0bce770d | 863 | // clear the I2C bus for the accelerometer |
mjr | 5:a70c0bce770d | 864 | clear_i2c(); |
mjr | 5:a70c0bce770d | 865 | |
mjr | 2:c174f9ee414a | 866 | // set up a flash memory controller |
mjr | 2:c174f9ee414a | 867 | FreescaleIAP iap; |
mjr | 2:c174f9ee414a | 868 | |
mjr | 2:c174f9ee414a | 869 | // use the last sector of flash for our non-volatile memory structure |
mjr | 2:c174f9ee414a | 870 | int flash_addr = (iap.flash_size() - SECTOR_SIZE); |
mjr | 2:c174f9ee414a | 871 | NVM *flash = (NVM *)flash_addr; |
mjr | 2:c174f9ee414a | 872 | NVM cfg; |
mjr | 2:c174f9ee414a | 873 | |
mjr | 2:c174f9ee414a | 874 | // check for valid flash |
mjr | 6:cc35eb643e8f | 875 | bool flash_valid = flash->valid(); |
mjr | 2:c174f9ee414a | 876 | |
mjr | 2:c174f9ee414a | 877 | // Number of pixels we read from the sensor on each frame. This can be |
mjr | 2:c174f9ee414a | 878 | // less than the physical pixel count if desired; we'll read every nth |
mjr | 2:c174f9ee414a | 879 | // piexl if so. E.g., with a 1280-pixel physical sensor, if npix is 320, |
mjr | 5:a70c0bce770d | 880 | // we'll read every 4th pixel. It takes time to read each pixel, so the |
mjr | 5:a70c0bce770d | 881 | // fewer pixels we read, the higher the refresh rate we can achieve. |
mjr | 5:a70c0bce770d | 882 | // It's therefore better not to read more pixels than we have to. |
mjr | 5:a70c0bce770d | 883 | // |
mjr | 5:a70c0bce770d | 884 | // VP seems to have an internal resolution in the 8-bit range, so there's |
mjr | 5:a70c0bce770d | 885 | // no apparent benefit to reading more than 128-256 pixels when using VP. |
mjr | 5:a70c0bce770d | 886 | // Empirically, 160 pixels seems about right. The overall travel of a |
mjr | 5:a70c0bce770d | 887 | // standard pinball plunger is about 3", so 160 pixels gives us resolution |
mjr | 5:a70c0bce770d | 888 | // of about 1/50". This seems to take full advantage of VP's modeling |
mjr | 5:a70c0bce770d | 889 | // ability, and is probably also more precise than a human player's |
mjr | 5:a70c0bce770d | 890 | // perception of the plunger position. |
mjr | 2:c174f9ee414a | 891 | const int npix = 160; |
mjr | 2:c174f9ee414a | 892 | |
mjr | 2:c174f9ee414a | 893 | // if the flash is valid, load it; otherwise initialize to defaults |
mjr | 2:c174f9ee414a | 894 | if (flash_valid) { |
mjr | 2:c174f9ee414a | 895 | memcpy(&cfg, flash, sizeof(cfg)); |
mjr | 6:cc35eb643e8f | 896 | printf("Flash restored: plunger cal=%d, min=%d, zero=%d, max=%d\r\n", |
mjr | 6:cc35eb643e8f | 897 | cfg.d.plungerCal, cfg.d.plungerMin, cfg.d.plungerZero, cfg.d.plungerMax); |
mjr | 2:c174f9ee414a | 898 | } |
mjr | 2:c174f9ee414a | 899 | else { |
mjr | 2:c174f9ee414a | 900 | printf("Factory reset\r\n"); |
mjr | 2:c174f9ee414a | 901 | cfg.d.sig = cfg.SIGNATURE; |
mjr | 2:c174f9ee414a | 902 | cfg.d.vsn = cfg.VERSION; |
mjr | 6:cc35eb643e8f | 903 | cfg.d.plungerCal = 0; |
mjr | 6:cc35eb643e8f | 904 | cfg.d.plungerZero = 0; |
mjr | 2:c174f9ee414a | 905 | cfg.d.plungerMin = 0; |
mjr | 2:c174f9ee414a | 906 | cfg.d.plungerMax = npix; |
mjr | 6:cc35eb643e8f | 907 | cfg.d.ledWizUnitNo = DEFAULT_LEDWIZ_UNIT_NUMBER; |
mjr | 6:cc35eb643e8f | 908 | cfg.d.ccdEnabled = true; |
mjr | 2:c174f9ee414a | 909 | } |
mjr | 1:d913e0afb2ac | 910 | |
mjr | 6:cc35eb643e8f | 911 | // Create the joystick USB client. Note that we use the LedWiz unit |
mjr | 6:cc35eb643e8f | 912 | // number from the saved configuration. |
mjr | 6:cc35eb643e8f | 913 | MyUSBJoystick js( |
mjr | 6:cc35eb643e8f | 914 | USB_VENDOR_ID, |
mjr | 6:cc35eb643e8f | 915 | USB_PRODUCT_ID | cfg.d.ledWizUnitNo, |
mjr | 6:cc35eb643e8f | 916 | USB_VERSION_NO); |
mjr | 6:cc35eb643e8f | 917 | |
mjr | 1:d913e0afb2ac | 918 | // plunger calibration button debounce timer |
mjr | 1:d913e0afb2ac | 919 | Timer calBtnTimer; |
mjr | 1:d913e0afb2ac | 920 | calBtnTimer.start(); |
mjr | 1:d913e0afb2ac | 921 | int calBtnDownTime = 0; |
mjr | 1:d913e0afb2ac | 922 | int calBtnLit = false; |
mjr | 1:d913e0afb2ac | 923 | |
mjr | 1:d913e0afb2ac | 924 | // Calibration button state: |
mjr | 1:d913e0afb2ac | 925 | // 0 = not pushed |
