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work in progress
Dependencies: FastAnalogIn FastIO USBDevice mbed FastPWM SimpleDMA
Fork of Pinscape_Controller by
main.cpp@35:d832bcab089e, 2015-10-21 (annotated)
- Committer:
- mjr
- Date:
- Wed Oct 21 21:53:07 2015 +0000
- Revision:
- 35:d832bcab089e
- Parent:
- 32:6e9902f06f48
- Child:
- 36:6b981a2afab7
With expansion board 5940 "power enable" output; saving this feature, which is to be removed.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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mjr | 5:a70c0bce770d | 1 | /* Copyright 2014 M J Roberts, MIT License |
mjr | 5:a70c0bce770d | 2 | * |
mjr | 5:a70c0bce770d | 3 | * Permission is hereby granted, free of charge, to any person obtaining a copy of this software |
mjr | 5:a70c0bce770d | 4 | * and associated documentation files (the "Software"), to deal in the Software without |
mjr | 5:a70c0bce770d | 5 | * restriction, including without limitation the rights to use, copy, modify, merge, publish, |
mjr | 5:a70c0bce770d | 6 | * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the |
mjr | 5:a70c0bce770d | 7 | * Software is furnished to do so, subject to the following conditions: |
mjr | 5:a70c0bce770d | 8 | * |
mjr | 5:a70c0bce770d | 9 | * The above copyright notice and this permission notice shall be included in all copies or |
mjr | 5:a70c0bce770d | 10 | * substantial portions of the Software. |
mjr | 5:a70c0bce770d | 11 | * |
mjr | 5:a70c0bce770d | 12 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING |
mjr | 5:a70c0bce770d | 13 | * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
mjr | 5:a70c0bce770d | 14 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, |
mjr | 5:a70c0bce770d | 15 | * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
mjr | 5:a70c0bce770d | 16 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. |
mjr | 5:a70c0bce770d | 17 | */ |
mjr | 5:a70c0bce770d | 18 | |
mjr | 5:a70c0bce770d | 19 | // |
mjr | 5:a70c0bce770d | 20 | // Pinscape Controller |
mjr | 5:a70c0bce770d | 21 | // |
mjr | 17:ab3cec0c8bf4 | 22 | // "Pinscape" is the name of my custom-built virtual pinball cabinet, so I call this |
mjr | 17:ab3cec0c8bf4 | 23 | // software the Pinscape Controller. I wrote it to handle several tasks that I needed |
mjr | 17:ab3cec0c8bf4 | 24 | // for my cabinet. It runs on a Freescale KL25Z microcontroller, which is a small and |
mjr | 17:ab3cec0c8bf4 | 25 | // inexpensive device that attaches to the cabinet PC via a USB cable, and can attach |
mjr | 17:ab3cec0c8bf4 | 26 | // via custom wiring to sensors, buttons, and other devices in the cabinet. |
mjr | 5:a70c0bce770d | 27 | // |
mjr | 17:ab3cec0c8bf4 | 28 | // I designed the software and hardware in this project especially for my own |
mjr | 17:ab3cec0c8bf4 | 29 | // cabinet, but it uses standard interfaces in Windows and Visual Pinball, so it should |
mjr | 17:ab3cec0c8bf4 | 30 | // work in any VP-based cabinet, as long as you're using the usual VP software suite. |
mjr | 17:ab3cec0c8bf4 | 31 | // I've tried to document the hardware in enough detail for anyone else to duplicate |
mjr | 17:ab3cec0c8bf4 | 32 | // the entire project, and the full software is open source. |
mjr | 5:a70c0bce770d | 33 | // |
mjr | 17:ab3cec0c8bf4 | 34 | // The Freescale board appears to the host PC as a standard USB joystick. This works |
mjr | 17:ab3cec0c8bf4 | 35 | // with the built-in Windows joystick device drivers, so there's no need to install any |
mjr | 17:ab3cec0c8bf4 | 36 | // new drivers or other software on the PC. Windows should recognize the Freescale |
mjr | 17:ab3cec0c8bf4 | 37 | // as a joystick when you plug it into the USB port, and Windows shouldn't ask you to |
mjr | 17:ab3cec0c8bf4 | 38 | // install any drivers. If you bring up the Windows control panel for USB Game |
mjr | 17:ab3cec0c8bf4 | 39 | // Controllers, this device will appear as "Pinscape Controller". *Don't* do any |
mjr | 17:ab3cec0c8bf4 | 40 | // calibration with the Windows control panel or third-part calibration tools. The |
mjr | 17:ab3cec0c8bf4 | 41 | // software calibrates the accelerometer portion automatically, and has its own special |
mjr | 17:ab3cec0c8bf4 | 42 | // calibration procedure for the plunger sensor, if you're using that (see below). |
mjr | 5:a70c0bce770d | 43 | // |
mjr | 17:ab3cec0c8bf4 | 44 | // This software provides a whole bunch of separate features. You can use any of these |
mjr | 17:ab3cec0c8bf4 | 45 | // features individually or all together. If you're not using a particular feature, you |
mjr | 17:ab3cec0c8bf4 | 46 | // can simply omit the extra wiring and/or hardware for that feature. You can use |
mjr | 17:ab3cec0c8bf4 | 47 | // the nudging feature by itself without any extra hardware attached, since the |
mjr | 17:ab3cec0c8bf4 | 48 | // accelerometer is built in to the KL25Z board. |
mjr | 5:a70c0bce770d | 49 | // |
mjr | 17:ab3cec0c8bf4 | 50 | // - Nudge sensing via the KL25Z's on-board accelerometer. Nudging the cabinet |
mjr | 17:ab3cec0c8bf4 | 51 | // causes small accelerations that the accelerometer can detect; these are sent to |
mjr | 17:ab3cec0c8bf4 | 52 | // Visual Pinball via the joystick interface so that VP can simulate the effect |
mjr | 17:ab3cec0c8bf4 | 53 | // of the real physical nudges on its simulated ball. VP has native handling for |
mjr | 17:ab3cec0c8bf4 | 54 | // this type of input, so all you have to do is set some preferences in VP to tell |
mjr | 17:ab3cec0c8bf4 | 55 | // it that an accelerometer is attached. |
mjr | 5:a70c0bce770d | 56 | // |
mjr | 5:a70c0bce770d | 57 | // - Plunger position sensing via an attached TAOS TSL 1410R CCD linear array sensor. |
mjr | 17:ab3cec0c8bf4 | 58 | // To use this feature, you need to buy the TAOS device (it's not built in to the |
mjr | 17:ab3cec0c8bf4 | 59 | // KL25Z, obviously), wire it to the KL25Z (5 wire connections between the two |
mjr | 17:ab3cec0c8bf4 | 60 | // devices are required), and mount the TAOS sensor in your cabinet so that it's |
mjr | 17:ab3cec0c8bf4 | 61 | // positioned properly to capture images of the physical plunger shooter rod. |
mjr | 17:ab3cec0c8bf4 | 62 | // |
mjr | 17:ab3cec0c8bf4 | 63 | // The physical mounting and wiring details are desribed in the project |
mjr | 17:ab3cec0c8bf4 | 64 | // documentation. |
mjr | 17:ab3cec0c8bf4 | 65 | // |
mjr | 17:ab3cec0c8bf4 | 66 | // If the CCD is attached, the software constantly captures images from the CCD |
mjr | 17:ab3cec0c8bf4 | 67 | // and analyzes them to determine how far back the plunger is pulled. It reports |
mjr | 17:ab3cec0c8bf4 | 68 | // this to Visual Pinball via the joystick interface. This allows VP to make the |
mjr | 17:ab3cec0c8bf4 | 69 | // simulated on-screen plunger track the motion of the physical plunger in real |
mjr | 17:ab3cec0c8bf4 | 70 | // time. As with the nudge data, VP has native handling for the plunger input, |
mjr | 17:ab3cec0c8bf4 | 71 | // so you just need to set the VP preferences to tell it that an analog plunger |
mjr | 17:ab3cec0c8bf4 | 72 | // device is attached. One caveat, though: although VP itself has built-in |
mjr | 17:ab3cec0c8bf4 | 73 | // support for an analog plunger, not all existing tables take advantage of it. |
mjr | 17:ab3cec0c8bf4 | 74 | // Many existing tables have their own custom plunger scripting that doesn't |
mjr | 17:ab3cec0c8bf4 | 75 | // cooperate with the VP plunger input. All tables *can* be made to work with |
mjr | 17:ab3cec0c8bf4 | 76 | // the plunger, and in most cases it only requires some simple script editing, |
mjr | 17:ab3cec0c8bf4 | 77 | // but in some cases it requires some more extensive surgery. |
mjr | 5:a70c0bce770d | 78 | // |
mjr | 6:cc35eb643e8f | 79 | // For best results, the plunger sensor should be calibrated. The calibration |
mjr | 6:cc35eb643e8f | 80 | // is stored in non-volatile memory on board the KL25Z, so it's only necessary |
mjr | 6:cc35eb643e8f | 81 | // to do the calibration once, when you first install everything. (You might |
mjr | 6:cc35eb643e8f | 82 | // also want to re-calibrate if you physically remove and reinstall the CCD |
mjr | 17:ab3cec0c8bf4 | 83 | // sensor or the mechanical plunger, since their alignment shift change slightly |
mjr | 17:ab3cec0c8bf4 | 84 | // when you put everything back together.) You can optionally install a |
mjr | 17:ab3cec0c8bf4 | 85 | // dedicated momentary switch or pushbutton to activate the calibration mode; |
mjr | 17:ab3cec0c8bf4 | 86 | // this is describe in the project documentation. If you don't want to bother |
mjr | 17:ab3cec0c8bf4 | 87 | // with the extra button, you can also trigger calibration using the Windows |
mjr | 17:ab3cec0c8bf4 | 88 | // setup software, which you can find on the Pinscape project page. |
mjr | 6:cc35eb643e8f | 89 | // |
mjr | 17:ab3cec0c8bf4 | 90 | // The calibration procedure is described in the project documentation. Briefly, |
mjr | 17:ab3cec0c8bf4 | 91 | // when you trigger calibration mode, the software will scan the CCD for about |
mjr | 17:ab3cec0c8bf4 | 92 | // 15 seconds, during which you should simply pull the physical plunger back |
mjr | 17:ab3cec0c8bf4 | 93 | // all the way, hold it for a moment, and then slowly return it to the rest |
mjr | 17:ab3cec0c8bf4 | 94 | // position. (DON'T just release it from the retracted position, since that |
mjr | 17:ab3cec0c8bf4 | 95 | // let it shoot forward too far. We want to measure the range from the park |
mjr | 17:ab3cec0c8bf4 | 96 | // position to the fully retracted position only.) |
mjr | 5:a70c0bce770d | 97 | // |
mjr | 13:72dda449c3c0 | 98 | // - Button input wiring. 24 of the KL25Z's GPIO ports are mapped as digital inputs |
mjr | 13:72dda449c3c0 | 99 | // for buttons and switches. The software reports these as joystick buttons when |
mjr | 13:72dda449c3c0 | 100 | // it sends reports to the PC. These can be used to wire physical pinball-style |
mjr | 13:72dda449c3c0 | 101 | // buttons in the cabinet (e.g., flipper buttons, the Start button) and miscellaneous |
mjr | 13:72dda449c3c0 | 102 | // switches (such as a tilt bob) to the PC. Visual Pinball can use joystick buttons |
mjr | 13:72dda449c3c0 | 103 | // for input - you just have to assign a VP function to each button using VP's |
mjr | 13:72dda449c3c0 | 104 | // keyboard options dialog. To wire a button physically, connect one terminal of |
mjr | 13:72dda449c3c0 | 105 | // the button switch to the KL25Z ground, and connect the other terminal to the |
mjr | 13:72dda449c3c0 | 106 | // the GPIO port you wish to assign to the button. See the buttonMap[] array |
mjr | 13:72dda449c3c0 | 107 | // below for the available GPIO ports and their assigned joystick button numbers. |
mjr | 13:72dda449c3c0 | 108 | // If you're not using a GPIO port, you can just leave it unconnected - the digital |
mjr | 13:72dda449c3c0 | 109 | // inputs have built-in pull-up resistors, so an unconnected port is the same as |
mjr | 13:72dda449c3c0 | 110 | // an open switch (an "off" state for the button). |
mjr | 13:72dda449c3c0 | 111 | // |
mjr | 5:a70c0bce770d | 112 | // - LedWiz emulation. The KL25Z can appear to the PC as an LedWiz device, and will |
mjr | 5:a70c0bce770d | 113 | // accept and process LedWiz commands from the host. The software can turn digital |
mjr | 5:a70c0bce770d | 114 | // output ports on and off, and can set varying PWM intensitiy levels on a subset |
mjr | 5:a70c0bce770d | 115 | // of ports. (The KL25Z can only provide 6 PWM ports. Intensity level settings on |
mjr | 5:a70c0bce770d | 116 | // other ports is ignored, so non-PWM ports can only be used for simple on/off |
mjr | 5:a70c0bce770d | 117 | // devices such as contactors and solenoids.) The KL25Z can only supply 4mA on its |
mjr | 5:a70c0bce770d | 118 | // output ports, so external hardware is required to take advantage of the LedWiz |
mjr | 5:a70c0bce770d | 119 | // emulation. Many different hardware designs are possible, but there's a simple |