mjr | 1:d913e0afb2ac | 926 | // 1 = pushed, not yet debounced |
mjr | 1:d913e0afb2ac | 927 | // 2 = pushed, debounced, waiting for hold time |
mjr | 1:d913e0afb2ac | 928 | // 3 = pushed, hold time completed - in calibration mode |
mjr | 1:d913e0afb2ac | 929 | int calBtnState = 0; |
mjr | 1:d913e0afb2ac | 930 | |
mjr | 1:d913e0afb2ac | 931 | // set up a timer for our heartbeat indicator |
mjr | 1:d913e0afb2ac | 932 | Timer hbTimer; |
mjr | 1:d913e0afb2ac | 933 | hbTimer.start(); |
mjr | 1:d913e0afb2ac | 934 | int hb = 0; |
mjr | 5:a70c0bce770d | 935 | uint16_t hbcnt = 0; |
mjr | 1:d913e0afb2ac | 936 | |
mjr | 1:d913e0afb2ac | 937 | // set a timer for accelerometer auto-centering |
mjr | 1:d913e0afb2ac | 938 | Timer acTimer; |
mjr | 1:d913e0afb2ac | 939 | acTimer.start(); |
mjr | 1:d913e0afb2ac | 940 | |
mjr | 0:5acbbe3f4cf4 | 941 | // create the accelerometer object |
mjr | 5:a70c0bce770d | 942 | Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN); |
mjr | 0:5acbbe3f4cf4 | 943 | |
mjr | 0:5acbbe3f4cf4 | 944 | // create the CCD array object |
mjr | 1:d913e0afb2ac | 945 | TSL1410R ccd(PTE20, PTE21, PTB0); |
mjr | 2:c174f9ee414a | 946 | |
mjr | 1:d913e0afb2ac | 947 | // last accelerometer report, in mouse coordinates |
mjr | 6:cc35eb643e8f | 948 | int x = 0, y = 0, z = 0; |
mjr | 6:cc35eb643e8f | 949 | |
mjr | 6:cc35eb643e8f | 950 | // previous two plunger readings, for "debouncing" the results (z0 is |
mjr | 6:cc35eb643e8f | 951 | // the most recent, z1 is the one before that) |
mjr | 6:cc35eb643e8f | 952 | int z0 = 0, z1 = 0, z2 = 0; |
mjr | 6:cc35eb643e8f | 953 | |
mjr | 6:cc35eb643e8f | 954 | // Firing in progress: we set this when we detect the start of rapid |
mjr | 6:cc35eb643e8f | 955 | // plunger movement from a retracted position towards the rest position. |
mjr | 6:cc35eb643e8f | 956 | // The actual plunger spring return speed seems to be too slow for VP, |
mjr | 6:cc35eb643e8f | 957 | // so when we detect the start of this motion, we immediately tell VP |
mjr | 6:cc35eb643e8f | 958 | // to return the plunger to rest, then we monitor the real plunger |
mjr | 6:cc35eb643e8f | 959 | // until it atcually stops. |
mjr | 6:cc35eb643e8f | 960 | bool firing = false; |
mjr | 2:c174f9ee414a | 961 | |
mjr | 2:c174f9ee414a | 962 | // start the first CCD integration cycle |
mjr | 2:c174f9ee414a | 963 | ccd.clear(); |
mjr | 1:d913e0afb2ac | 964 | |
mjr | 1:d913e0afb2ac | 965 | // we're all set up - now just loop, processing sensor reports and |
mjr | 1:d913e0afb2ac | 966 | // host requests |
mjr | 0:5acbbe3f4cf4 | 967 | for (;;) |
mjr | 0:5acbbe3f4cf4 | 968 | { |
mjr | 0:5acbbe3f4cf4 | 969 | // Look for an incoming report. Continue processing input as |
mjr | 0:5acbbe3f4cf4 | 970 | // long as there's anything pending - this ensures that we |
mjr | 0:5acbbe3f4cf4 | 971 | // handle input in as timely a fashion as possible by deferring |
mjr | 0:5acbbe3f4cf4 | 972 | // output tasks as long as there's input to process. |
mjr | 0:5acbbe3f4cf4 | 973 | HID_REPORT report; |
mjr | 6:cc35eb643e8f | 974 | while (js.readNB(&report)) |
mjr | 0:5acbbe3f4cf4 | 975 | { |
mjr | 6:cc35eb643e8f | 976 | // all Led-Wiz reports are 8 bytes exactly |
mjr | 6:cc35eb643e8f | 977 | if (report.length == 8) |
mjr | 1:d913e0afb2ac | 978 | { |
mjr | 6:cc35eb643e8f | 979 | uint8_t *data = report.data; |
mjr | 6:cc35eb643e8f | 980 | if (data[0] == 64) |
mjr | 0:5acbbe3f4cf4 | 981 | { |
mjr | 6:cc35eb643e8f | 982 | // LWZ-SBA - first four bytes are bit-packed on/off flags |
mjr | 6:cc35eb643e8f | 983 | // for the outputs; 5th byte is the pulse speed (0-7) |
mjr | 6:cc35eb643e8f | 984 | //printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n", |
mjr | 6:cc35eb643e8f | 985 | // data[1], data[2], data[3], data[4], data[5]); |
mjr | 0:5acbbe3f4cf4 | 986 | |
mjr | 6:cc35eb643e8f | 987 | // update all on/off states |
mjr | 6:cc35eb643e8f | 988 | for (int i = 0, bit = 1, ri = 1 ; i < 32 ; ++i, bit <<= 1) |
mjr | 6:cc35eb643e8f | 989 | { |
mjr | 6:cc35eb643e8f | 990 | if (bit == 0x100) { |
mjr | 6:cc35eb643e8f | 991 | bit = 1; |
mjr | 6:cc35eb643e8f | 992 | ++ri; |
mjr | 6:cc35eb643e8f | 993 | } |
mjr | 6:cc35eb643e8f | 994 | wizOn[i] = ((data[ri] & bit) != 0); |
mjr | 6:cc35eb643e8f | 995 | } |
mjr | 6:cc35eb643e8f | 996 | |
mjr | 6:cc35eb643e8f | 997 | // update the physical outputs |
mjr | 1:d913e0afb2ac | 998 | updateWizOuts(); |
mjr | 6:cc35eb643e8f | 999 | |
mjr | 6:cc35eb643e8f | 1000 | // reset the PBA counter |
mjr | 6:cc35eb643e8f | 1001 | pbaIdx = 0; |
mjr | 6:cc35eb643e8f | 1002 | } |
mjr | 6:cc35eb643e8f | 1003 | else if (data[0] == 65) |
mjr | 6:cc35eb643e8f | 1004 | { |
mjr | 6:cc35eb643e8f | 1005 | // Private control message. This isn't an LedWiz message - it's |
mjr | 6:cc35eb643e8f | 1006 | // an extension for this device. 65 is an invalid PBA setting, |
mjr | 6:cc35eb643e8f | 1007 | // and isn't used for any other LedWiz message, so we appropriate |
mjr | 6:cc35eb643e8f | 1008 | // it for our own private use. The first byte specifies the |
mjr | 6:cc35eb643e8f | 1009 | // message type. |
mjr | 6:cc35eb643e8f | 1010 | if (data[1] == 1) |
mjr | 6:cc35eb643e8f | 1011 | { |
mjr | 6:cc35eb643e8f | 1012 | // Set Configuration: |
mjr | 6:cc35eb643e8f | 1013 | // data[2] = LedWiz unit number (0x00 to 0x0f) |
mjr | 6:cc35eb643e8f | 1014 | // data[3] = feature enable bit mask: |
mjr | 6:cc35eb643e8f | 1015 | // 0x01 = enable CCD |
mjr | 6:cc35eb643e8f | 1016 | |
mjr | 6:cc35eb643e8f | 1017 | // we'll need a reset if the LedWiz unit number is changing |
mjr | 6:cc35eb643e8f | 1018 | uint8_t newUnitNo = data[2] & 0x0f; |
mjr | 6:cc35eb643e8f | 1019 | needReset |= (newUnitNo != cfg.d.ledWizUnitNo); |
mjr | 6:cc35eb643e8f | 1020 | |
mjr | 6:cc35eb643e8f | 1021 | // set the configuration parameters from the message |
mjr | 6:cc35eb643e8f | 1022 | cfg.d.ledWizUnitNo = newUnitNo; |
mjr | 6:cc35eb643e8f | 1023 | cfg.d.ccdEnabled = data[3] & 0x01; |
mjr | 6:cc35eb643e8f | 1024 | |
mjr | 6:cc35eb643e8f | 1025 | // save the configuration |
mjr | 6:cc35eb643e8f | 1026 | cfg.save(iap, flash_addr); |
mjr | 6:cc35eb643e8f | 1027 | } |
mjr | 6:cc35eb643e8f | 1028 | } |
mjr | 6:cc35eb643e8f | 1029 | else |
mjr | 6:cc35eb643e8f | 1030 | { |
mjr | 6:cc35eb643e8f | 1031 | // LWZ-PBA - full state dump; each byte is one output |
mjr | 6:cc35eb643e8f | 1032 | // in the current bank. pbaIdx keeps track of the bank; |
mjr | 6:cc35eb643e8f | 1033 | // this is incremented implicitly by each PBA message. |
mjr | 6:cc35eb643e8f | 1034 | //printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n", |
mjr | 6:cc35eb643e8f | 1035 | // pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); |
mjr | 6:cc35eb643e8f | 1036 | |
mjr | 6:cc35eb643e8f | 1037 | // update all output profile settings |
mjr | 6:cc35eb643e8f | 1038 | for (int i = 0 ; i < 8 ; ++i) |
mjr | 6:cc35eb643e8f | 1039 | wizVal[pbaIdx + i] = data[i]; |
mjr | 6:cc35eb643e8f | 1040 | |
mjr | 6:cc35eb643e8f | 1041 | // update the physical LED state if this is the last bank |
mjr | 6:cc35eb643e8f | 1042 | if (pbaIdx == 24) |
mjr | 6:cc35eb643e8f | 1043 | updateWizOuts(); |
mjr | 6:cc35eb643e8f | 1044 | |
mjr | 6:cc35eb643e8f | 1045 | // advance to the next bank |
mjr | 6:cc35eb643e8f | 1046 | pbaIdx = (pbaIdx + 8) & 31; |
mjr | 6:cc35eb643e8f | 1047 | } |
mjr | 0:5acbbe3f4cf4 | 1048 | } |
mjr | 0:5acbbe3f4cf4 | 1049 | } |
mjr | 1:d913e0afb2ac | 1050 | |
mjr | 1:d913e0afb2ac | 1051 | // check for plunger calibration |
mjr | 1:d913e0afb2ac | 1052 | if (!calBtn) |
mjr | 0:5acbbe3f4cf4 | 1053 | { |
mjr | 1:d913e0afb2ac | 1054 | // check the state |
mjr | 1:d913e0afb2ac | 1055 | switch (calBtnState) |
mjr | 0:5acbbe3f4cf4 | 1056 | { |
mjr | 1:d913e0afb2ac | 1057 | case 0: |
mjr | 1:d913e0afb2ac | 1058 | // button not yet pushed - start debouncing |
mjr | 1:d913e0afb2ac | 1059 | calBtnTimer.reset(); |
mjr | 1:d913e0afb2ac | 1060 | calBtnDownTime = calBtnTimer.read_ms(); |
mjr | 1:d913e0afb2ac | 1061 | calBtnState = 1; |
mjr | 1:d913e0afb2ac | 1062 | break; |
mjr | 1:d913e0afb2ac | 1063 | |
mjr | 1:d913e0afb2ac | 1064 | case 1: |
mjr | 1:d913e0afb2ac | 1065 | // pushed, not yet debounced - if the debounce time has |