mjr | 5:a70c0bce770d | 120 | // reference design in the documentation that uses a Darlington array IC to |
mjr | 5:a70c0bce770d | 121 | // increase the output from each port to 500mA (the same level as the LedWiz), |
mjr | 5:a70c0bce770d | 122 | // plus an extended design that adds an optocoupler and MOSFET to provide very |
mjr | 5:a70c0bce770d | 123 | // high power handling, up to about 45A or 150W, with voltages up to 100V. |
mjr | 5:a70c0bce770d | 124 | // That will handle just about any DC device directly (wtihout relays or other |
mjr | 5:a70c0bce770d | 125 | // amplifiers), and switches fast enough to support PWM devices. |
mjr | 5:a70c0bce770d | 126 | // |
mjr | 5:a70c0bce770d | 127 | // The device can report any desired LedWiz unit number to the host, which makes |
mjr | 5:a70c0bce770d | 128 | // it possible to use the LedWiz emulation on a machine that also has one or more |
mjr | 5:a70c0bce770d | 129 | // actual LedWiz devices intalled. The LedWiz design allows for up to 16 units |
mjr | 5:a70c0bce770d | 130 | // to be installed in one machine - each one is invidually addressable by its |
mjr | 5:a70c0bce770d | 131 | // distinct unit number. |
mjr | 5:a70c0bce770d | 132 | // |
mjr | 5:a70c0bce770d | 133 | // The LedWiz emulation features are of course optional. There's no need to |
mjr | 5:a70c0bce770d | 134 | // build any of the external port hardware (or attach anything to the output |
mjr | 5:a70c0bce770d | 135 | // ports at all) if the LedWiz features aren't needed. Most people won't have |
mjr | 5:a70c0bce770d | 136 | // any use for the LedWiz features. I built them mostly as a learning exercise, |
mjr | 5:a70c0bce770d | 137 | // but with a slight practical need for a handful of extra ports (I'm using the |
mjr | 5:a70c0bce770d | 138 | // cutting-edge 10-contactor setup, so my real LedWiz is full!). |
mjr | 6:cc35eb643e8f | 139 | // |
mjr | 28:cb71c4af2912 | 140 | // - Enhanced LedWiz emulation with TLC5940 PWM controller chips. You can attach |
mjr | 28:cb71c4af2912 | 141 | // external PWM controller chips for controlling device outputs, instead of using |
mjr | 28:cb71c4af2912 | 142 | // the limited LedWiz emulation through the on-board GPIO ports as described above. |
mjr | 28:cb71c4af2912 | 143 | // The software can control a set of daisy-chained TLC5940 chips, which provide |
mjr | 28:cb71c4af2912 | 144 | // 16 PWM outputs per chip. Two of these chips give you the full complement |
mjr | 28:cb71c4af2912 | 145 | // of 32 output ports of an actual LedWiz, and four give you 64 ports, which |
mjr | 35:d832bcab089e | 146 | // should be plenty for nearly any virtual pinball project. A private, extended |
mjr | 35:d832bcab089e | 147 | // version of the LedWiz protocol lets the host control the extra outputs, up to |
mjr | 35:d832bcab089e | 148 | // 128 outputs per KL25Z (8 TLC5940s). To take advantage of the extra outputs |
mjr | 35:d832bcab089e | 149 | // on the PC side, you need software that knows about the protocol extensions, |
mjr | 35:d832bcab089e | 150 | // which means you need the latest version of DirectOutput Framework (DOF). VP |
mjr | 35:d832bcab089e | 151 | // uses DOF for its output, so VP will be able to use the added ports without any |
mjr | 35:d832bcab089e | 152 | // extra work on your part. Older software (e.g., Future Pinball) that doesn't |
mjr | 35:d832bcab089e | 153 | // use DOF will still be able to use the LedWiz-compatible protocol, so it'll be |
mjr | 35:d832bcab089e | 154 | // able to control your first 32 ports (numbered 1-32 in the LedWiz scheme), but |
mjr | 35:d832bcab089e | 155 | // older software won't be able to address higher-numbered ports. That shouldn't |
mjr | 35:d832bcab089e | 156 | // be a problem because older software wouldn't know what to do with the extra |
mjr | 35:d832bcab089e | 157 | // devices anyway - FP, for example, is limited to a pre-defined set of outputs. |
mjr | 35:d832bcab089e | 158 | // As long as you put the most common devices on the first 32 outputs, and use |
mjr | 35:d832bcab089e | 159 | // higher numbered ports for the less common devices that older software can't |
mjr | 35:d832bcab089e | 160 | // use anyway, you'll get maximum functionality out of software new and old. |
mjr | 28:cb71c4af2912 | 161 | // |
mjr | 35:d832bcab089e | 162 | // STATUS LIGHTS: The on-board LED on the KL25Z flashes to indicate the current |
mjr | 35:d832bcab089e | 163 | // device status. The flash patterns are: |
mjr | 6:cc35eb643e8f | 164 | // |
mjr | 6:cc35eb643e8f | 165 | // two short red flashes = the device is powered but hasn't successfully |
mjr | 6:cc35eb643e8f | 166 | // connected to the host via USB (either it's not physically connected |
mjr | 6:cc35eb643e8f | 167 | // to the USB port, or there was a problem with the software handshake |
mjr | 6:cc35eb643e8f | 168 | // with the USB device driver on the computer) |
mjr | 6:cc35eb643e8f | 169 | // |
mjr | 6:cc35eb643e8f | 170 | // short red flash = the host computer is in sleep/suspend mode |
mjr | 6:cc35eb643e8f | 171 | // |
mjr | 6:cc35eb643e8f | 172 | // long red/green = the LedWiz unti number has been changed, so a reset |
mjr | 6:cc35eb643e8f | 173 | // is needed. You can simply unplug the device and plug it back in, |
mjr | 6:cc35eb643e8f | 174 | // or presss and hold the reset button on the device for a few seconds. |
mjr | 6:cc35eb643e8f | 175 | // |
mjr | 6:cc35eb643e8f | 176 | // long yellow/green = everything's working, but the plunger hasn't |
mjr | 6:cc35eb643e8f | 177 | // been calibrated; follow the calibration procedure described above. |
mjr | 6:cc35eb643e8f | 178 | // This flash mode won't appear if the CCD has been disabled. Note |
mjr | 18:5e890ebd0023 | 179 | // that the device can't tell whether a CCD is physically attached; |
mjr | 18:5e890ebd0023 | 180 | // if you don't have a CCD attached, you can set the appropriate option |
mjr | 18:5e890ebd0023 | 181 | // in config.h or use the Windows config tool to disable the CCD |
mjr | 18:5e890ebd0023 | 182 | // software features. |
mjr | 6:cc35eb643e8f | 183 | // |
mjr | 6:cc35eb643e8f | 184 | // alternating blue/green = everything's working |
mjr | 6:cc35eb643e8f | 185 | // |
mjr | 35:d832bcab089e | 186 | // Software configuration: you can some change option settings by sending special |
mjr | 6:cc35eb643e8f | 187 | // USB commands from the PC. I've provided a Windows program for this purpose; |
mjr | 6:cc35eb643e8f | 188 | // refer to the documentation for details. For reference, here's the format |
mjr | 6:cc35eb643e8f | 189 | // of the USB command for option changes: |
mjr | 6:cc35eb643e8f | 190 | // |
mjr | 6:cc35eb643e8f | 191 | // length of report = 8 bytes |
mjr | 6:cc35eb643e8f | 192 | // byte 0 = 65 (0x41) |
mjr | 35:d832bcab089e | 193 | // byte 1 = 1 (0x01) |
mjr | 6:cc35eb643e8f | 194 | // byte 2 = new LedWiz unit number, 0x01 to 0x0f |
mjr | 6:cc35eb643e8f | 195 | // byte 3 = feature enable bit mask: |
mjr | 6:cc35eb643e8f | 196 | // 0x01 = enable CCD (default = on) |
mjr | 9:fd65b0a94720 | 197 | // |
mjr | 9:fd65b0a94720 | 198 | // Plunger calibration mode: the host can activate plunger calibration mode |
mjr | 9:fd65b0a94720 | 199 | // by sending this packet. This has the same effect as pressing and holding |
mjr | 9:fd65b0a94720 | 200 | // the plunger calibration button for two seconds, to allow activating this |
mjr | 9:fd65b0a94720 | 201 | // mode without attaching a physical button. |
mjr | 9:fd65b0a94720 | 202 | // |
mjr | 9:fd65b0a94720 | 203 | // length = 8 bytes |
mjr | 9:fd65b0a94720 | 204 | // byte 0 = 65 (0x41) |
mjr | 35:d832bcab089e | 205 | // byte 1 = 2 (0x02) |
mjr | 9:fd65b0a94720 | 206 | // |
mjr | 10:976666ffa4ef | 207 | // Exposure reports: the host can request a report of the full set of pixel |
mjr | 10:976666ffa4ef | 208 | // values for the next frame by sending this special packet: |
mjr | 10:976666ffa4ef | 209 | // |
mjr | 10:976666ffa4ef | 210 | // length = 8 bytes |
mjr | 10:976666ffa4ef | 211 | // byte 0 = 65 (0x41) |
mjr | 35:d832bcab089e | 212 | // byte 1 = 3 (0x03) |
mjr | 10:976666ffa4ef | 213 | // |
mjr | 10:976666ffa4ef | 214 | // We'll respond with a series of special reports giving the exposure status. |
mjr | 10:976666ffa4ef | 215 | // Each report has the following structure: |
mjr | 10:976666ffa4ef | 216 | // |
mjr | 10:976666ffa4ef | 217 | // bytes 0:1 = 11-bit index, with high 5 bits set to 10000. For |
mjr | 10:976666ffa4ef | 218 | // example, 0x04 0x80 indicates index 4. This is the |
mjr | 10:976666ffa4ef | 219 | // starting pixel number in the report. The first report |
mjr | 10:976666ffa4ef | 220 | // will be 0x00 0x80 to indicate pixel #0. |
mjr | 10:976666ffa4ef | 221 | // bytes 2:3 = 16-bit unsigned int brightness level of pixel at index |
mjr | 10:976666ffa4ef | 222 | // bytes 4:5 = brightness of pixel at index+1 |
mjr | 10:976666ffa4ef | 223 | // etc for the rest of the packet |
mjr | 10:976666ffa4ef | 224 | // |
mjr | 10:976666ffa4ef | 225 | // This still has the form of a joystick packet at the USB level, but |
mjr | 10:976666ffa4ef | 226 | // can be differentiated by the host via the status bits. It would have |
mjr | 10:976666ffa4ef | 227 | // been cleaner to use a different Report ID at the USB level, but this |
mjr | 10:976666ffa4ef | 228 | // would have necessitated a different container structure in the report |
mjr | 10:976666ffa4ef | 229 | // descriptor, which would have broken LedWiz compatibility. Given that |
mjr | 10:976666ffa4ef | 230 | // constraint, we have to re-use the joystick report type, making for |
mjr | 10:976666ffa4ef | 231 | // this somewhat kludgey approach. |
mjr | 35:d832bcab089e | 232 | // |
mjr | 35:d832bcab089e | 233 | // Configuration query: the host can request a full report of our hardware |
mjr | 35:d832bcab089e | 234 | // configuration with this message. |
mjr | 35:d832bcab089e | 235 | // |
mjr | 35:d832bcab089e | 236 | // length = 8 bytes |
mjr | 35:d832bcab089e | 237 | // byte 0 = 65 (0x41) |
mjr | 35:d832bcab089e | 238 | // byte 1 = 4 (0x04) |
mjr | 35:d832bcab089e | 239 | // |
mjr | 35:d832bcab089e | 240 | // We'll response with one report containing the configuration status: |
mjr | 35:d832bcab089e | 241 | // |
mjr | 35:d832bcab089e | 242 | // bytes 0:1 = 0x8800. This has the bit pattern 10001 in the high |
mjr | 35:d832bcab089e | 243 | // 5 bits, which distinguishes it from regular joystick |
mjr | 35:d832bcab089e | 244 | // reports and from exposure status reports. |
mjr | 35:d832bcab089e | 245 | // bytes 2:3 = number of outputs |
mjr | 35:d832bcab089e | 246 | // remaining bytes = reserved for future use; set to 0 in current version |
mjr | 35:d832bcab089e | 247 | // |
mjr | 35:d832bcab089e | 248 | // Turn off all outputs: this message tells the device to turn off all |
mjr | 35:d832bcab089e | 249 | // outputs and restore power-up LedWiz defaults. This sets outputs #1-32 |
mjr | 35:d832bcab089e | 250 | // to profile 48 (full brightness) and switch state Off, sets all extended |
mjr | 35:d832bcab089e | 251 | // outputs (#33 and above) to brightness 0, and sets the LedWiz flash rate |
mjr | 35:d832bcab089e | 252 | // to 2. |
mjr | 35:d832bcab089e | 253 | // |
mjr | 35:d832bcab089e | 254 | // length = 8 bytes |
mjr | 35:d832bcab089e | 255 | // byte 0 = 65 (0x41) |
mjr | 35:d832bcab089e | 256 | // byte 1 = 5 (0x05) |
mjr | 35:d832bcab089e | 257 | |
mjr | 35:d832bcab089e | 258 | |
mjr | 0:5acbbe3f4cf4 | 259 | #include "mbed.h" |
mjr | 6:cc35eb643e8f | 260 | #include "math.h" |
mjr | 0:5acbbe3f4cf4 | 261 | #include "USBJoystick.h" |
mjr | 0:5acbbe3f4cf4 | 262 | #include "MMA8451Q.h" |
mjr | 1:d913e0afb2ac | 263 | #include "tsl1410r.h" |
mjr | 1:d913e0afb2ac | 264 | #include "FreescaleIAP.h" |
mjr | 2:c174f9ee414a | 265 | #include "crc32.h" |
mjr | 28:cb71c4af2912 | 266 | #include "TLC5940.h" |
mjr | 2:c174f9ee414a | 267 | |
mjr | 21:5048e16cc9ef | 268 | #define DECL_EXTERNS |
mjr | 17:ab3cec0c8bf4 | 269 | #include "config.h" |
mjr | 17:ab3cec0c8bf4 | 270 | |
mjr | 5:a70c0bce770d | 271 | |