mjr | 1:d913e0afb2ac | 1066 | // passed, start the hold period |
mjr | 1:d913e0afb2ac | 1067 | if (calBtnTimer.read_ms() - calBtnDownTime > 50) |
mjr | 1:d913e0afb2ac | 1068 | calBtnState = 2; |
mjr | 1:d913e0afb2ac | 1069 | break; |
mjr | 1:d913e0afb2ac | 1070 | |
mjr | 1:d913e0afb2ac | 1071 | case 2: |
mjr | 1:d913e0afb2ac | 1072 | // in the hold period - if the button has been held down |
mjr | 1:d913e0afb2ac | 1073 | // for the entire hold period, move to calibration mode |
mjr | 1:d913e0afb2ac | 1074 | if (calBtnTimer.read_ms() - calBtnDownTime > 2050) |
mjr | 1:d913e0afb2ac | 1075 | { |
mjr | 1:d913e0afb2ac | 1076 | // enter calibration mode |
mjr | 1:d913e0afb2ac | 1077 | calBtnState = 3; |
mjr | 1:d913e0afb2ac | 1078 | |
mjr | 6:cc35eb643e8f | 1079 | // set extremes for the calibration data, so that the actual |
mjr | 6:cc35eb643e8f | 1080 | // values we read will set new high/low water marks on the fly |
mjr | 2:c174f9ee414a | 1081 | cfg.d.plungerMax = 0; |
mjr | 6:cc35eb643e8f | 1082 | cfg.d.plungerZero = npix; |
mjr | 2:c174f9ee414a | 1083 | cfg.d.plungerMin = npix; |
mjr | 1:d913e0afb2ac | 1084 | } |
mjr | 1:d913e0afb2ac | 1085 | break; |
mjr | 2:c174f9ee414a | 1086 | |
mjr | 2:c174f9ee414a | 1087 | case 3: |
mjr | 2:c174f9ee414a | 1088 | // Already in calibration mode - pushing the button in this |
mjr | 2:c174f9ee414a | 1089 | // state doesn't change the current state, but we won't leave |
mjr | 2:c174f9ee414a | 1090 | // this state as long as it's held down. We can simply do |
mjr | 2:c174f9ee414a | 1091 | // nothing here. |
mjr | 2:c174f9ee414a | 1092 | break; |
mjr | 0:5acbbe3f4cf4 | 1093 | } |
mjr | 0:5acbbe3f4cf4 | 1094 | } |
mjr | 1:d913e0afb2ac | 1095 | else |
mjr | 1:d913e0afb2ac | 1096 | { |
mjr | 2:c174f9ee414a | 1097 | // Button released. If we're in calibration mode, and |
mjr | 2:c174f9ee414a | 1098 | // the calibration time has elapsed, end the calibration |
mjr | 2:c174f9ee414a | 1099 | // and save the results to flash. |
mjr | 2:c174f9ee414a | 1100 | // |
mjr | 2:c174f9ee414a | 1101 | // Otherwise, return to the base state without saving anything. |
mjr | 2:c174f9ee414a | 1102 | // If the button is released before we make it to calibration |
mjr | 2:c174f9ee414a | 1103 | // mode, it simply cancels the attempt. |
mjr | 2:c174f9ee414a | 1104 | if (calBtnState == 3 |
mjr | 2:c174f9ee414a | 1105 | && calBtnTimer.read_ms() - calBtnDownTime > 17500) |
mjr | 2:c174f9ee414a | 1106 | { |
mjr | 2:c174f9ee414a | 1107 | // exit calibration mode |
mjr | 1:d913e0afb2ac | 1108 | calBtnState = 0; |
mjr | 2:c174f9ee414a | 1109 | |
mjr | 6:cc35eb643e8f | 1110 | // save the updated configuration |
mjr | 6:cc35eb643e8f | 1111 | cfg.d.plungerCal = 1; |
mjr | 6:cc35eb643e8f | 1112 | cfg.save(iap, flash_addr); |
mjr | 2:c174f9ee414a | 1113 | |
mjr | 2:c174f9ee414a | 1114 | // the flash state is now valid |
mjr | 2:c174f9ee414a | 1115 | flash_valid = true; |
mjr | 2:c174f9ee414a | 1116 | } |
mjr | 2:c174f9ee414a | 1117 | else if (calBtnState != 3) |
mjr | 2:c174f9ee414a | 1118 | { |
mjr | 2:c174f9ee414a | 1119 | // didn't make it to calibration mode - cancel the operation |
mjr | 1:d913e0afb2ac | 1120 | calBtnState = 0; |
mjr | 2:c174f9ee414a | 1121 | } |
mjr | 1:d913e0afb2ac | 1122 | } |
mjr | 1:d913e0afb2ac | 1123 | |
mjr | 1:d913e0afb2ac | 1124 | // light/flash the calibration button light, if applicable |
mjr | 1:d913e0afb2ac | 1125 | int newCalBtnLit = calBtnLit; |
mjr | 1:d913e0afb2ac | 1126 | switch (calBtnState) |
mjr | 0:5acbbe3f4cf4 | 1127 | { |
mjr | 1:d913e0afb2ac | 1128 | case 2: |
mjr | 1:d913e0afb2ac | 1129 | // in the hold period - flash the light |
mjr | 1:d913e0afb2ac | 1130 | newCalBtnLit = (((calBtnTimer.read_ms() - calBtnDownTime)/250) & 1); |
mjr | 1:d913e0afb2ac | 1131 | break; |
mjr | 1:d913e0afb2ac | 1132 | |
mjr | 1:d913e0afb2ac | 1133 | case 3: |
mjr | 1:d913e0afb2ac | 1134 | // calibration mode - show steady on |
mjr | 1:d913e0afb2ac | 1135 | newCalBtnLit = true; |
mjr | 1:d913e0afb2ac | 1136 | break; |
mjr | 1:d913e0afb2ac | 1137 | |
mjr | 1:d913e0afb2ac | 1138 | default: |