mjr | 5:a70c0bce770d | 272 | // --------------------------------------------------------------------------- |
mjr | 17:ab3cec0c8bf4 | 273 | // utilities |
mjr | 17:ab3cec0c8bf4 | 274 | |
mjr | 17:ab3cec0c8bf4 | 275 | // number of elements in an array |
mjr | 17:ab3cec0c8bf4 | 276 | #define countof(x) (sizeof(x)/sizeof((x)[0])) |
mjr | 17:ab3cec0c8bf4 | 277 | |
mjr | 28:cb71c4af2912 | 278 | // floating point square of a number |
mjr | 28:cb71c4af2912 | 279 | inline float square(float x) { return x*x; } |
mjr | 28:cb71c4af2912 | 280 | |
mjr | 28:cb71c4af2912 | 281 | // floating point rounding |
mjr | 28:cb71c4af2912 | 282 | inline float round(float x) { return x > 0 ? floor(x + 0.5) : ceil(x - 0.5); } |
mjr | 28:cb71c4af2912 | 283 | |
mjr | 17:ab3cec0c8bf4 | 284 | |
mjr | 35:d832bcab089e | 285 | // -------------------------------------------------------------------------- |
mjr | 35:d832bcab089e | 286 | // |
mjr | 35:d832bcab089e | 287 | // USB product version number |
mjr | 5:a70c0bce770d | 288 | // |
mjr | 35:d832bcab089e | 289 | const uint16_t USB_VERSION_NO = 0x0007; |
mjr | 0:5acbbe3f4cf4 | 290 | |
mjr | 5:a70c0bce770d | 291 | |
mjr | 35:d832bcab089e | 292 | // |
mjr | 35:d832bcab089e | 293 | // Build the full USB product ID. If we're using the LedWiz compatible |
mjr | 35:d832bcab089e | 294 | // vendor ID, the full product ID is the combination of the LedWiz base |
mjr | 35:d832bcab089e | 295 | // product ID (0x00F0) and the 0-based unit number (0-15). If we're not |
mjr | 35:d832bcab089e | 296 | // trying to be LedWiz compatible, we just use the exact product ID |
mjr | 35:d832bcab089e | 297 | // specified in config.h. |
mjr | 35:d832bcab089e | 298 | #define MAKE_USB_PRODUCT_ID(vid, pidbase, unit) \ |
mjr | 35:d832bcab089e | 299 | ((vid) == 0xFAFA && (pidbase) == 0x00F0 ? (pidbase) | (unit) : (pidbase)) |
mjr | 35:d832bcab089e | 300 | |
mjr | 35:d832bcab089e | 301 | |
mjr | 35:d832bcab089e | 302 | // -------------------------------------------------------------------------- |
mjr | 35:d832bcab089e | 303 | // |
mjr | 6:cc35eb643e8f | 304 | // Joystick axis report range - we report from -JOYMAX to +JOYMAX |
mjr | 35:d832bcab089e | 305 | // |
mjr | 6:cc35eb643e8f | 306 | #define JOYMAX 4096 |
mjr | 6:cc35eb643e8f | 307 | |
mjr | 25:e22b88bd783a | 308 | // -------------------------------------------------------------------------- |
mjr | 25:e22b88bd783a | 309 | // |
mjr | 25:e22b88bd783a | 310 | // Set up mappings for the joystick X and Y reports based on the mounting |
mjr | 25:e22b88bd783a | 311 | // orientation of the KL25Z in the cabinet. Visual Pinball and other |
mjr | 25:e22b88bd783a | 312 | // pinball software effectively use video coordinates to define the axes: |
mjr | 25:e22b88bd783a | 313 | // positive X is to the right of the table, negative Y to the left, positive |
mjr | 25:e22b88bd783a | 314 | // Y toward the front of the table, negative Y toward the back. The KL25Z |
mjr | 25:e22b88bd783a | 315 | // accelerometer is mounted on the board with positive Y toward the USB |
mjr | 25:e22b88bd783a | 316 | // ports and positive X toward the right side of the board with the USB |
mjr | 25:e22b88bd783a | 317 | // ports pointing up. It's a simple matter to remap the KL25Z coordinate |
mjr | 25:e22b88bd783a | 318 | // system to match VP's coordinate system for mounting orientations at |
mjr | 25:e22b88bd783a | 319 | // 90-degree increments... |
mjr | 25:e22b88bd783a | 320 | // |
mjr | 25:e22b88bd783a | 321 | #if defined(ORIENTATION_PORTS_AT_FRONT) |
mjr | 25:e22b88bd783a | 322 | # define JOY_X(x, y) (y) |
mjr | 25:e22b88bd783a | 323 | # define JOY_Y(x, y) (x) |
mjr | 25:e22b88bd783a | 324 | #elif defined(ORIENTATION_PORTS_AT_LEFT) |
mjr | 25:e22b88bd783a | 325 | # define JOY_X(x, y) (-(x)) |
mjr | 25:e22b88bd783a | 326 | # define JOY_Y(x, y) (y) |
mjr | 25:e22b88bd783a | 327 | #elif defined(ORIENTATION_PORTS_AT_RIGHT) |
mjr | 25:e22b88bd783a | 328 | # define JOY_X(x, y) (x) |
mjr | 25:e22b88bd783a | 329 | # define JOY_Y(x, y) (-(y)) |
mjr | 25:e22b88bd783a | 330 | #elif defined(ORIENTATION_PORTS_AT_REAR) |
mjr | 25:e22b88bd783a | 331 | # define JOY_X(x, y) (-(y)) |
mjr | 25:e22b88bd783a | 332 | # define JOY_Y(x, y) (-(x)) |
mjr | 25:e22b88bd783a | 333 | #else |
mjr | 25:e22b88bd783a | 334 | # error Please define one of the ORIENTATION_PORTS_AT_xxx macros to establish the accelerometer orientation in your cabinet |
mjr | 25:e22b88bd783a | 335 | #endif |
mjr | 25:e22b88bd783a | 336 | |
mjr | 25:e22b88bd783a | 337 | |
mjr | 5:a70c0bce770d | 338 | |
mjr | 17:ab3cec0c8bf4 | 339 | // -------------------------------------------------------------------------- |
mjr | 17:ab3cec0c8bf4 | 340 | // |
mjr | 21:5048e16cc9ef | 341 | // Define a symbol to tell us whether any sort of plunger sensor code |
mjr | 21:5048e16cc9ef | 342 | // is enabled in this build. Note that this doesn't tell us that a |
mjr | 21:5048e16cc9ef | 343 | // plunger device is actually attached or *currently* enabled; it just |
mjr | 21:5048e16cc9ef | 344 | // tells us whether or not the code for plunger sensing is enabled in |
mjr | 21:5048e16cc9ef | 345 | // the software build. This lets us leave out some unnecessary code |
mjr | 21:5048e16cc9ef | 346 | // on installations where no physical plunger is attached. |
mjr | 17:ab3cec0c8bf4 | 347 | // |
mjr | 21:5048e16cc9ef | 348 | const int PLUNGER_CODE_ENABLED = |
mjr | 21:5048e16cc9ef | 349 | #if defined(ENABLE_CCD_SENSOR) || defined(ENABLE_POT_SENSOR) |
mjr | 21:5048e16cc9ef | 350 | 1; |
mjr | 17:ab3cec0c8bf4 | 351 | #else |
mjr | 21:5048e16cc9ef | 352 | 0; |
mjr | 17:ab3cec0c8bf4 | 353 | #endif |
mjr | 9:fd65b0a94720 | 354 | |
mjr | 17:ab3cec0c8bf4 | 355 | // --------------------------------------------------------------------------- |
mjr | 17:ab3cec0c8bf4 | 356 | // |
mjr | 17:ab3cec0c8bf4 | 357 | // On-board RGB LED elements - we use these for diagnostic displays. |
mjr | 17:ab3cec0c8bf4 | 358 | // |
mjr | 28:cb71c4af2912 | 359 | // Note that LED3 (the blue segment) is hard-wired on the KL25Z to PTD1, |
mjr | 28:cb71c4af2912 | 360 | // so PTD1 shouldn't be used for any other purpose (e.g., as a keyboard |
mjr | 28:cb71c4af2912 | 361 | // input or a device output). (This is kind of unfortunate in that it's |
mjr | 28:cb71c4af2912 | 362 | // one of only two ports exposed on the jumper pins that can be muxed to |
mjr | 28:cb71c4af2912 | 363 | // SPI0 SCLK. This effectively limits us to PTC5 if we want to use the |
mjr | 28:cb71c4af2912 | 364 | // SPI capability.) |
mjr | 28:cb71c4af2912 | 365 | // |
mjr | 17:ab3cec0c8bf4 | 366 | DigitalOut ledR(LED1), ledG(LED2), ledB(LED3); |
mjr | 17:ab3cec0c8bf4 | 367 | |
mjr | 9:fd65b0a94720 | 368 | |
mjr | 9:fd65b0a94720 | 369 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 370 | // |
mjr | 31:582472d0bc57 | 371 | // LedWiz emulation, and enhanced TLC5940 output controller |
mjr | 5:a70c0bce770d | 372 | // |
mjr | 28:cb71c4af2912 | 373 | // There are two modes for this feature. The default mode uses the on-board |
mjr | 28:cb71c4af2912 | 374 | // GPIO ports to implement device outputs - each LedWiz software port is |
mjr | 28:cb71c4af2912 | 375 | // connected to a physical GPIO pin on the KL25Z. The KL25Z only has 10 |
mjr | 28:cb71c4af2912 | 376 | // PWM channels, so in this mode only 10 LedWiz ports will be dimmable; the |
mjr | 28:cb71c4af2912 | 377 | // rest are strictly on/off. The KL25Z also has a limited number of GPIO |
mjr | 28:cb71c4af2912 | 378 | // ports overall - not enough for the full complement of 32 LedWiz ports |
mjr | 28:cb71c4af2912 | 379 | // and 24 VP joystick inputs, so it's necessary to trade one against the |
mjr | 28:cb71c4af2912 | 380 | // other if both features are to be used. |
mjr | 28:cb71c4af2912 | 381 | // |
mjr | 28:cb71c4af2912 | 382 | // The alternative, enhanced mode uses external TLC5940 PWM controller |
mjr | 28:cb71c4af2912 | 383 | // chips to control device outputs. In this mode, each LedWiz software |
mjr | 28:cb71c4af2912 | 384 | // port is mapped to an output on one of the external TLC5940 chips. |
mjr | 28:cb71c4af2912 | 385 | // Two 5940s is enough for the full set of 32 LedWiz ports, and we can |
mjr | 28:cb71c4af2912 | 386 | // support even more chips for even more outputs (although doing so requires |
mjr | 28:cb71c4af2912 | 387 | // breaking LedWiz compatibility, since the LedWiz USB protocol is hardwired |
mjr | 28:cb71c4af2912 | 388 | // for 32 outputs). Every port in this mode has full PWM support. |
mjr | 28:cb71c4af2912 | 389 | // |
mjr | 5:a70c0bce770d | 390 | |
mjr | 31:582472d0bc57 | 391 | |
mjr | 28:cb71c4af2912 | 392 | // Current starting output index for "PBA" messages from the PC (using |
mjr | 28:cb71c4af2912 | 393 | // the LedWiz USB protocol). Each PBA message implicitly uses the |
mjr | 28:cb71c4af2912 | 394 | // current index as the starting point for the ports referenced in |
mjr | 28:cb71c4af2912 | 395 | // the message, and increases it (by 8) for the next call. |
mjr | 0:5acbbe3f4cf4 | 396 | static int pbaIdx = 0; |
mjr | 0:5acbbe3f4cf4 | 397 | |
mjr | 28:cb71c4af2912 | 398 | // Generic LedWiz output port interface. We create a cover class to |
mjr | 28:cb71c4af2912 | 399 | // virtualize digital vs PWM outputs, and on-board KL25Z GPIO vs external |
mjr | 28:cb71c4af2912 | 400 | // TLC5940 outputs, and give them all a common interface. |
mjr | 6:cc35eb643e8f | 401 | class LwOut |
mjr | 6:cc35eb643e8f | 402 | { |
mjr | 6:cc35eb643e8f | 403 | public: |
mjr | 28:cb71c4af2912 | 404 | // Set the output intensity. 'val' is 0.0 for fully off, 1.0 for |
mjr | 28:cb71c4af2912 | 405 | // fully on, and fractional values for intermediate intensities. |
mjr | 6:cc35eb643e8f | 406 | virtual void set(float val) = 0; |
mjr | 6:cc35eb643e8f | 407 | }; |
mjr | 28:cb71c4af2912 | 408 | |
mjr | 35:d832bcab089e | 409 | // LwOut class for unmapped ports. The LedWiz protocol is hardwired |
mjr | 35:d832bcab089e | 410 | // for 32 ports, but we might not want to assign all 32 software ports |
mjr | 35:d832bcab089e | 411 | // to physical output pins - the KL25Z has a limited number of GPIO |
mjr | 35:d832bcab089e | 412 | // ports, so we might not have enough available GPIOs to fill out the |
mjr | 35:d832bcab089e | 413 | // full LedWiz complement after assigning GPIOs for other functions. |
mjr | 35:d832bcab089e | 414 | // This class is used to populate the LedWiz mapping array for ports |
mjr | 35:d832bcab089e | 415 | // that aren't connected to physical outputs; it simply ignores value |
mjr | 35:d832bcab089e | 416 | // changes. |
mjr | 35:d832bcab089e | 417 | class LwUnusedOut: public LwOut |
mjr | 35:d832bcab089e | 418 | { |
mjr | 35:d832bcab089e | 419 | public: |
mjr | 35:d832bcab089e | 420 | LwUnusedOut() { } |
mjr | 35:d832bcab089e | 421 | virtual void set(float val) { } |
mjr | 35:d832bcab089e | 422 | }; |
mjr | 28:cb71c4af2912 | 423 | |
mjr | 28:cb71c4af2912 | 424 | |
mjr | 35:d832bcab089e | 425 | #if TLC5940_NCHIPS |
mjr | 35:d832bcab089e | 426 | // |
mjr | 35:d832bcab089e | 427 | // The TLC5940 interface object. Set this up with the port assignments |
mjr | 35:d832bcab089e | 428 | // set in config.h. |
mjr | 35:d832bcab089e | 429 | // |
mjr | 28:cb71c4af2912 | 430 | TLC5940 tlc5940(TLC5940_SCLK, TLC5940_SIN, TLC5940_GSCLK, TLC5940_BLANK, |
mjr | 28:cb71c4af2912 | 431 | TLC5940_XLAT, TLC5940_NCHIPS); |
mjr | 28:cb71c4af2912 | 432 | |
mjr | 28:cb71c4af2912 | 433 | // LwOut class for TLC5940 outputs. These are fully PWM capable. |
mjr | 28:cb71c4af2912 | 434 | // The 'idx' value in the constructor is the output index in the |
mjr | 28:cb71c4af2912 | 435 | // daisy-chained TLC5940 array. 0 is output #0 on the first chip, |
mjr | 28:cb71c4af2912 | 436 | // 1 is #1 on the first chip, 15 is #15 on the first chip, 16 is |
mjr | 28:cb71c4af2912 | 437 | // #0 on the second chip, 32 is #0 on the third chip, etc. |
mjr | 28:cb71c4af2912 | 438 | class Lw5940Out: public LwOut |
mjr | 28:cb71c4af2912 | 439 | { |
mjr | 28:cb71c4af2912 | 440 | public: |