mjr | 1:d913e0afb2ac | 1139 | // not calibrating/holding - show steady off |
mjr | 1:d913e0afb2ac | 1140 | newCalBtnLit = false; |
mjr | 1:d913e0afb2ac | 1141 | break; |
mjr | 1:d913e0afb2ac | 1142 | } |
mjr | 3:3514575d4f86 | 1143 | |
mjr | 3:3514575d4f86 | 1144 | // light or flash the external calibration button LED, and |
mjr | 3:3514575d4f86 | 1145 | // do the same with the on-board blue LED |
mjr | 1:d913e0afb2ac | 1146 | if (calBtnLit != newCalBtnLit) |
mjr | 1:d913e0afb2ac | 1147 | { |
mjr | 1:d913e0afb2ac | 1148 | calBtnLit = newCalBtnLit; |
mjr | 2:c174f9ee414a | 1149 | if (calBtnLit) { |
mjr | 2:c174f9ee414a | 1150 | calBtnLed = 1; |
mjr | 4:02c7cd7b2183 | 1151 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 1152 | ledG = 1; |
mjr | 4:02c7cd7b2183 | 1153 | ledB = 1; |
mjr | 2:c174f9ee414a | 1154 | } |
mjr | 2:c174f9ee414a | 1155 | else { |
mjr | 2:c174f9ee414a | 1156 | calBtnLed = 0; |
mjr | 4:02c7cd7b2183 | 1157 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 1158 | ledG = 1; |
mjr | 4:02c7cd7b2183 | 1159 | ledB = 0; |
mjr | 2:c174f9ee414a | 1160 | } |
mjr | 1:d913e0afb2ac | 1161 | } |
mjr | 1:d913e0afb2ac | 1162 | |
mjr | 6:cc35eb643e8f | 1163 | // read the plunger sensor, if it's enabled |
mjr | 6:cc35eb643e8f | 1164 | if (cfg.d.ccdEnabled) |
mjr | 6:cc35eb643e8f | 1165 | { |
mjr | 6:cc35eb643e8f | 1166 | // start with the previous reading, in case we don't have a |
mjr | 6:cc35eb643e8f | 1167 | // clear result on this frame |
mjr | 6:cc35eb643e8f | 1168 | int znew = z; |
mjr | 2:c174f9ee414a | 1169 | |
mjr | 6:cc35eb643e8f | 1170 | // read the array |
mjr | 6:cc35eb643e8f | 1171 | uint16_t pix[npix]; |
mjr | 6:cc35eb643e8f | 1172 | ccd.read(pix, npix); |
mjr | 6:cc35eb643e8f | 1173 | |
mjr | 6:cc35eb643e8f | 1174 | // get the average brightness at each end of the sensor |
mjr | 6:cc35eb643e8f | 1175 | long avg1 = (long(pix[0]) + long(pix[1]) + long(pix[2]) + long(pix[3]) + long(pix[4]))/5; |
mjr | 6:cc35eb643e8f | 1176 | 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 | 1177 | |
mjr | 6:cc35eb643e8f | 1178 | // figure the midpoint in the brightness; multiply by 3 so that we can |
mjr | 6:cc35eb643e8f | 1179 | // compare sums of three pixels at a time to smooth out noise |
mjr | 6:cc35eb643e8f | 1180 | long midpt = (avg1 + avg2)/2 * 3; |
mjr | 6:cc35eb643e8f | 1181 | |
mjr | 6:cc35eb643e8f | 1182 | // Work from the bright end to the dark end. VP interprets the |
mjr | 6:cc35eb643e8f | 1183 | // Z axis value as the amount the plunger is pulled: zero is the |
mjr | 6:cc35eb643e8f | 1184 | // rest position, and the axis maximum is fully pulled. So we |
mjr | 6:cc35eb643e8f | 1185 | // essentially want to report how much of the sensor is lit, |
mjr | 6:cc35eb643e8f | 1186 | // since this increases as the plunger is pulled back. |
mjr | 6:cc35eb643e8f | 1187 | int si = 1, di = 1; |
mjr | 6:cc35eb643e8f | 1188 | if (avg1 < avg2) |
mjr | 6:cc35eb643e8f | 1189 | si = npix - 2, di = -1; |
mjr | 6:cc35eb643e8f | 1190 | |
mjr | 6:cc35eb643e8f | 1191 | // If the bright end and dark end don't differ by enough, skip this |
mjr | 6:cc35eb643e8f | 1192 | // reading entirely - we must have an overexposed or underexposed frame. |
mjr | 6:cc35eb643e8f | 1193 | // Otherwise proceed with the scan. |
mjr | 6:cc35eb643e8f | 1194 | if (labs(avg1 - avg2) > 0x1000) |
mjr | 6:cc35eb643e8f | 1195 | { |
mjr | 6:cc35eb643e8f | 1196 | uint16_t *pixp = pix + si; |
mjr | 6:cc35eb643e8f | 1197 | for (int n = 1 ; n < npix - 1 ; ++n, pixp += di) |
mjr | 6:cc35eb643e8f | 1198 | { |
mjr | 6:cc35eb643e8f | 1199 | // if we've crossed the midpoint, report this position |
mjr | 6:cc35eb643e8f | 1200 | if (long(pixp[-1]) + long(pixp[0]) + long(pixp[1]) < midpt) |
mjr | 6:cc35eb643e8f | 1201 | { |
mjr | 6:cc35eb643e8f | 1202 | // note the new position |
mjr | 6:cc35eb643e8f | 1203 | int pos = n; |
mjr | 6:cc35eb643e8f | 1204 | |
mjr | 6:cc35eb643e8f | 1205 | // Calibrate, or apply calibration, depending on the mode. |
mjr | 6:cc35eb643e8f | 1206 | // In either case, normalize to our range. VP appears to |
mjr | 6:cc35eb643e8f | 1207 | // ignore negative Z axis values. |
mjr | 6:cc35eb643e8f | 1208 | if (calBtnState == 3) |
mjr | 6:cc35eb643e8f | 1209 | { |
mjr | 6:cc35eb643e8f | 1210 | // calibrating - note if we're expanding the calibration envelope |
mjr | 6:cc35eb643e8f | 1211 | if (pos < cfg.d.plungerMin) |
mjr | 6:cc35eb643e8f | 1212 | cfg.d.plungerMin = pos; |
mjr | 6:cc35eb643e8f | 1213 | if (pos < cfg.d.plungerZero) |
mjr | 6:cc35eb643e8f | 1214 | cfg.d.plungerZero = pos; |
mjr | 6:cc35eb643e8f | 1215 | if (pos > cfg.d.plungerMax) |
mjr | 6:cc35eb643e8f | 1216 | cfg.d.plungerMax = pos; |
mjr | 6:cc35eb643e8f | 1217 | |
mjr | 6:cc35eb643e8f | 1218 | // normalize to the full physical range while calibrating |
mjr | 6:cc35eb643e8f | 1219 | znew = int(round(float(pos)/npix * JOYMAX)); |
mjr | 6:cc35eb643e8f | 1220 | } |
mjr | 6:cc35eb643e8f | 1221 | else |
mjr | 6:cc35eb643e8f | 1222 | { |
mjr | 6:cc35eb643e8f | 1223 | // Running normally - normalize to the calibration range. Note |
mjr | 6:cc35eb643e8f | 1224 | // that values below the zero point are allowed - the zero point |
mjr | 6:cc35eb643e8f | 1225 | // represents the park position, where the plunger sits when at |
mjr | 6:cc35eb643e8f | 1226 | // rest, but a mechanical plunger has a smmall amount of travel |
mjr | 6:cc35eb643e8f | 1227 | // in the "push" direction. We represent forward travel with |
mjr | 6:cc35eb643e8f | 1228 | // negative z values. |
mjr | 6:cc35eb643e8f | 1229 | if (pos > cfg.d.plungerMax) |
mjr | 6:cc35eb643e8f | 1230 | pos = cfg.d.plungerMax; |
mjr | 6:cc35eb643e8f | 1231 | znew = int(round(float(pos - cfg.d.plungerZero) |
mjr | 6:cc35eb643e8f | 1232 | / (cfg.d.plungerMax - cfg.d.plungerZero + 1) * JOYMAX)); |
mjr | 6:cc35eb643e8f | 1233 | } |
mjr | 6:cc35eb643e8f | 1234 | |
mjr | 6:cc35eb643e8f | 1235 | // done |
mjr | 6:cc35eb643e8f | 1236 | break; |
mjr | 6:cc35eb643e8f | 1237 | } |
mjr | 6:cc35eb643e8f | 1238 | } |
mjr | 6:cc35eb643e8f | 1239 | } |
mjr | 7:100a25f8bf56 | 1240 | |
mjr | 7:100a25f8bf56 | 1241 | // Determine if the plunger is being fired - i.e., if the player |
mjr | 7:100a25f8bf56 | 1242 | // has just released the plunger from a retracted position. |
mjr | 6:cc35eb643e8f | 1243 | // |
mjr | 7:100a25f8bf56 | 1244 | // We treat firing as an event. That is, we tell VP when the |
mjr | 7:100a25f8bf56 | 1245 | // plunger is fired, and then stop sending data until the firing |
mjr | 7:100a25f8bf56 | 1246 | // is complete, allowing VP to carry out the firing motion using |
mjr | 7:100a25f8bf56 | 1247 | // its internal model plunger rather than trying to track the |
mjr | 7:100a25f8bf56 | 1248 | // intermediate positions of the mechanical plunger throughout |
mjr | 7:100a25f8bf56 | 1249 | // the firing motion. This has several benefits. First is that |
mjr | 7:100a25f8bf56 | 1250 | // our readings aren't very accurate during rapid movement, |
mjr | 7:100a25f8bf56 | 1251 | // because we get too much motion blur. Second is that the |
mjr | 7:100a25f8bf56 | 1252 | // event approach allows VP to simulate the plunger motion |
mjr | 7:100a25f8bf56 | 1253 | // according to each table's particular plunger settings. |
mjr | 7:100a25f8bf56 | 1254 | // Different tables have different plunger strengths and speeds, |
mjr | 7:100a25f8bf56 | 1255 | // so we want to defer to the model for the physics of the firing |
mjr | 7:100a25f8bf56 | 1256 | // motion within each simulation. |
mjr | 6:cc35eb643e8f | 1257 | // |
mjr | 7:100a25f8bf56 | 1258 | // To detremine when a firing even occurs, we watch for rapid |
mjr | 7:100a25f8bf56 | 1259 | // motion from a retracted position towards the rest position - |
mjr | 7:100a25f8bf56 | 1260 | // that is, large position changes in the negative direction over |
mjr | 7:100a25f8bf56 | 1261 | // a couple of consecutive readings. When we see a rapid move |
mjr | 7:100a25f8bf56 | 1262 | // toward zero, we set our internal 'firing' flag, immediately |
mjr | 7:100a25f8bf56 | 1263 | // report to VP that the plunger has returned to the zero |
mjr | 7:100a25f8bf56 | 1264 | // position, and then suspend reports until the mechanical |