mjr | 28:cb71c4af2912 | 441 | Lw5940Out(int idx) : idx(idx) { prv = -1; } |
mjr | 28:cb71c4af2912 | 442 | virtual void set(float val) |
mjr | 28:cb71c4af2912 | 443 | { |
mjr | 28:cb71c4af2912 | 444 | if (val != prv) |
mjr | 31:582472d0bc57 | 445 | tlc5940.set(idx, (int)(val * 4095)); |
mjr | 28:cb71c4af2912 | 446 | } |
mjr | 28:cb71c4af2912 | 447 | int idx; |
mjr | 28:cb71c4af2912 | 448 | float prv; |
mjr | 28:cb71c4af2912 | 449 | }; |
mjr | 28:cb71c4af2912 | 450 | |
mjr | 35:d832bcab089e | 451 | // Inverted voltage version of TLC5940 class (Active Low - logical "on" |
mjr | 35:d832bcab089e | 452 | // is represented by 0V on output) |
mjr | 35:d832bcab089e | 453 | class Lw5940OutInv: public Lw5940Out |
mjr | 35:d832bcab089e | 454 | { |
mjr | 35:d832bcab089e | 455 | public: |
mjr | 35:d832bcab089e | 456 | Lw5940OutInv(int idx) : Lw5940Out(idx) { } |
mjr | 35:d832bcab089e | 457 | virtual void set(float val) { Lw5940Out::set(1.0 - val); } |
mjr | 35:d832bcab089e | 458 | }; |
mjr | 35:d832bcab089e | 459 | |
mjr | 35:d832bcab089e | 460 | #else |
mjr | 35:d832bcab089e | 461 | // No TLC5940 chips are attached, so we shouldn't encounter any ports |
mjr | 35:d832bcab089e | 462 | // in the map marked for TLC5940 outputs. If we do, treat them as unused. |
mjr | 35:d832bcab089e | 463 | class Lw5940Out: public LwUnusedOut |
mjr | 35:d832bcab089e | 464 | { |
mjr | 35:d832bcab089e | 465 | public: |
mjr | 35:d832bcab089e | 466 | Lw5940Out(int idx) { } |
mjr | 35:d832bcab089e | 467 | }; |
mjr | 35:d832bcab089e | 468 | |
mjr | 35:d832bcab089e | 469 | class Lw5940OutInv: public Lw5940Out |
mjr | 35:d832bcab089e | 470 | { |
mjr | 35:d832bcab089e | 471 | public: |
mjr | 35:d832bcab089e | 472 | Lw5940OutInv(int idx) : Lw5940Out(idx) { } |
mjr | 35:d832bcab089e | 473 | }; |
mjr | 35:d832bcab089e | 474 | |
mjr | 35:d832bcab089e | 475 | #endif // TLC5940_NCHIPS |
mjr | 28:cb71c4af2912 | 476 | |
mjr | 28:cb71c4af2912 | 477 | // |
mjr | 28:cb71c4af2912 | 478 | // Default LedWiz mode - using on-board GPIO ports. In this mode, we |
mjr | 28:cb71c4af2912 | 479 | // assign a KL25Z GPIO port to each LedWiz output. We have to use a |
mjr | 28:cb71c4af2912 | 480 | // mix of PWM-capable and Digital-Only ports in this configuration, |
mjr | 28:cb71c4af2912 | 481 | // since the KL25Z hardware only has 10 PWM channels, which isn't |
mjr | 28:cb71c4af2912 | 482 | // enough to fill out the full complement of 32 LedWiz outputs. |
mjr | 28:cb71c4af2912 | 483 | // |
mjr | 28:cb71c4af2912 | 484 | |
mjr | 28:cb71c4af2912 | 485 | // LwOut class for a PWM-capable GPIO port |
mjr | 6:cc35eb643e8f | 486 | class LwPwmOut: public LwOut |
mjr | 6:cc35eb643e8f | 487 | { |
mjr | 6:cc35eb643e8f | 488 | public: |
mjr | 13:72dda449c3c0 | 489 | LwPwmOut(PinName pin) : p(pin) { prv = -1; } |
mjr | 13:72dda449c3c0 | 490 | virtual void set(float val) |
mjr | 13:72dda449c3c0 | 491 | { |
mjr | 13:72dda449c3c0 | 492 | if (val != prv) |
mjr | 13:72dda449c3c0 | 493 | p.write(prv = val); |
mjr | 13:72dda449c3c0 | 494 | } |
mjr | 6:cc35eb643e8f | 495 | PwmOut p; |
mjr | 13:72dda449c3c0 | 496 | float prv; |
mjr | 6:cc35eb643e8f | 497 | }; |
mjr | 28:cb71c4af2912 | 498 | |
mjr | 35:d832bcab089e | 499 | // Inverted voltage PWM-capable GPIO port. This is the Active Low |
mjr | 35:d832bcab089e | 500 | // version of the port - logical "on" is represnted by 0V on the |
mjr | 35:d832bcab089e | 501 | // GPIO pin. |
mjr | 35:d832bcab089e | 502 | class LwPwmOutInv: public LwPwmOut |
mjr | 35:d832bcab089e | 503 | { |
mjr | 35:d832bcab089e | 504 | public: |
mjr | 35:d832bcab089e | 505 | LwPwmOutInv(PinName pin) : LwPwmOut(pin) { } |
mjr | 35:d832bcab089e | 506 | virtual void set(float val) { LwPwmOut::set(1.0 - val); } |
mjr | 35:d832bcab089e | 507 | }; |
mjr | 35:d832bcab089e | 508 | |
mjr | 28:cb71c4af2912 | 509 | // LwOut class for a Digital-Only (Non-PWM) GPIO port |
mjr | 6:cc35eb643e8f | 510 | class LwDigOut: public LwOut |
mjr | 6:cc35eb643e8f | 511 | { |
mjr | 6:cc35eb643e8f | 512 | public: |
mjr | 13:72dda449c3c0 | 513 | LwDigOut(PinName pin) : p(pin) { prv = -1; } |
mjr | 13:72dda449c3c0 | 514 | virtual void set(float val) |
mjr | 13:72dda449c3c0 | 515 | { |
mjr | 13:72dda449c3c0 | 516 | if (val != prv) |
mjr | 13:72dda449c3c0 | 517 | p.write((prv = val) == 0.0 ? 0 : 1); |
mjr | 13:72dda449c3c0 | 518 | } |
mjr | 6:cc35eb643e8f | 519 | DigitalOut p; |
mjr | 13:72dda449c3c0 | 520 | float prv; |
mjr | 6:cc35eb643e8f | 521 | }; |
mjr | 28:cb71c4af2912 | 522 | |
mjr | 35:d832bcab089e | 523 | // Inverted voltage digital out |
mjr | 35:d832bcab089e | 524 | class LwDigOutInv: public LwDigOut |
mjr | 11:bd9da7088e6e | 525 | { |
mjr | 11:bd9da7088e6e | 526 | public: |
mjr | 35:d832bcab089e | 527 | LwDigOutInv(PinName pin) : LwDigOut(pin) { } |
mjr | 35:d832bcab089e | 528 | virtual void set(float val) { LwDigOut::set(1.0 - val); } |
mjr | 11:bd9da7088e6e | 529 | }; |
mjr | 6:cc35eb643e8f | 530 | |
mjr | 31:582472d0bc57 | 531 | // Array of output physical pin assignments. This array is indexed |
mjr | 31:582472d0bc57 | 532 | // by LedWiz logical port number - lwPin[n] is the maping for LedWiz |
mjr | 31:582472d0bc57 | 533 | // port n (0-based). If we're using GPIO ports to implement outputs, |
mjr | 31:582472d0bc57 | 534 | // we initialize the array at start-up to map each logical port to the |
mjr | 31:582472d0bc57 | 535 | // physical GPIO pin for the port specified in the ledWizPortMap[] |
mjr | 31:582472d0bc57 | 536 | // array in config.h. If we're using TLC5940 chips for the outputs, |
mjr | 31:582472d0bc57 | 537 | // we map each logical port to the corresponding TLC5940 output. |
mjr | 35:d832bcab089e | 538 | static int numOutputs; |
mjr | 35:d832bcab089e | 539 | static LwOut **lwPin; |
mjr | 35:d832bcab089e | 540 | |
mjr | 35:d832bcab089e | 541 | // Current absolute brightness level for an output. This is a float |
mjr | 35:d832bcab089e | 542 | // value from 0.0 for fully off to 1.0 for fully on. This is the final |
mjr | 35:d832bcab089e | 543 | // derived value for the port. For outputs set by LedWiz messages, |
mjr | 35:d832bcab089e | 544 | // this is derived from the LedWiz state, and is updated on each pulse |
mjr | 35:d832bcab089e | 545 | // timer interrupt for lights in flashing states. For outputs set by |
mjr | 35:d832bcab089e | 546 | // extended protocol messages, this is simply the brightness last set. |
mjr | 35:d832bcab089e | 547 | static float *outLevel; |
mjr | 6:cc35eb643e8f | 548 | |
mjr | 6:cc35eb643e8f | 549 | // initialize the output pin array |
mjr | 6:cc35eb643e8f | 550 | void initLwOut() |
mjr | 6:cc35eb643e8f | 551 | { |
mjr | 35:d832bcab089e | 552 | // Figure out how many outputs we have. We always have at least |
mjr | 35:d832bcab089e | 553 | // 32 outputs, since that's the number fixed by the original LedWiz |
mjr | 35:d832bcab089e | 554 | // protocol. If we're using TLC5940 chips, we use our own custom |
mjr | 35:d832bcab089e | 555 | // extended protocol that allows for many more ports. In this case, |
mjr | 35:d832bcab089e | 556 | // we have 16 outputs per TLC5940, plus any assigned to GPIO pins. |
mjr | 35:d832bcab089e | 557 | |
mjr | 35:d832bcab089e | 558 | // start with 16 ports per TLC5940 |
mjr | 35:d832bcab089e | 559 | numOutputs = TLC5940_NCHIPS * 16; |
mjr | 35:d832bcab089e | 560 | |
mjr | 35:d832bcab089e | 561 | // add outputs assigned to GPIO pins in the LedWiz-to-pin mapping |
mjr | 35:d832bcab089e | 562 | int i; |
mjr | 35:d832bcab089e | 563 | for (i = 0 ; i < countof(ledWizPortMap) ; ++i) |
mjr | 6:cc35eb643e8f | 564 | { |
mjr | 35:d832bcab089e | 565 | if (ledWizPortMap[i].pin != NC) |
mjr | 35:d832bcab089e | 566 | ++numOutputs; |
mjr | 35:d832bcab089e | 567 | } |
mjr | 35:d832bcab089e | 568 | |
mjr | 35:d832bcab089e | 569 | // always set up at least 32 outputs, so that we don't have to |
mjr | 35:d832bcab089e | 570 | // check bounds on commands from the basic LedWiz protocol |
mjr | 35:d832bcab089e | 571 | if (numOutputs < 32) |
mjr | 35:d832bcab089e | 572 | numOutputs = 32; |
mjr | 35:d832bcab089e | 573 | |
mjr | 35:d832bcab089e | 574 | // allocate the pin array |
mjr | 35:d832bcab089e | 575 | lwPin = new LwOut*[numOutputs]; |
mjr | 35:d832bcab089e | 576 | |
mjr | 35:d832bcab089e | 577 | // allocate the current brightness array |
mjr | 35:d832bcab089e | 578 | outLevel = new float[numOutputs]; |
mjr | 35:d832bcab089e | 579 | |
mjr | 35:d832bcab089e | 580 | // allocate a temporary array to keep track of which physical |
mjr | 35:d832bcab089e | 581 | // TLC5940 ports we've assigned so far |
mjr | 35:d832bcab089e | 582 | char *tlcasi = new char[TLC5940_NCHIPS*16+1]; |
mjr | 35:d832bcab089e | 583 | memset(tlcasi, 0, TLC5940_NCHIPS*16); |
mjr | 28:cb71c4af2912 | 584 | |
mjr | 35:d832bcab089e | 585 | // assign all pins from the port map in config.h |
mjr | 35:d832bcab089e | 586 | for (i = 0 ; i < countof(ledWizPortMap) ; ++i) |
mjr | 35:d832bcab089e | 587 | { |
mjr | 35:d832bcab089e | 588 | // Figure out which type of pin to assign to this port: |
mjr | 35:d832bcab089e | 589 | // |
mjr | 35:d832bcab089e | 590 | // - If it has a valid GPIO pin (other than "NC"), create a PWM |
mjr | 35:d832bcab089e | 591 | // or Digital output pin according to the port type. |
mjr | 35:d832bcab089e | 592 | // |
mjr | 35:d832bcab089e | 593 | // - If the pin has a TLC5940 port number, set up a TLC5940 port. |
mjr | 35:d832bcab089e | 594 | // |
mjr | 35:d832bcab089e | 595 | // - Otherwise, the pin is unconnected, so set up an unused out. |
mjr | 35:d832bcab089e | 596 | // |
mjr | 35:d832bcab089e | 597 | PinName p = ledWizPortMap[i].pin; |
mjr | 35:d832bcab089e | 598 | int flags = ledWizPortMap[i].flags; |
mjr | 35:d832bcab089e | 599 | int tlcPortNum = ledWizPortMap[i].tlcPortNum; |
mjr | 35:d832bcab089e | 600 | int isPwm = flags & PORT_IS_PWM; |
mjr | 35:d832bcab089e | 601 | int activeLow = flags & PORT_ACTIVE_LOW; |
mjr | 35:d832bcab089e | 602 | if (p != NC) |
mjr | 35:d832bcab089e | 603 | { |
mjr | 35:d832bcab089e | 604 | // This output is a GPIO - set it up as PWM or Digital, and |
mjr | 35:d832bcab089e | 605 | // active high or low, as marked |
mjr | 35:d832bcab089e | 606 | if (isPwm) |
mjr | 35:d832bcab089e | 607 | lwPin[i] = activeLow ? new LwPwmOutInv(p) : new LwPwmOut(p); |
mjr | 35:d832bcab089e | 608 | else |
mjr | 35:d832bcab089e | 609 | lwPin[i] = activeLow ? new LwDigOutInv(p) : new LwDigOut(p); |
mjr | 35:d832bcab089e | 610 | } |
mjr | 35:d832bcab089e | 611 | else if (tlcPortNum != 0) |
mjr | 35:d832bcab089e | 612 | { |
mjr | 35:d832bcab089e | 613 | // It's a TLC5940 port. Note that the port numbering in the map |
mjr | 35:d832bcab089e | 614 | // starts at 1, but internally we number the ports starting at 0, |
mjr | 35:d832bcab089e | 615 | // so subtract one to get the correct numbering. |
mjr | 35:d832bcab089e | 616 | lwPin[i] = activeLow ? new Lw5940OutInv(tlcPortNum-1) : new Lw5940Out(tlcPortNum-1); |
mjr | 28:cb71c4af2912 | 617 | |
mjr | 35:d832bcab089e | 618 | // mark this port as used, so that we don't reassign it when we |
mjr | 35:d832bcab089e | 619 | // fill out the remaining unassigned ports |
mjr | 35:d832bcab089e | 620 | tlcasi[tlcPortNum-1] = 1; |
mjr | 35:d832bcab089e | 621 | } |
mjr | 35:d832bcab089e | 622 | else |
mjr | 35:d832bcab089e | 623 | { |
mjr | 35:d832bcab089e | 624 | // it's not a GPIO or TLC5940 port -> it's not connected |
mjr | 35:d832bcab089e | 625 | lwPin[i] = new LwUnusedOut(); |
mjr | 35:d832bcab089e | 626 | } |
mjr | 35:d832bcab089e | 627 | lwPin[i]->set(0); |
mjr | 6:cc35eb643e8f | 628 | } |
mjr | 35:d832bcab089e | 629 | |
mjr | 35:d832bcab089e | 630 | // find the next unassigned tlc port |
mjr | 35:d832bcab089e | 631 | int tlcnxt; |
mjr | 35:d832bcab089e | 632 | for (tlcnxt = 0 ; tlcnxt < TLC5940_NCHIPS*16 && tlcasi[tlcnxt] ; ++tlcnxt) ; |
mjr | 35:d832bcab089e | 633 | |
mjr | 35:d832bcab089e | 634 | // assign any remaining pins |
mjr | 35:d832bcab089e | 635 | for ( ; i < numOutputs ; ++i) |
mjr | 35:d832bcab089e | 636 | { |
mjr | 35:d832bcab089e | 637 | // If we have any more unassigned TLC5940 outputs, assign this LedWiz |
mjr | 35:d832bcab089e | 638 | // port to the next available TLC5940 output. Otherwise make it |
mjr | 35:d832bcab089e | 639 | // unconnected. |
mjr | 35:d832bcab089e | 640 | if (tlcnxt < TLC5940_NCHIPS*16) |
mjr | 35:d832bcab089e | 641 | { |
mjr | 35:d832bcab089e | 642 | // we have a TLC5940 output available - assign it |
mjr | 35:d832bcab089e | 643 | lwPin[i] = new Lw5940Out(tlcnxt); |
mjr | 35:d832bcab089e | 644 | |
mjr | 35:d832bcab089e | 645 | // find the next unassigned TLC5940 output, for the next port |
mjr | 35:d832bcab089e | 646 | for (++tlcnxt ; tlcnxt < TLC5940_NCHIPS*16 && tlcasi[tlcnxt] ; ++tlcnxt) ; |
mjr | 35:d832bcab089e | 647 | } |
mjr | 35:d832bcab089e | 648 | else |
mjr | 35:d832bcab089e | 649 | { |
mjr | 35:d832bcab089e | 650 | // no more ports available - set up this port as unconnected |
mjr | 35:d832bcab089e | 651 | lwPin[i] = new LwUnusedOut(); |
mjr | 35:d832bcab089e | 652 | } |
mjr | 35:d832bcab089e | 653 | } |
mjr | 35:d832bcab089e | 654 | |
mjr | 35:d832bcab089e | 655 | // done with the temporary TLC5940 port assignment list |
mjr | 35:d832bcab089e | 656 | delete [] tlcasi; |
mjr | 6:cc35eb643e8f | 657 | } |
mjr | 6:cc35eb643e8f | 658 | |
mjr | 31:582472d0bc57 | 659 | // LedWiz output states. |
mjr | 31:582472d0bc57 | 660 | // |
mjr | 31:582472d0bc57 | 661 | // The LedWiz protocol has two separate control axes for each output. |
mjr | 31:582472d0bc57 | 662 | // One axis is its on/off state; the other is its "profile" state, which |
mjr | 31:582472d0bc57 | 663 | // is either a fixed brightness or a blinking pattern for the light. |
mjr | 31:582472d0bc57 | 664 | // The two axes are independent. |
mjr | 31:582472d0bc57 | 665 | // |
mjr | 31:582472d0bc57 | 666 | // Note that the LedWiz protocol can only address 32 outputs, so the |
mjr | 31:582472d0bc57 | 667 | // wizOn and wizVal arrays have fixed sizes of 32 elements no matter |
mjr | 31:582472d0bc57 | 668 | // how many physical outputs we're using. |
mjr | 31:582472d0bc57 | 669 | |
mjr | 0:5acbbe3f4cf4 | 670 | // on/off state for each LedWiz output |
mjr | 1:d913e0afb2ac | 671 | static uint8_t wizOn[32]; |
mjr | 0:5acbbe3f4cf4 | 672 | |
mjr | 31:582472d0bc57 | 673 | // Profile (brightness/blink) state for each LedWiz output. If the |
mjr | 31:582472d0bc57 | 674 | // output was last updated through an LedWiz protocol message, it |
mjr | 31:582472d0bc57 | 675 | // will have one of these values: |
mjr | 31:582472d0bc57 | 676 | // |
mjr | 31:582472d0bc57 | 677 | // 0-48 = fixed brightness 0% to 100% |
mjr | 31:582472d0bc57 | 678 | // 129 = ramp up / ramp down |
mjr | 31:582472d0bc57 | 679 | // 130 = flash on / off |
mjr | 31:582472d0bc57 | 680 | // 131 = on / ramp down |
mjr | 31:582472d0bc57 | 681 | // 132 = ramp up / on |
mjr | 31:582472d0bc57 | 682 | // |
mjr | 31:582472d0bc57 | 683 | // Special value 255: If the output was updated through the |
mjr | 31:582472d0bc57 | 684 | // extended protocol, we'll set the wizVal entry to 255, which has |
mjr | 31:582472d0bc57 | 685 | // no meaning in the LedWiz protocol. This tells us that the value |
mjr | 31:582472d0bc57 | 686 | // in outLevel[] was set directly from the extended protocol, so it |
mjr | 31:582472d0bc57 | 687 | // shouldn't be derived from wizVal[]. |
mjr | 31:582472d0bc57 | 688 | // |
mjr | 1:d913e0afb2ac | 689 | static uint8_t wizVal[32] = { |
mjr | 13:72dda449c3c0 | 690 | 48, 48, 48, 48, 48, 48, 48, 48, |
mjr | 13:72dda449c3c0 | 691 | 48, 48, 48, 48, 48, 48, 48, 48, |
mjr | 13:72dda449c3c0 | 692 | 48, 48, 48, 48, 48, 48, 48, 48, |
mjr | 13:72dda449c3c0 | 693 | 48, 48, 48, 48, 48, 48, 48, 48 |
mjr | 0:5acbbe3f4cf4 | 694 | }; |
mjr | 0:5acbbe3f4cf4 | 695 | |
mjr | 31:582472d0bc57 | 696 | // LedWiz flash speed. This is a value from 1 to 7 giving the pulse |
mjr | 31:582472d0bc57 | 697 | // rate for lights in blinking states. |
mjr | 31:582472d0bc57 | 698 | static uint8_t wizSpeed = 2; |
mjr | 31:582472d0bc57 | 699 | |
mjr | 31:582472d0bc57 | 700 | // Current LedWiz flash cycle counter. |
mjr | 31:582472d0bc57 | 701 | static uint8_t wizFlashCounter = 0; |
mjr | 31:582472d0bc57 | 702 | |
mjr | 31:582472d0bc57 | 703 | // Get the current brightness level for an LedWiz output. |
mjr | 1:d913e0afb2ac | 704 | static float wizState(int idx) |
mjr | 0:5acbbe3f4cf4 | 705 | { |
mjr | 31:582472d0bc57 | 706 | // if the output was last set with an extended protocol message, |
mjr | 31:582472d0bc57 | 707 | // use the value set there, ignoring the output's LedWiz state |
mjr | 31:582472d0bc57 | 708 | if (wizVal[idx] == 255) |
mjr | 31:582472d0bc57 | 709 | return outLevel[idx]; |
mjr | 31:582472d0bc57 | 710 | |
mjr | 31:582472d0bc57 | 711 | // if it's off, show at zero intensity |
mjr | 31:582472d0bc57 | 712 | if (!wizOn[idx]) |
mjr | 31:582472d0bc57 | 713 | return 0; |
mjr | 31:582472d0bc57 | 714 | |
mjr | 31:582472d0bc57 | 715 | // check the state |
mjr | 31:582472d0bc57 | 716 | uint8_t val = wizVal[idx]; |
mjr | 31:582472d0bc57 | 717 | if (val <= 48) |
mjr | 31:582472d0bc57 | 718 | { |
mjr | 31:582472d0bc57 | 719 | // PWM brightness/intensity level. Rescale from the LedWiz |
mjr | 31:582472d0bc57 | 720 | // 0..48 integer range to our internal PwmOut 0..1 float range. |
mjr | 31:582472d0bc57 | 721 | // Note that on the actual LedWiz, level 48 is actually about |
mjr | 31:582472d0bc57 | 722 | // 98% on - contrary to the LedWiz documentation, level 49 is |
mjr | 31:582472d0bc57 | 723 | // the true 100% level. (In the documentation, level 49 is |
mjr | 31:582472d0bc57 | 724 | // simply not a valid setting.) Even so, we treat level 48 as |
mjr | 31:582472d0bc57 | 725 | // 100% on to match the documentation. This won't be perfectly |
mjr | 31:582472d0bc57 | 726 | // ocmpatible with the actual LedWiz, but it makes for such a |
mjr | 31:582472d0bc57 | 727 | // small difference in brightness (if the output device is an |
mjr | 31:582472d0bc57 | 728 | // LED, say) that no one should notice. It seems better to |
mjr | 31:582472d0bc57 | 729 | // err in this direction, because while the difference in |
mjr | 31:582472d0bc57 | 730 | // brightness when attached to an LED won't be noticeable, the |
mjr | 31:582472d0bc57 | 731 | // difference in duty cycle when attached to something like a |
mjr | 31:582472d0bc57 | 732 | // contactor *can* be noticeable - anything less than 100% |
mjr | 31:582472d0bc57 | 733 | // can cause a contactor or relay to chatter. There's almost |
mjr | 31:582472d0bc57 | 734 | // never a situation where you'd want values other than 0% and |
mjr | 31:582472d0bc57 | 735 | // 100% for a contactor or relay, so treating level 48 as 100% |
mjr | 31:582472d0bc57 | 736 | // makes us work properly with software that's expecting the |
mjr | 31:582472d0bc57 | 737 | // documented LedWiz behavior and therefore uses level 48 to |
mjr | 31:582472d0bc57 | 738 | // turn a contactor or relay fully on. |
mjr | 31:582472d0bc57 | 739 | return val/48.0; |
mjr | 31:582472d0bc57 | 740 | } |
mjr | 31:582472d0bc57 | 741 | else if (val == 49) |
mjr | 13:72dda449c3c0 | 742 | { |
mjr | 31:582472d0bc57 | 743 | // 49 is undefined in the LedWiz documentation, but actually |
mjr | 31:582472d0bc57 | 744 | // means 100% on. The documentation says that levels 1-48 are |
mjr | 31:582472d0bc57 | 745 | // the full PWM range, but empirically it appears that the real |
mjr | 31:582472d0bc57 | 746 | // range implemented in the firmware is 1-49. Some software on |
mjr | 31:582472d0bc57 | 747 | // the PC side (notably DOF) is aware of this and uses level 49 |
mjr | 31:582472d0bc57 | 748 | // to mean "100% on". To ensure compatibility with existing |
mjr | 31:582472d0bc57 | 749 | // PC-side software, we need to recognize level 49. |
mjr | 31:582472d0bc57 | 750 | return 1.0; |
mjr | 31:582472d0bc57 | 751 | } |
mjr | 31:582472d0bc57 | 752 | else if (val == 129) |
mjr | 31:582472d0bc57 | 753 | { |
mjr | 31:582472d0bc57 | 754 | // 129 = ramp up / ramp down |
mjr | 32:6e9902f06f48 | 755 | return wizFlashCounter < 128 |
mjr | 32:6e9902f06f48 | 756 | ? wizFlashCounter/128.0 |
mjr | 32:6e9902f06f48 | 757 | : (256 - wizFlashCounter)/128.0; |
mjr | 31:582472d0bc57 | 758 | } |
mjr | 31:582472d0bc57 | 759 | else if (val == 130) |
mjr | 31:582472d0bc57 | 760 | { |
mjr | 31:582472d0bc57 | 761 | // 130 = flash on / off |
mjr | 32:6e9902f06f48 | 762 | return wizFlashCounter < 128 ? 1.0 : 0.0; |
mjr | 31:582472d0bc57 | 763 | } |
mjr | 31:582472d0bc57 | 764 | else if (val == 131) |
mjr | 31:582472d0bc57 | 765 | { |
mjr | 31:582472d0bc57 | 766 | // 131 = on / ramp down |
mjr | 32:6e9902f06f48 | 767 | return wizFlashCounter < 128 ? 1.0 : (255 - wizFlashCounter)/128.0; |
mjr | 0:5acbbe3f4cf4 | 768 | } |
mjr | 31:582472d0bc57 | 769 | else if (val == 132) |
mjr | 31:582472d0bc57 | 770 | { |
mjr | 31:582472d0bc57 | 771 | // 132 = ramp up / on |
mjr | 32:6e9902f06f48 | 772 | return wizFlashCounter < 128 ? wizFlashCounter/128.0 : 1.0; |
mjr | 31:582472d0bc57 | 773 | } |
mjr | 31:582472d0bc57 | 774 | else |
mjr | 13:72dda449c3c0 | 775 | { |
mjr | 31:582472d0bc57 | 776 | // Other values are undefined in the LedWiz documentation. Hosts |
mjr | 31:582472d0bc57 | 777 | // *should* never send undefined values, since whatever behavior an |
mjr | 31:582472d0bc57 | 778 | // LedWiz unit exhibits in response is accidental and could change |
mjr | 31:582472d0bc57 | 779 | // in a future version. We'll treat all undefined values as equivalent |
mjr | 31:582472d0bc57 | 780 | // to 48 (fully on). |
mjr | 31:582472d0bc57 | 781 | return 1.0; |
mjr | 0:5acbbe3f4cf4 | 782 | } |
mjr | 0:5acbbe3f4cf4 | 783 | } |
mjr | 0:5acbbe3f4cf4 | 784 | |
mjr | 31:582472d0bc57 | 785 | // LedWiz flash timer pulse. This fires periodically to update |
mjr | 31:582472d0bc57 | 786 | // LedWiz flashing outputs. At the slowest pulse speed set via |
mjr | 31:582472d0bc57 | 787 | // the SBA command, each waveform cycle has 256 steps, so we |
mjr | 31:582472d0bc57 | 788 | // choose the pulse time base so that the slowest cycle completes |
mjr | 31:582472d0bc57 | 789 | // in 2 seconds. This seems to roughly match the real LedWiz |
mjr | 31:582472d0bc57 | 790 | // behavior. We run the pulse timer at the same rate regardless |
mjr | 31:582472d0bc57 | 791 | // of the pulse speed; at higher pulse speeds, we simply use |
mjr | 31:582472d0bc57 | 792 | // larger steps through the cycle on each interrupt. Running |
mjr | 31:582472d0bc57 | 793 | // every 1/127 of a second = 8ms seems to be a pretty light load. |
mjr | 31:582472d0bc57 | 794 | Timeout wizPulseTimer; |
mjr | 31:582472d0bc57 | 795 | #define WIZ_PULSE_TIME_BASE (1.0/127.0) |
mjr | 31:582472d0bc57 | 796 | static void wizPulse() |
mjr | 31:582472d0bc57 | 797 | { |
mjr | 31:582472d0bc57 | 798 | // increase the counter by the speed increment, and wrap at 256 |
mjr | 31:582472d0bc57 | 799 | wizFlashCounter += wizSpeed; |
mjr | 31:582472d0bc57 | 800 | wizFlashCounter &= 0xff; |
mjr | 31:582472d0bc57 | 801 | |
mjr | 31:582472d0bc57 | 802 | // if we have any flashing lights, update them |
mjr | 31:582472d0bc57 | 803 | int ena = false; |
mjr | 31:582472d0bc57 | 804 | for (int i = 0 ; i < 32 ; ++i) |
mjr | 31:582472d0bc57 | 805 | { |
mjr | 31:582472d0bc57 | 806 | if (wizOn[i]) |
mjr | 31:582472d0bc57 | 807 | { |
mjr | 31:582472d0bc57 | 808 | uint8_t s = wizVal[i]; |
mjr | 31:582472d0bc57 | 809 | if (s >= 129 && s <= 132) |
mjr | 31:582472d0bc57 | 810 | { |
mjr | 31:582472d0bc57 | 811 | lwPin[i]->set(wizState(i)); |
mjr | 31:582472d0bc57 | 812 | ena = true; |
mjr | 31:582472d0bc57 | 813 | } |
mjr | 31:582472d0bc57 | 814 | } |
mjr | 31:582472d0bc57 | 815 | } |
mjr | 31:582472d0bc57 | 816 | |
mjr | 31:582472d0bc57 | 817 | // Set up the next timer pulse only if we found anything flashing. |
mjr | 31:582472d0bc57 | 818 | // To minimize overhead from this feature, we only enable the interrupt |
mjr | 31:582472d0bc57 | 819 | // when we need it. This eliminates any performance penalty to other |
mjr | 31:582472d0bc57 | 820 | // features when the host software doesn't care about the flashing |