mjr | 7:100a25f8bf56 | 1265 | // readings indicate that the plunger has come to rest (indicated |
mjr | 7:100a25f8bf56 | 1266 | // by several readings in a row at roughly the same position). |
mjr | 7:100a25f8bf56 | 1267 | |
mjr | 6:cc35eb643e8f | 1268 | // Check to see if plunger firing is in progress. If not, check |
mjr | 6:cc35eb643e8f | 1269 | // to see if it looks like we just started firing. |
mjr | 6:cc35eb643e8f | 1270 | const int restTol = JOYMAX/npix * 4; |
mjr | 6:cc35eb643e8f | 1271 | const int fireTol = JOYMAX/npix * 12; |
mjr | 6:cc35eb643e8f | 1272 | if (firing) |
mjr | 6:cc35eb643e8f | 1273 | { |
mjr | 6:cc35eb643e8f | 1274 | // Firing in progress - we've already told VP to send its |
mjr | 6:cc35eb643e8f | 1275 | // model plunger all the way back to the rest position, so |
mjr | 6:cc35eb643e8f | 1276 | // send no further reports until the mechanical plunger |
mjr | 6:cc35eb643e8f | 1277 | // actually comes to rest somewhere. |
mjr | 6:cc35eb643e8f | 1278 | if (abs(z0 - z2) < restTol && abs(znew - z2) < restTol) |
mjr | 6:cc35eb643e8f | 1279 | { |
mjr | 6:cc35eb643e8f | 1280 | // the plunger is back at rest - firing is done |
mjr | 6:cc35eb643e8f | 1281 | firing = false; |
mjr | 6:cc35eb643e8f | 1282 | |
mjr | 6:cc35eb643e8f | 1283 | // resume normal reporting |
mjr | 6:cc35eb643e8f | 1284 | z = z2; |
mjr | 6:cc35eb643e8f | 1285 | } |
mjr | 6:cc35eb643e8f | 1286 | } |
mjr | 6:cc35eb643e8f | 1287 | else if (z0 < z2 && z1 < z2 && znew < z2 |
mjr | 6:cc35eb643e8f | 1288 | && (z0 < z2 - fireTol |
mjr | 6:cc35eb643e8f | 1289 | || z1 < z2 - fireTol |
mjr | 6:cc35eb643e8f | 1290 | || znew < z2 - fireTol)) |
mjr | 6:cc35eb643e8f | 1291 | { |
mjr | 6:cc35eb643e8f | 1292 | // Big jumps toward rest position in last two readings - |
mjr | 6:cc35eb643e8f | 1293 | // firing has begun. Report an immediate return to the |
mjr | 6:cc35eb643e8f | 1294 | // rest position, and send no further reports until the |
mjr | 6:cc35eb643e8f | 1295 | // physical plunger has come to rest. This effectively |
mjr | 6:cc35eb643e8f | 1296 | // detaches VP's model plunger from the real world for |
mjr | 6:cc35eb643e8f | 1297 | // the duration of the spring return, letting VP evolve |
mjr | 6:cc35eb643e8f | 1298 | // its model without trying to synchronize with the |
mjr | 6:cc35eb643e8f | 1299 | // mechanical version. The release motion is too fast |
mjr | 6:cc35eb643e8f | 1300 | // for that to work well; we can't take samples quickly |
mjr | 6:cc35eb643e8f | 1301 | // enough to get prcise velocity or acceleration |
mjr | 6:cc35eb643e8f | 1302 | // readings. It's better to let VP figure the speed |
mjr | 6:cc35eb643e8f | 1303 | // and acceleration through modeling. Plus, that lets |
mjr | 6:cc35eb643e8f | 1304 | // each virtual table set the desired parameters for its |
mjr | 6:cc35eb643e8f | 1305 | // virtual plunger, rather than imposing the actual |
mjr | 6:cc35eb643e8f | 1306 | // mechanical charateristics of the physical plunger on |
mjr | 6:cc35eb643e8f | 1307 | // every table. |
mjr | 6:cc35eb643e8f | 1308 | firing = true; |
mjr | 6:cc35eb643e8f | 1309 | z = 0; |
mjr | 6:cc35eb643e8f | 1310 | } |
mjr | 6:cc35eb643e8f | 1311 | else |
mjr | 6:cc35eb643e8f | 1312 | { |
mjr | 6:cc35eb643e8f | 1313 | // everything normal; report the 3rd recent position on |
mjr | 6:cc35eb643e8f | 1314 | // tape delay |
mjr | 6:cc35eb643e8f | 1315 | z = z2; |
mjr | 6:cc35eb643e8f | 1316 | } |
mjr | 6:cc35eb643e8f | 1317 | |
mjr | 6:cc35eb643e8f | 1318 | // shift in the new reading |
mjr | 6:cc35eb643e8f | 1319 | z2 = z1; |
mjr | 6:cc35eb643e8f | 1320 | z1 = z0; |
mjr | 6:cc35eb643e8f | 1321 | z0 = znew; |
mjr | 2:c174f9ee414a | 1322 | } |
mjr | 6:cc35eb643e8f | 1323 | |
mjr | 1:d913e0afb2ac | 1324 | // read the accelerometer |
mjr | 6:cc35eb643e8f | 1325 | int xa, ya, rxa, rya; |
mjr | 3:3514575d4f86 | 1326 | accel.get(xa, ya, rxa, rya); |
mjr | 1:d913e0afb2ac | 1327 | |
mjr | 6:cc35eb643e8f | 1328 | // confine the results to our joystick axis range |
mjr | 6:cc35eb643e8f | 1329 | if (xa < -JOYMAX) xa = -JOYMAX; |