mjr | 31:582472d0bc57 | 821 | // modes. For example, DOF never uses these modes, so there's no |
mjr | 31:582472d0bc57 | 822 | // need for them when running Visual Pinball. |
mjr | 31:582472d0bc57 | 823 | if (ena) |
mjr | 31:582472d0bc57 | 824 | wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE); |
mjr | 31:582472d0bc57 | 825 | } |
mjr | 31:582472d0bc57 | 826 | |
mjr | 31:582472d0bc57 | 827 | // Update the physical outputs connected to the LedWiz ports. This is |
mjr | 31:582472d0bc57 | 828 | // called after any update from an LedWiz protocol message. |
mjr | 1:d913e0afb2ac | 829 | static void updateWizOuts() |
mjr | 1:d913e0afb2ac | 830 | { |
mjr | 31:582472d0bc57 | 831 | // update each output |
mjr | 31:582472d0bc57 | 832 | int pulse = false; |
mjr | 6:cc35eb643e8f | 833 | for (int i = 0 ; i < 32 ; ++i) |
mjr | 31:582472d0bc57 | 834 | { |
mjr | 31:582472d0bc57 | 835 | pulse |= (wizVal[i] >= 129 && wizVal[i] <= 132); |
mjr | 6:cc35eb643e8f | 836 | lwPin[i]->set(wizState(i)); |
mjr | 31:582472d0bc57 | 837 | } |
mjr | 31:582472d0bc57 | 838 | |
mjr | 31:582472d0bc57 | 839 | // if any outputs are set to flashing mode, and the pulse timer |
mjr | 31:582472d0bc57 | 840 | // isn't running, turn it on |
mjr | 31:582472d0bc57 | 841 | if (pulse) |
mjr | 31:582472d0bc57 | 842 | wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE); |
mjr | 1:d913e0afb2ac | 843 | } |
mjr | 1:d913e0afb2ac | 844 | |
mjr | 11:bd9da7088e6e | 845 | // --------------------------------------------------------------------------- |
mjr | 11:bd9da7088e6e | 846 | // |
mjr | 11:bd9da7088e6e | 847 | // Button input |
mjr | 11:bd9da7088e6e | 848 | // |
mjr | 11:bd9da7088e6e | 849 | |
mjr | 11:bd9da7088e6e | 850 | // button input map array |
mjr | 11:bd9da7088e6e | 851 | DigitalIn *buttonDigIn[32]; |
mjr | 11:bd9da7088e6e | 852 | |
mjr | 18:5e890ebd0023 | 853 | // button state |
mjr | 18:5e890ebd0023 | 854 | struct ButtonState |
mjr | 18:5e890ebd0023 | 855 | { |
mjr | 18:5e890ebd0023 | 856 | // current on/off state |
mjr | 18:5e890ebd0023 | 857 | int pressed; |
mjr | 18:5e890ebd0023 | 858 | |
mjr | 18:5e890ebd0023 | 859 | // Sticky time remaining for current state. When a |
mjr | 18:5e890ebd0023 | 860 | // state transition occurs, we set this to a debounce |
mjr | 18:5e890ebd0023 | 861 | // period. Future state transitions will be ignored |
mjr | 18:5e890ebd0023 | 862 | // until the debounce time elapses. |
mjr | 18:5e890ebd0023 | 863 | int t; |
mjr | 18:5e890ebd0023 | 864 | } buttonState[32]; |
mjr | 18:5e890ebd0023 | 865 | |
mjr | 12:669df364a565 | 866 | // timer for button reports |
mjr | 12:669df364a565 | 867 | static Timer buttonTimer; |
mjr | 12:669df364a565 | 868 | |
mjr | 11:bd9da7088e6e | 869 | // initialize the button inputs |
mjr | 11:bd9da7088e6e | 870 | void initButtons() |
mjr | 11:bd9da7088e6e | 871 | { |
mjr | 11:bd9da7088e6e | 872 | // create the digital inputs |
mjr | 11:bd9da7088e6e | 873 | for (int i = 0 ; i < countof(buttonDigIn) ; ++i) |
mjr | 11:bd9da7088e6e | 874 | { |
mjr | 11:bd9da7088e6e | 875 | if (i < countof(buttonMap) && buttonMap[i] != NC) |
mjr | 11:bd9da7088e6e | 876 | buttonDigIn[i] = new DigitalIn(buttonMap[i]); |
mjr | 11:bd9da7088e6e | 877 | else |
mjr | 11:bd9da7088e6e | 878 | buttonDigIn[i] = 0; |
mjr | 11:bd9da7088e6e | 879 | } |
mjr | 12:669df364a565 | 880 | |
mjr | 12:669df364a565 | 881 | // start the button timer |
mjr | 12:669df364a565 | 882 | buttonTimer.start(); |
mjr | 11:bd9da7088e6e | 883 | } |
mjr | 11:bd9da7088e6e | 884 | |
mjr | 11:bd9da7088e6e | 885 | |
mjr | 18:5e890ebd0023 | 886 | // read the button input state |
mjr | 18:5e890ebd0023 | 887 | uint32_t readButtons() |
mjr | 11:bd9da7088e6e | 888 | { |
mjr | 11:bd9da7088e6e | 889 | // start with all buttons off |
mjr | 11:bd9da7088e6e | 890 | uint32_t buttons = 0; |
mjr | 11:bd9da7088e6e | 891 | |
mjr | 18:5e890ebd0023 | 892 | // figure the time elapsed since the last scan |
mjr | 18:5e890ebd0023 | 893 | int dt = buttonTimer.read_ms(); |
mjr | 18:5e890ebd0023 | 894 | |
mjr | 18:5e890ebd0023 | 895 | // reset the timef for the next scan |
mjr | 18:5e890ebd0023 | 896 | buttonTimer.reset(); |
mjr | 18:5e890ebd0023 | 897 | |
mjr | 11:bd9da7088e6e | 898 | // scan the button list |
mjr | 11:bd9da7088e6e | 899 | uint32_t bit = 1; |
mjr | 18:5e890ebd0023 | 900 | DigitalIn **di = buttonDigIn; |
mjr | 18:5e890ebd0023 | 901 | ButtonState *bs = buttonState; |
mjr | 18:5e890ebd0023 | 902 | for (int i = 0 ; i < countof(buttonDigIn) ; ++i, ++di, ++bs, bit <<= 1) |
mjr | 11:bd9da7088e6e | 903 | { |
mjr | 18:5e890ebd0023 | 904 | // read this button |
mjr | 18:5e890ebd0023 | 905 | if (*di != 0) |
mjr | 18:5e890ebd0023 | 906 | { |
mjr | 18:5e890ebd0023 | 907 | // deduct the elapsed time since the last update |
mjr | 18:5e890ebd0023 | 908 | // from the button's remaining sticky time |
mjr | 18:5e890ebd0023 | 909 | bs->t -= dt; |
mjr | 18:5e890ebd0023 | 910 | if (bs->t < 0) |
mjr | 18:5e890ebd0023 | 911 | bs->t = 0; |
mjr | 18:5e890ebd0023 | 912 | |
mjr | 18:5e890ebd0023 | 913 | // If the sticky time has elapsed, note the new physical |
mjr | 18:5e890ebd0023 | 914 | // state of the button. If we still have sticky time |
mjr | 18:5e890ebd0023 | 915 | // remaining, ignore the physical state; the last state |
mjr | 18:5e890ebd0023 | 916 | // change persists until the sticky time elapses so that |
mjr | 18:5e890ebd0023 | 917 | // we smooth out any "bounce" (electrical transients that |
mjr | 18:5e890ebd0023 | 918 | // occur when the switch contact is opened or closed). |
mjr | 18:5e890ebd0023 | 919 | if (bs->t == 0) |
mjr | 18:5e890ebd0023 | 920 | { |
mjr | 18:5e890ebd0023 | 921 | // get the new physical state |
mjr | 18:5e890ebd0023 | 922 | int pressed = !(*di)->read(); |
mjr | 18:5e890ebd0023 | 923 | |
mjr | 18:5e890ebd0023 | 924 | // update the button's logical state if this is a change |
mjr | 18:5e890ebd0023 | 925 | if (pressed != bs->pressed) |
mjr | 18:5e890ebd0023 | 926 | { |
mjr | 18:5e890ebd0023 | 927 | // store the new state |
mjr | 18:5e890ebd0023 | 928 | bs->pressed = pressed; |
mjr | 18:5e890ebd0023 | 929 | |
mjr | 18:5e890ebd0023 | 930 | // start a new sticky period for debouncing this |
mjr | 18:5e890ebd0023 | 931 | // state change |
mjr | 19:054f8af32fce | 932 | bs->t = 25; |
mjr | 18:5e890ebd0023 | 933 | } |
mjr | 18:5e890ebd0023 | 934 | } |
mjr | 18:5e890ebd0023 | 935 | |
mjr | 18:5e890ebd0023 | 936 | // if it's pressed, OR its bit into the state |
mjr | 18:5e890ebd0023 | 937 | if (bs->pressed) |
mjr | 18:5e890ebd0023 | 938 | buttons |= bit; |
mjr | 18:5e890ebd0023 | 939 | } |
mjr | 11:bd9da7088e6e | 940 | } |
mjr | 11:bd9da7088e6e | 941 | |
mjr | 18:5e890ebd0023 | 942 | // return the new button list |
mjr | 11:bd9da7088e6e | 943 | return buttons; |
mjr | 11:bd9da7088e6e | 944 | } |
mjr | 11:bd9da7088e6e | 945 | |
mjr | 5:a70c0bce770d | 946 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 947 | // |
mjr | 5:a70c0bce770d | 948 | // Customization joystick subbclass |
mjr | 5:a70c0bce770d | 949 | // |
mjr | 5:a70c0bce770d | 950 | |
mjr | 5:a70c0bce770d | 951 | class MyUSBJoystick: public USBJoystick |
mjr | 5:a70c0bce770d | 952 | { |
mjr | 5:a70c0bce770d | 953 | public: |
mjr | 5:a70c0bce770d | 954 | MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release) |
mjr | 5:a70c0bce770d | 955 | : USBJoystick(vendor_id, product_id, product_release, true) |
mjr | 5:a70c0bce770d | 956 | { |
mjr | 5:a70c0bce770d | 957 | suspended_ = false; |
mjr | 5:a70c0bce770d | 958 | } |
mjr | 5:a70c0bce770d | 959 | |
mjr | 5:a70c0bce770d | 960 | // are we connected? |
mjr | 5:a70c0bce770d | 961 | int isConnected() { return configured(); } |
mjr | 5:a70c0bce770d | 962 | |
mjr | 5:a70c0bce770d | 963 | // Are we in suspend mode? |
mjr | 5:a70c0bce770d | 964 | int isSuspended() const { return suspended_; } |
mjr | 5:a70c0bce770d | 965 | |
mjr | 5:a70c0bce770d | 966 | protected: |
mjr | 5:a70c0bce770d | 967 | virtual void suspendStateChanged(unsigned int suspended) |
mjr | 5:a70c0bce770d | 968 | { suspended_ = suspended; } |
mjr | 5:a70c0bce770d | 969 | |
mjr | 5:a70c0bce770d | 970 | // are we suspended? |
mjr | 5:a70c0bce770d | 971 | int suspended_; |
mjr | 5:a70c0bce770d | 972 | }; |
mjr | 5:a70c0bce770d | 973 | |
mjr | 5:a70c0bce770d | 974 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 975 | // |
mjr | 5:a70c0bce770d | 976 | // Accelerometer (MMA8451Q) |
mjr | 5:a70c0bce770d | 977 | // |
mjr | 5:a70c0bce770d | 978 | |
mjr | 5:a70c0bce770d | 979 | // The MMA8451Q is the KL25Z's on-board 3-axis accelerometer. |
mjr | 5:a70c0bce770d | 980 | // |
mjr | 5:a70c0bce770d | 981 | // This is a custom wrapper for the library code to interface to the |
mjr | 6:cc35eb643e8f | 982 | // MMA8451Q. This class encapsulates an interrupt handler and |
mjr | 6:cc35eb643e8f | 983 | // automatic calibration. |
mjr | 5:a70c0bce770d | 984 | // |
mjr | 5:a70c0bce770d | 985 | // We install an interrupt handler on the accelerometer "data ready" |
mjr | 6:cc35eb643e8f | 986 | // interrupt to ensure that we fetch each sample immediately when it |
mjr | 6:cc35eb643e8f | 987 | // becomes available. The accelerometer data rate is fiarly high |
mjr | 6:cc35eb643e8f | 988 | // (800 Hz), so it's not practical to keep up with it by polling. |
mjr | 6:cc35eb643e8f | 989 | // Using an interrupt handler lets us respond quickly and read |
mjr | 6:cc35eb643e8f | 990 | // every sample. |
mjr | 5:a70c0bce770d | 991 | // |
mjr | 6:cc35eb643e8f | 992 | // We automatically calibrate the accelerometer so that it's not |
mjr | 6:cc35eb643e8f | 993 | // necessary to get it exactly level when installing it, and so |
mjr | 6:cc35eb643e8f | 994 | // that it's also not necessary to calibrate it manually. There's |
mjr | 6:cc35eb643e8f | 995 | // lots of experience that tells us that manual calibration is a |
mjr | 6:cc35eb643e8f | 996 | // terrible solution, mostly because cabinets tend to shift slightly |
mjr | 6:cc35eb643e8f | 997 | // during use, requiring frequent recalibration. Instead, we |
mjr | 6:cc35eb643e8f | 998 | // calibrate automatically. We continuously monitor the acceleration |
mjr | 6:cc35eb643e8f | 999 | // data, watching for periods of constant (or nearly constant) values. |
mjr | 6:cc35eb643e8f | 1000 | // Any time it appears that the machine has been at rest for a while |
mjr | 6:cc35eb643e8f | 1001 | // (about 5 seconds), we'll average the readings during that rest |
mjr | 6:cc35eb643e8f | 1002 | // period and use the result as the level rest position. This is |
mjr | 6:cc35eb643e8f | 1003 | // is ongoing, so we'll quickly find the center point again if the |
mjr | 6:cc35eb643e8f | 1004 | // machine is moved during play (by an especially aggressive bout |
mjr | 6:cc35eb643e8f | 1005 | // of nudging, say). |
mjr | 5:a70c0bce770d | 1006 | // |
mjr | 5:a70c0bce770d | 1007 | |
mjr | 17:ab3cec0c8bf4 | 1008 | // I2C address of the accelerometer (this is a constant of the KL25Z) |
mjr | 17:ab3cec0c8bf4 | 1009 | const int MMA8451_I2C_ADDRESS = (0x1d<<1); |
mjr | 17:ab3cec0c8bf4 | 1010 | |
mjr | 17:ab3cec0c8bf4 | 1011 | // SCL and SDA pins for the accelerometer (constant for the KL25Z) |
mjr | 17:ab3cec0c8bf4 | 1012 | #define MMA8451_SCL_PIN PTE25 |
mjr | 17:ab3cec0c8bf4 | 1013 | #define MMA8451_SDA_PIN PTE24 |
mjr | 17:ab3cec0c8bf4 | 1014 | |
mjr | 17:ab3cec0c8bf4 | 1015 | // Digital in pin to use for the accelerometer interrupt. For the KL25Z, |
mjr | 17:ab3cec0c8bf4 | 1016 | // this can be either PTA14 or PTA15, since those are the pins physically |
mjr | 17:ab3cec0c8bf4 | 1017 | // wired on this board to the MMA8451 interrupt controller. |
mjr | 17:ab3cec0c8bf4 | 1018 | #define MMA8451_INT_PIN PTA15 |
mjr | 17:ab3cec0c8bf4 | 1019 | |
mjr | 17:ab3cec0c8bf4 | 1020 | |
mjr | 6:cc35eb643e8f | 1021 | // accelerometer input history item, for gathering calibration data |
mjr | 6:cc35eb643e8f | 1022 | struct AccHist |
mjr | 5:a70c0bce770d | 1023 | { |
mjr | 6:cc35eb643e8f | 1024 | AccHist() { x = y = d = 0.0; xtot = ytot = 0.0; cnt = 0; } |
mjr | 6:cc35eb643e8f | 1025 | void set(float x, float y, AccHist *prv) |
mjr | 6:cc35eb643e8f | 1026 | { |
mjr | 6:cc35eb643e8f | 1027 | // save the raw position |
mjr | 6:cc35eb643e8f | 1028 | this->x = x; |
mjr | 6:cc35eb643e8f | 1029 | this->y = y; |
mjr | 6:cc35eb643e8f | 1030 | this->d = distance(prv); |
mjr | 6:cc35eb643e8f | 1031 | } |
mjr | 6:cc35eb643e8f | 1032 | |
mjr | 6:cc35eb643e8f | 1033 | // reading for this entry |
mjr | 5:a70c0bce770d | 1034 | float x, y; |
mjr | 5:a70c0bce770d | 1035 | |
mjr | 6:cc35eb643e8f | 1036 | // distance from previous entry |
mjr | 6:cc35eb643e8f | 1037 | float d; |
mjr | 5:a70c0bce770d | 1038 | |
mjr | 6:cc35eb643e8f | 1039 | // total and count of samples averaged over this period |
mjr | 6:cc35eb643e8f | 1040 | float xtot, ytot; |
mjr | 6:cc35eb643e8f | 1041 | int cnt; |
mjr | 6:cc35eb643e8f | 1042 | |
mjr | 6:cc35eb643e8f | 1043 | void clearAvg() { xtot = ytot = 0.0; cnt = 0; } |
mjr | 6:cc35eb643e8f | 1044 | void addAvg(float x, float y) { xtot += x; ytot += y; ++cnt; } |
mjr | 6:cc35eb643e8f | 1045 | float xAvg() const { return xtot/cnt; } |
mjr | 6:cc35eb643e8f | 1046 | float yAvg() const { return ytot/cnt; } |
mjr | 5:a70c0bce770d | 1047 | |
mjr | 6:cc35eb643e8f | 1048 | float distance(AccHist *p) |
mjr | 6:cc35eb643e8f | 1049 | { return sqrt(square(p->x - x) + square(p->y - y)); } |
mjr | 5:a70c0bce770d | 1050 | }; |
mjr | 5:a70c0bce770d | 1051 | |
mjr | 5:a70c0bce770d | 1052 | // accelerometer wrapper class |
mjr | 3:3514575d4f86 | 1053 | class Accel |
mjr | 3:3514575d4f86 | 1054 | { |
mjr | 3:3514575d4f86 | 1055 | public: |
mjr | 3:3514575d4f86 | 1056 | Accel(PinName sda, PinName scl, int i2cAddr, PinName irqPin) |
mjr | 3:3514575d4f86 | 1057 | : mma_(sda, scl, i2cAddr), intIn_(irqPin) |
mjr | 3:3514575d4f86 | 1058 | { |
mjr | 5:a70c0bce770d | 1059 | // remember the interrupt pin assignment |
mjr | 5:a70c0bce770d | 1060 | irqPin_ = irqPin; |
mjr | 5:a70c0bce770d | 1061 | |
mjr | 5:a70c0bce770d | 1062 | // reset and initialize |
mjr | 5:a70c0bce770d | 1063 | reset(); |
mjr | 5:a70c0bce770d | 1064 | } |
mjr | 5:a70c0bce770d | 1065 | |
mjr | 5:a70c0bce770d | 1066 | void reset() |
mjr | 5:a70c0bce770d | 1067 | { |
mjr | 6:cc35eb643e8f | 1068 | // clear the center point |
mjr | 6:cc35eb643e8f | 1069 | cx_ = cy_ = 0.0; |
mjr | 6:cc35eb643e8f | 1070 | |
mjr | 6:cc35eb643e8f | 1071 | // start the calibration timer |
mjr | 5:a70c0bce770d | 1072 | tCenter_.start(); |
mjr | 5:a70c0bce770d | 1073 | iAccPrv_ = nAccPrv_ = 0; |
mjr | 6:cc35eb643e8f | 1074 | |
mjr | 5:a70c0bce770d | 1075 | // reset and initialize the MMA8451Q |
mjr | 5:a70c0bce770d | 1076 | mma_.init(); |
mjr | 6:cc35eb643e8f | 1077 | |
mjr | 6:cc35eb643e8f | 1078 | // set the initial integrated velocity reading to zero |
mjr | 6:cc35eb643e8f | 1079 | vx_ = vy_ = 0; |
mjr | 3:3514575d4f86 | 1080 | |
mjr | 6:cc35eb643e8f | 1081 | // set up our accelerometer interrupt handling |
mjr | 6:cc35eb643e8f | 1082 | intIn_.rise(this, &Accel::isr); |
mjr | 5:a70c0bce770d | 1083 | mma_.setInterruptMode(irqPin_ == PTA14 ? 1 : 2); |
mjr | 3:3514575d4f86 | 1084 | |
mjr | 3:3514575d4f86 | 1085 | // read the current registers to clear the data ready flag |
mjr | 6:cc35eb643e8f | 1086 | mma_.getAccXYZ(ax_, ay_, az_); |
mjr | 3:3514575d4f86 | 1087 | |
mjr | 3:3514575d4f86 | 1088 | // start our timers |
mjr | 3:3514575d4f86 | 1089 | tGet_.start(); |
mjr | 3:3514575d4f86 | 1090 | tInt_.start(); |
mjr | 3:3514575d4f86 | 1091 | } |
mjr | 3:3514575d4f86 | 1092 | |
mjr | 9:fd65b0a94720 | 1093 | void get(int &x, int &y) |
mjr | 3:3514575d4f86 | 1094 | { |
mjr | 3:3514575d4f86 | 1095 | // disable interrupts while manipulating the shared data |
mjr | 3:3514575d4f86 | 1096 | __disable_irq(); |
mjr | 3:3514575d4f86 | 1097 | |
mjr | 3:3514575d4f86 | 1098 | // read the shared data and store locally for calculations |
mjr | 6:cc35eb643e8f | 1099 | float ax = ax_, ay = ay_; |
mjr | 6:cc35eb643e8f | 1100 | float vx = vx_, vy = vy_; |
mjr | 5:a70c0bce770d | 1101 | |
mjr | 6:cc35eb643e8f | 1102 | // reset the velocity sum for the next run |
mjr | 6:cc35eb643e8f | 1103 | vx_ = vy_ = 0; |
mjr | 3:3514575d4f86 | 1104 | |
mjr | 3:3514575d4f86 | 1105 | // get the time since the last get() sample |
mjr | 3:3514575d4f86 | 1106 | float dt = tGet_.read_us()/1.0e6; |
mjr | 3:3514575d4f86 | 1107 | tGet_.reset(); |
mjr | 3:3514575d4f86 | 1108 | |
mjr | 3:3514575d4f86 | 1109 | // done manipulating the shared data |
mjr | 3:3514575d4f86 | 1110 | __enable_irq(); |
mjr | 3:3514575d4f86 | 1111 | |
mjr | 6:cc35eb643e8f | 1112 | // adjust the readings for the integration time |
mjr | 6:cc35eb643e8f | 1113 | vx /= dt; |
mjr | 6:cc35eb643e8f | 1114 | vy /= dt; |
mjr | 6:cc35eb643e8f | 1115 | |
mjr | 6:cc35eb643e8f | 1116 | // add this sample to the current calibration interval's running total |
mjr | 6:cc35eb643e8f | 1117 | AccHist *p = accPrv_ + iAccPrv_; |
mjr | 6:cc35eb643e8f | 1118 | p->addAvg(ax, ay); |
mjr | 6:cc35eb643e8f | 1119 | |
mjr | 5:a70c0bce770d | 1120 | // check for auto-centering every so often |
mjr | 5:a70c0bce770d | 1121 | if (tCenter_.read_ms() > 1000) |
mjr | 5:a70c0bce770d | 1122 | { |
mjr | 5:a70c0bce770d | 1123 | // add the latest raw sample to the history list |
mjr | 6:cc35eb643e8f | 1124 | AccHist *prv = p; |
mjr | 5:a70c0bce770d | 1125 | iAccPrv_ = (iAccPrv_ + 1) % maxAccPrv; |
mjr | 6:cc35eb643e8f | 1126 | p = accPrv_ + iAccPrv_; |
mjr | 6:cc35eb643e8f | 1127 | p->set(ax, ay, prv); |
mjr | 5:a70c0bce770d | 1128 | |
mjr | 5:a70c0bce770d | 1129 | // if we have a full complement, check for stability |
mjr | 5:a70c0bce770d | 1130 | if (nAccPrv_ >= maxAccPrv) |
mjr | 5:a70c0bce770d | 1131 | { |
mjr | 5:a70c0bce770d | 1132 | // check if we've been stable for all recent samples |
mjr | 6:cc35eb643e8f | 1133 | static const float accTol = .01; |
mjr | 6:cc35eb643e8f | 1134 | AccHist *p0 = accPrv_; |
mjr | 6:cc35eb643e8f | 1135 | if (p0[0].d < accTol |
mjr | 6:cc35eb643e8f | 1136 | && p0[1].d < accTol |
mjr | 6:cc35eb643e8f | 1137 | && p0[2].d < accTol |
mjr | 6:cc35eb643e8f | 1138 | && p0[3].d < accTol |
mjr | 6:cc35eb643e8f | 1139 | && p0[4].d < accTol) |
mjr | 5:a70c0bce770d | 1140 | { |
mjr | 6:cc35eb643e8f | 1141 | // Figure the new calibration point as the average of |
mjr | 6:cc35eb643e8f | 1142 | // the samples over the rest period |
mjr | 6:cc35eb643e8f | 1143 | cx_ = (p0[0].xAvg() + p0[1].xAvg() + p0[2].xAvg() + p0[3].xAvg() + p0[4].xAvg())/5.0; |
mjr | 6:cc35eb643e8f | 1144 | cy_ = (p0[0].yAvg() + p0[1].yAvg() + p0[2].yAvg() + p0[3].yAvg() + p0[4].yAvg())/5.0; |
mjr | 5:a70c0bce770d | 1145 | } |
mjr | 5:a70c0bce770d | 1146 | } |
mjr | 5:a70c0bce770d | 1147 | else |
mjr | 5:a70c0bce770d | 1148 | { |
mjr | 5:a70c0bce770d | 1149 | // not enough samples yet; just up the count |
mjr | 5:a70c0bce770d | 1150 | ++nAccPrv_; |
mjr | 5:a70c0bce770d | 1151 | } |
mjr | 6:cc35eb643e8f | 1152 | |
mjr | 6:cc35eb643e8f | 1153 | // clear the new item's running totals |
mjr | 6:cc35eb643e8f | 1154 | p->clearAvg(); |
mjr | 5:a70c0bce770d | 1155 | |
mjr | 5:a70c0bce770d | 1156 | // reset the timer |
mjr | 5:a70c0bce770d | 1157 | tCenter_.reset(); |
mjr | 5:a70c0bce770d | 1158 | } |
mjr | 5:a70c0bce770d | 1159 | |
mjr | 6:cc35eb643e8f | 1160 | // report our integrated velocity reading in x,y |
mjr | 6:cc35eb643e8f | 1161 | x = rawToReport(vx); |
mjr | 6:cc35eb643e8f | 1162 | y = rawToReport(vy); |
mjr | 5:a70c0bce770d | 1163 | |
mjr | 6:cc35eb643e8f | 1164 | #ifdef DEBUG_PRINTF |
mjr | 6:cc35eb643e8f | 1165 | if (x != 0 || y != 0) |
mjr | 6:cc35eb643e8f | 1166 | printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt); |
mjr | 6:cc35eb643e8f | 1167 | #endif |
mjr | 3:3514575d4f86 | 1168 | } |
mjr | 31:582472d0bc57 | 1169 | |
mjr | 3:3514575d4f86 | 1170 | private: |
mjr | 6:cc35eb643e8f | 1171 | // adjust a raw acceleration figure to a usb report value |
mjr | 6:cc35eb643e8f | 1172 | int rawToReport(float v) |
mjr | 5:a70c0bce770d | 1173 | { |
mjr | 6:cc35eb643e8f | 1174 | // scale to the joystick report range and round to integer |
mjr | 6:cc35eb643e8f | 1175 | int i = int(round(v*JOYMAX)); |
mjr | 5:a70c0bce770d | 1176 | |
mjr | 6:cc35eb643e8f | 1177 | // if it's near the center, scale it roughly as 20*(i/20)^2, |
mjr | 6:cc35eb643e8f | 1178 | // to suppress noise near the rest position |
mjr | 6:cc35eb643e8f | 1179 | static const int filter[] = { |
mjr | 6:cc35eb643e8f | 1180 | -18, -16, -14, -13, -11, -10, -8, -7, -6, -5, -4, -3, -2, -2, -1, -1, 0, 0, 0, 0, |
mjr | 6:cc35eb643e8f | 1181 | 0, |
mjr | 6:cc35eb643e8f | 1182 | 0, 0, 0, 0, 1, 1, 2, 2, 3, 4, 5, 6, 7, 8, 10, 11, 13, 14, 16, 18 |
mjr | 6:cc35eb643e8f | 1183 | }; |
mjr | 6:cc35eb643e8f | 1184 | return (i > 20 || i < -20 ? i : filter[i+20]); |
mjr | 5:a70c0bce770d | 1185 | } |
mjr | 5:a70c0bce770d | 1186 | |
mjr | 3:3514575d4f86 | 1187 | // interrupt handler |
mjr | 3:3514575d4f86 | 1188 | void isr() |
mjr | 3:3514575d4f86 | 1189 | { |
mjr | 3:3514575d4f86 | 1190 | // Read the axes. Note that we have to read all three axes |
mjr | 3:3514575d4f86 | 1191 | // (even though we only really use x and y) in order to clear |
mjr | 3:3514575d4f86 | 1192 | // the "data ready" status bit in the accelerometer. The |
mjr | 3:3514575d4f86 | 1193 | // interrupt only occurs when the "ready" bit transitions from |
mjr | 3:3514575d4f86 | 1194 | // off to on, so we have to make sure it's off. |
mjr | 5:a70c0bce770d | 1195 | float x, y, z; |
mjr | 5:a70c0bce770d | 1196 | mma_.getAccXYZ(x, y, z); |
mjr | 3:3514575d4f86 | 1197 | |
mjr | 3:3514575d4f86 | 1198 | // calculate the time since the last interrupt |
mjr | 3:3514575d4f86 | 1199 | float dt = tInt_.read_us()/1.0e6; |
mjr | 3:3514575d4f86 | 1200 | tInt_.reset(); |
mjr | 6:cc35eb643e8f | 1201 | |
mjr | 6:cc35eb643e8f | 1202 | // integrate the time slice from the previous reading to this reading |
mjr | 6:cc35eb643e8f | 1203 | vx_ += (x + ax_ - 2*cx_)*dt/2; |
mjr | 6:cc35eb643e8f | 1204 | vy_ += (y + ay_ - 2*cy_)*dt/2; |
mjr | 3:3514575d4f86 | 1205 | |
mjr | 6:cc35eb643e8f | 1206 | // store the updates |
mjr | 6:cc35eb643e8f | 1207 | ax_ = x; |
mjr | 6:cc35eb643e8f | 1208 | ay_ = y; |
mjr | 6:cc35eb643e8f | 1209 | az_ = z; |
mjr | 3:3514575d4f86 | 1210 | } |
mjr | 3:3514575d4f86 | 1211 | |
mjr | 3:3514575d4f86 | 1212 | // underlying accelerometer object |
mjr | 3:3514575d4f86 | 1213 | MMA8451Q mma_; |
mjr | 3:3514575d4f86 | 1214 | |
mjr | 5:a70c0bce770d | 1215 | // last raw acceleration readings |
mjr | 6:cc35eb643e8f | 1216 | float ax_, ay_, az_; |
mjr | 5:a70c0bce770d | 1217 | |
mjr | 6:cc35eb643e8f | 1218 | // integrated velocity reading since last get() |
mjr | 6:cc35eb643e8f | 1219 | float vx_, vy_; |
mjr | 6:cc35eb643e8f | 1220 | |
mjr | 3:3514575d4f86 | 1221 | // timer for measuring time between get() samples |
mjr | 3:3514575d4f86 | 1222 | Timer tGet_; |
mjr | 3:3514575d4f86 | 1223 | |
mjr | 3:3514575d4f86 | 1224 | // timer for measuring time between interrupts |
mjr | 3:3514575d4f86 | 1225 | Timer tInt_; |
mjr | 5:a70c0bce770d | 1226 | |
mjr | 6:cc35eb643e8f | 1227 | // Calibration reference point for accelerometer. This is the |
mjr | 6:cc35eb643e8f | 1228 | // average reading on the accelerometer when in the neutral position |
mjr | 6:cc35eb643e8f | 1229 | // at rest. |
mjr | 6:cc35eb643e8f | 1230 | float cx_, cy_; |
mjr | 5:a70c0bce770d | 1231 | |
mjr | 5:a70c0bce770d | 1232 | // timer for atuo-centering |
mjr | 5:a70c0bce770d | 1233 | Timer tCenter_; |
mjr | 6:cc35eb643e8f | 1234 | |
mjr | 6:cc35eb643e8f | 1235 | // Auto-centering history. This is a separate history list that |
mjr | 6:cc35eb643e8f | 1236 | // records results spaced out sparesely over time, so that we can |
mjr | 6:cc35eb643e8f | 1237 | // watch for long-lasting periods of rest. When we observe nearly |
mjr | 6:cc35eb643e8f | 1238 | // no motion for an extended period (on the order of 5 seconds), we |
mjr | 6:cc35eb643e8f | 1239 | // take this to mean that the cabinet is at rest in its neutral |