mjr | 6:cc35eb643e8f | 1330 | if (xa > JOYMAX) xa = JOYMAX; |
mjr | 6:cc35eb643e8f | 1331 | if (ya < -JOYMAX) ya = -JOYMAX; |
mjr | 6:cc35eb643e8f | 1332 | if (ya > JOYMAX) ya = JOYMAX; |
mjr | 1:d913e0afb2ac | 1333 | |
mjr | 6:cc35eb643e8f | 1334 | // store the updated accelerometer coordinates |
mjr | 6:cc35eb643e8f | 1335 | x = xa; |
mjr | 6:cc35eb643e8f | 1336 | y = ya; |
mjr | 6:cc35eb643e8f | 1337 | |
mjr | 8:c732e279ee29 | 1338 | // Send the status report. Note that the nominal x and y axes |
mjr | 8:c732e279ee29 | 1339 | // are reversed - this makes it more intuitive to set up in VP. |
mjr | 8:c732e279ee29 | 1340 | // If we mount the Freesale card flat on the floor of the cabinet |
mjr | 8:c732e279ee29 | 1341 | // with the USB connectors facing the front of the cabinet, this |
mjr | 8:c732e279ee29 | 1342 | // arrangement of our nominal axes aligns with VP's standard |
mjr | 8:c732e279ee29 | 1343 | // setting, so that we can configure VP with X Axis = X on the |
mjr | 8:c732e279ee29 | 1344 | // joystick and Y Axis = Y on the joystick. |
mjr | 8:c732e279ee29 | 1345 | js.update(y, x, z, rxa, rya, 0); |
mjr | 1:d913e0afb2ac | 1346 | |
mjr | 6:cc35eb643e8f | 1347 | #ifdef DEBUG_PRINTF |
mjr | 6:cc35eb643e8f | 1348 | if (x != 0 || y != 0) |
mjr | 6:cc35eb643e8f | 1349 | printf("%d,%d\r\n", x, y); |
mjr | 6:cc35eb643e8f | 1350 | #endif |
mjr | 6:cc35eb643e8f | 1351 | |
mjr | 6:cc35eb643e8f | 1352 | // provide a visual status indication on the on-board LED |
mjr | 5:a70c0bce770d | 1353 | if (calBtnState < 2 && hbTimer.read_ms() > 1000) |
mjr | 1:d913e0afb2ac | 1354 | { |
mjr | 5:a70c0bce770d | 1355 | if (js.isSuspended() || !js.isConnected()) |
mjr | 2:c174f9ee414a | 1356 | { |
mjr | 5:a70c0bce770d | 1357 | // suspended - turn off the LED |
mjr | 4:02c7cd7b2183 | 1358 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 1359 | ledG = 1; |
mjr | 4:02c7cd7b2183 | 1360 | ledB = 1; |
mjr | 5:a70c0bce770d | 1361 | |
mjr | 5:a70c0bce770d | 1362 | // show a status flash every so often |
mjr | 5:a70c0bce770d | 1363 | if (hbcnt % 3 == 0) |
mjr | 5:a70c0bce770d | 1364 | { |
mjr | 6:cc35eb643e8f | 1365 | // disconnected = red/red flash; suspended = red |
mjr | 5:a70c0bce770d | 1366 | for (int n = js.isConnected() ? 1 : 2 ; n > 0 ; --n) |
mjr | 5:a70c0bce770d | 1367 | { |
mjr | 5:a70c0bce770d | 1368 | ledR = 0; |
mjr | 5:a70c0bce770d | 1369 | wait(0.05); |
mjr | 5:a70c0bce770d | 1370 | ledR = 1; |
mjr | 5:a70c0bce770d | 1371 | wait(0.25); |
mjr | 5:a70c0bce770d | 1372 | } |
mjr | 5:a70c0bce770d | 1373 | } |
mjr | 2:c174f9ee414a | 1374 | } |
mjr | 6:cc35eb643e8f | 1375 | else if (needReset) |
mjr | 2:c174f9ee414a | 1376 | { |
mjr | 6:cc35eb643e8f | 1377 | // connected, need to reset due to changes in config parameters - |
mjr | 6:cc35eb643e8f | 1378 | // flash red/green |
mjr | 6:cc35eb643e8f | 1379 | hb = !hb; |
mjr | 6:cc35eb643e8f | 1380 | ledR = (hb ? 0 : 1); |
mjr | 6:cc35eb643e8f | 1381 | ledG = (hb ? 1 : 0); |
mjr | 6:cc35eb643e8f | 1382 | ledB = 0; |
mjr | 6:cc35eb643e8f | 1383 | } |
mjr | 6:cc35eb643e8f | 1384 | else if (cfg.d.ccdEnabled && !cfg.d.plungerCal) |
mjr | 6:cc35eb643e8f | 1385 | { |
mjr | 6:cc35eb643e8f | 1386 | // connected, plunger calibration needed - flash yellow/green |
mjr | 6:cc35eb643e8f | 1387 | hb = !hb; |
mjr | 6:cc35eb643e8f | 1388 | ledR = (hb ? 0 : 1); |
mjr | 6:cc35eb643e8f | 1389 | ledG = 0; |
mjr | 6:cc35eb643e8f | 1390 | ledB = 1; |
mjr | 6:cc35eb643e8f | 1391 | } |
mjr | 6:cc35eb643e8f | 1392 | else |
mjr | 6:cc35eb643e8f | 1393 | { |
mjr | 6:cc35eb643e8f | 1394 | // connected - flash blue/green |
mjr | 2:c174f9ee414a | 1395 | hb = !hb; |
mjr | 4:02c7cd7b2183 | 1396 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 1397 | ledG = (hb ? 0 : 1); |
mjr | 4:02c7cd7b2183 | 1398 | ledB = (hb ? 1 : 0); |
mjr | 2:c174f9ee414a | 1399 | } |
mjr | 1:d913e0afb2ac | 1400 | |
mjr | 1:d913e0afb2ac | 1401 | // reset the heartbeat timer |
mjr | 1:d913e0afb2ac | 1402 | hbTimer.reset(); |
mjr | 5:a70c0bce770d | 1403 | ++hbcnt; |
mjr | 1:d913e0afb2ac | 1404 | } |
mjr | 1:d913e0afb2ac | 1405 | } |
mjr | 0:5acbbe3f4cf4 | 1406 | } |