mjr | 6:cc35eb643e8f | 1240 | // position, so we take this as the calibration zero point for the |
mjr | 6:cc35eb643e8f | 1241 | // accelerometer. We update this history continuously, which allows |
mjr | 6:cc35eb643e8f | 1242 | // us to continuously re-calibrate the accelerometer. This ensures |
mjr | 6:cc35eb643e8f | 1243 | // that we'll automatically adjust to any actual changes in the |
mjr | 6:cc35eb643e8f | 1244 | // cabinet's orientation (e.g., if it gets moved slightly by an |
mjr | 6:cc35eb643e8f | 1245 | // especially strong nudge) as well as any systematic drift in the |
mjr | 6:cc35eb643e8f | 1246 | // accelerometer measurement bias (e.g., from temperature changes). |
mjr | 5:a70c0bce770d | 1247 | int iAccPrv_, nAccPrv_; |
mjr | 5:a70c0bce770d | 1248 | static const int maxAccPrv = 5; |
mjr | 6:cc35eb643e8f | 1249 | AccHist accPrv_[maxAccPrv]; |
mjr | 6:cc35eb643e8f | 1250 | |
mjr | 5:a70c0bce770d | 1251 | // interurupt pin name |
mjr | 5:a70c0bce770d | 1252 | PinName irqPin_; |
mjr | 5:a70c0bce770d | 1253 | |
mjr | 5:a70c0bce770d | 1254 | // interrupt router |
mjr | 5:a70c0bce770d | 1255 | InterruptIn intIn_; |
mjr | 3:3514575d4f86 | 1256 | }; |
mjr | 3:3514575d4f86 | 1257 | |
mjr | 5:a70c0bce770d | 1258 | |
mjr | 5:a70c0bce770d | 1259 | // --------------------------------------------------------------------------- |
mjr | 5:a70c0bce770d | 1260 | // |
mjr | 14:df700b22ca08 | 1261 | // Clear the I2C bus for the MMA8451Q. This seems necessary some of the time |
mjr | 5:a70c0bce770d | 1262 | // for reasons that aren't clear to me. Doing a hard power cycle has the same |
mjr | 5:a70c0bce770d | 1263 | // effect, but when we do a soft reset, the hardware sometimes seems to leave |
mjr | 5:a70c0bce770d | 1264 | // the MMA's SDA line stuck low. Forcing a series of 9 clock pulses through |
mjr | 14:df700b22ca08 | 1265 | // the SCL line is supposed to clear this condition. I'm not convinced this |
mjr | 14:df700b22ca08 | 1266 | // actually works with the way this component is wired on the KL25Z, but it |
mjr | 14:df700b22ca08 | 1267 | // seems harmless, so we'll do it on reset in case it does some good. What |
mjr | 14:df700b22ca08 | 1268 | // we really seem to need is a way to power cycle the MMA8451Q if it ever |
mjr | 14:df700b22ca08 | 1269 | // gets stuck, but this is simply not possible in software on the KL25Z. |
mjr | 14:df700b22ca08 | 1270 | // |
mjr | 14:df700b22ca08 | 1271 | // If the accelerometer does get stuck, and a software reboot doesn't reset |
mjr | 14:df700b22ca08 | 1272 | // it, the only workaround is to manually power cycle the whole KL25Z by |
mjr | 14:df700b22ca08 | 1273 | // unplugging both of its USB connections. |
mjr | 5:a70c0bce770d | 1274 | // |
mjr | 5:a70c0bce770d | 1275 | void clear_i2c() |
mjr | 5:a70c0bce770d | 1276 | { |
mjr | 5:a70c0bce770d | 1277 | // assume a general-purpose output pin to the I2C clock |
mjr | 5:a70c0bce770d | 1278 | DigitalOut scl(MMA8451_SCL_PIN); |
mjr | 5:a70c0bce770d | 1279 | DigitalIn sda(MMA8451_SDA_PIN); |
mjr | 5:a70c0bce770d | 1280 | |
mjr | 5:a70c0bce770d | 1281 | // clock the SCL 9 times |
mjr | 5:a70c0bce770d | 1282 | for (int i = 0 ; i < 9 ; ++i) |
mjr | 5:a70c0bce770d | 1283 | { |
mjr | 5:a70c0bce770d | 1284 | scl = 1; |
mjr | 5:a70c0bce770d | 1285 | wait_us(20); |
mjr | 5:a70c0bce770d | 1286 | scl = 0; |
mjr | 5:a70c0bce770d | 1287 | wait_us(20); |
mjr | 5:a70c0bce770d | 1288 | } |
mjr | 5:a70c0bce770d | 1289 | } |
mjr | 14:df700b22ca08 | 1290 | |
mjr | 14:df700b22ca08 | 1291 | // --------------------------------------------------------------------------- |
mjr | 14:df700b22ca08 | 1292 | // |
mjr | 17:ab3cec0c8bf4 | 1293 | // Include the appropriate plunger sensor definition. This will define a |
mjr | 17:ab3cec0c8bf4 | 1294 | // class called PlungerSensor, with a standard interface that we use in |
mjr | 17:ab3cec0c8bf4 | 1295 | // the main loop below. This is *kind of* like a virtual class interface, |
mjr | 17:ab3cec0c8bf4 | 1296 | // but it actually defines the methods statically, which is a little more |
mjr | 17:ab3cec0c8bf4 | 1297 | // efficient at run-time. There's no need for a true virtual interface |
mjr | 17:ab3cec0c8bf4 | 1298 | // because we don't need to be able to change sensor types on the fly. |
mjr | 17:ab3cec0c8bf4 | 1299 | // |
mjr | 17:ab3cec0c8bf4 | 1300 | |
mjr | 22:71422c359f2a | 1301 | #if defined(ENABLE_CCD_SENSOR) |
mjr | 17:ab3cec0c8bf4 | 1302 | #include "ccdSensor.h" |
mjr | 22:71422c359f2a | 1303 | #elif defined(ENABLE_POT_SENSOR) |
mjr | 17:ab3cec0c8bf4 | 1304 | #include "potSensor.h" |
mjr | 17:ab3cec0c8bf4 | 1305 | #else |
mjr | 17:ab3cec0c8bf4 | 1306 | #include "nullSensor.h" |
mjr | 17:ab3cec0c8bf4 | 1307 | #endif |
mjr | 17:ab3cec0c8bf4 | 1308 | |
mjr | 17:ab3cec0c8bf4 | 1309 | |
mjr | 17:ab3cec0c8bf4 | 1310 | // --------------------------------------------------------------------------- |
mjr | 17:ab3cec0c8bf4 | 1311 | // |
mjr | 17:ab3cec0c8bf4 | 1312 | // Non-volatile memory (NVM) |
mjr | 17:ab3cec0c8bf4 | 1313 | // |
mjr | 17:ab3cec0c8bf4 | 1314 | |
mjr | 17:ab3cec0c8bf4 | 1315 | // Structure defining our NVM storage layout. We store a small |
mjr | 17:ab3cec0c8bf4 | 1316 | // amount of persistent data in flash memory to retain calibration |
mjr | 17:ab3cec0c8bf4 | 1317 | // data when powered off. |
mjr | 17:ab3cec0c8bf4 | 1318 | struct NVM |
mjr | 17:ab3cec0c8bf4 | 1319 | { |
mjr | 17:ab3cec0c8bf4 | 1320 | // checksum - we use this to determine if the flash record |
mjr | 17:ab3cec0c8bf4 | 1321 | // has been properly initialized |
mjr | 17:ab3cec0c8bf4 | 1322 | uint32_t checksum; |
mjr | 17:ab3cec0c8bf4 | 1323 | |
mjr | 17:ab3cec0c8bf4 | 1324 | // signature value |
mjr | 17:ab3cec0c8bf4 | 1325 | static const uint32_t SIGNATURE = 0x4D4A522A; |
mjr | 17:ab3cec0c8bf4 | 1326 | static const uint16_t VERSION = 0x0003; |
mjr | 17:ab3cec0c8bf4 | 1327 | |
mjr | 17:ab3cec0c8bf4 | 1328 | // Is the data structure valid? We test the signature and |
mjr | 17:ab3cec0c8bf4 | 1329 | // checksum to determine if we've been properly stored. |
mjr | 17:ab3cec0c8bf4 | 1330 | int valid() const |
mjr | 17:ab3cec0c8bf4 | 1331 | { |
mjr | 17:ab3cec0c8bf4 | 1332 | return (d.sig == SIGNATURE |
mjr | 17:ab3cec0c8bf4 | 1333 | && d.vsn == VERSION |
mjr | 17:ab3cec0c8bf4 | 1334 | && d.sz == sizeof(NVM) |
mjr | 17:ab3cec0c8bf4 | 1335 | && checksum == CRC32(&d, sizeof(d))); |
mjr | 17:ab3cec0c8bf4 | 1336 | } |
mjr | 17:ab3cec0c8bf4 | 1337 | |
mjr | 17:ab3cec0c8bf4 | 1338 | // save to non-volatile memory |
mjr | 17:ab3cec0c8bf4 | 1339 | void save(FreescaleIAP &iap, int addr) |
mjr | 17:ab3cec0c8bf4 | 1340 | { |
mjr | 17:ab3cec0c8bf4 | 1341 | // update the checksum and structure size |
mjr | 17:ab3cec0c8bf4 | 1342 | checksum = CRC32(&d, sizeof(d)); |
mjr | 17:ab3cec0c8bf4 | 1343 | d.sz = sizeof(NVM); |
mjr | 17:ab3cec0c8bf4 | 1344 | |
mjr | 17:ab3cec0c8bf4 | 1345 | // erase the sector |
mjr | 17:ab3cec0c8bf4 | 1346 | iap.erase_sector(addr); |
mjr | 17:ab3cec0c8bf4 | 1347 | |
mjr | 17:ab3cec0c8bf4 | 1348 | // save the data |
mjr | 17:ab3cec0c8bf4 | 1349 | iap.program_flash(addr, this, sizeof(*this)); |
mjr | 17:ab3cec0c8bf4 | 1350 | } |
mjr | 17:ab3cec0c8bf4 | 1351 | |
mjr | 17:ab3cec0c8bf4 | 1352 | // reset calibration data for calibration mode |
mjr | 17:ab3cec0c8bf4 | 1353 | void resetPlunger() |
mjr | 17:ab3cec0c8bf4 | 1354 | { |
mjr | 17:ab3cec0c8bf4 | 1355 | // set extremes for the calibration data |
mjr | 17:ab3cec0c8bf4 | 1356 | d.plungerMax = 0; |
mjr | 17:ab3cec0c8bf4 | 1357 | d.plungerZero = npix; |
mjr | 17:ab3cec0c8bf4 | 1358 | d.plungerMin = npix; |
mjr | 17:ab3cec0c8bf4 | 1359 | } |
mjr | 17:ab3cec0c8bf4 | 1360 | |
mjr | 17:ab3cec0c8bf4 | 1361 | // stored data (excluding the checksum) |
mjr | 17:ab3cec0c8bf4 | 1362 | struct |
mjr | 17:ab3cec0c8bf4 | 1363 | { |
mjr | 17:ab3cec0c8bf4 | 1364 | // Signature, structure version, and structure size - further verification |
mjr | 17:ab3cec0c8bf4 | 1365 | // that we have valid initialized data. The size is a simple proxy for a |
mjr | 17:ab3cec0c8bf4 | 1366 | // structure version, as the most common type of change to the structure as |
mjr | 17:ab3cec0c8bf4 | 1367 | // the software evolves will be the addition of new elements. We also |
mjr | 17:ab3cec0c8bf4 | 1368 | // provide an explicit version number that we can update manually if we |
mjr | 17:ab3cec0c8bf4 | 1369 | // make any changes that don't affect the structure size but would affect |
mjr | 17:ab3cec0c8bf4 | 1370 | // compatibility with a saved record (e.g., swapping two existing elements). |
mjr | 17:ab3cec0c8bf4 | 1371 | uint32_t sig; |
mjr | 17:ab3cec0c8bf4 | 1372 | uint16_t vsn; |
mjr | 17:ab3cec0c8bf4 | 1373 | int sz; |
mjr | 17:ab3cec0c8bf4 | 1374 | |
mjr | 17:ab3cec0c8bf4 | 1375 | // has the plunger been manually calibrated? |
mjr | 17:ab3cec0c8bf4 | 1376 | int plungerCal; |
mjr | 17:ab3cec0c8bf4 | 1377 | |
mjr | 17:ab3cec0c8bf4 | 1378 | // Plunger calibration min, zero, and max. The zero point is the |
mjr | 17:ab3cec0c8bf4 | 1379 | // rest position (aka park position), where it's in equilibrium between |
mjr | 17:ab3cec0c8bf4 | 1380 | // the main spring and the barrel spring. It can travel a small distance |
mjr | 17:ab3cec0c8bf4 | 1381 | // forward of the rest position, because the barrel spring can be |
mjr | 17:ab3cec0c8bf4 | 1382 | // compressed by the user pushing on the plunger or by the momentum |
mjr | 17:ab3cec0c8bf4 | 1383 | // of a release motion. The minimum is the maximum forward point where |
mjr | 17:ab3cec0c8bf4 | 1384 | // the barrel spring can't be compressed any further. |
mjr | 17:ab3cec0c8bf4 | 1385 | int plungerMin; |
mjr | 17:ab3cec0c8bf4 | 1386 | int plungerZero; |
mjr | 17:ab3cec0c8bf4 | 1387 | int plungerMax; |
mjr | 17:ab3cec0c8bf4 | 1388 | |
mjr | 17:ab3cec0c8bf4 | 1389 | // is the plunger sensor enabled? |
mjr | 17:ab3cec0c8bf4 | 1390 | int plungerEnabled; |
mjr | 17:ab3cec0c8bf4 | 1391 | |
mjr | 17:ab3cec0c8bf4 | 1392 | // LedWiz unit number |
mjr | 17:ab3cec0c8bf4 | 1393 | uint8_t ledWizUnitNo; |
mjr | 17:ab3cec0c8bf4 | 1394 | } d; |
mjr | 17:ab3cec0c8bf4 | 1395 | }; |
mjr | 17:ab3cec0c8bf4 | 1396 | |
mjr | 35:d832bcab089e | 1397 | // --------------------------------------------------------------------------- |
mjr | 35:d832bcab089e | 1398 | // |
mjr | 35:d832bcab089e | 1399 | // Simple binary (on/off) input debouncer. Requires an input to be stable |
mjr | 35:d832bcab089e | 1400 | // for a given interval before allowing an update. |
mjr | 35:d832bcab089e | 1401 | // |
mjr | 35:d832bcab089e | 1402 | class Debouncer |
mjr | 35:d832bcab089e | 1403 | { |
mjr | 35:d832bcab089e | 1404 | public: |
mjr | 35:d832bcab089e | 1405 | Debouncer(bool initVal, float tmin) |
mjr | 35:d832bcab089e | 1406 | { |
mjr | 35:d832bcab089e | 1407 | t.start(); |
mjr | 35:d832bcab089e | 1408 | this->stable = this->prv = initVal; |
mjr | 35:d832bcab089e | 1409 | this->tmin = tmin; |
mjr | 35:d832bcab089e | 1410 | } |
mjr | 35:d832bcab089e | 1411 | |
mjr | 35:d832bcab089e | 1412 | // Get the current stable value |
mjr | 35:d832bcab089e | 1413 | bool val() const { return stable; } |
mjr | 35:d832bcab089e | 1414 | |
mjr | 35:d832bcab089e | 1415 | // Apply a new sample. This tells us the new raw reading from the |
mjr | 35:d832bcab089e | 1416 | // input device. |
mjr | 35:d832bcab089e | 1417 | void sampleIn(bool val) |
mjr | 35:d832bcab089e | 1418 | { |
mjr | 35:d832bcab089e | 1419 | // If the new raw reading is different from the previous |
mjr | 35:d832bcab089e | 1420 | // raw reading, we've detected an edge - start the clock |
mjr | 35:d832bcab089e | 1421 | // on the sample reader. |
mjr | 35:d832bcab089e | 1422 | if (val != prv) |
mjr | 35:d832bcab089e | 1423 | { |
mjr | 35:d832bcab089e | 1424 | // we have an edge - reset the sample clock |
mjr | 35:d832bcab089e | 1425 | t.reset(); |
mjr | 35:d832bcab089e | 1426 | |
mjr | 35:d832bcab089e | 1427 | // this is now the previous raw sample for nxt time |
mjr | 35:d832bcab089e | 1428 | prv = val; |
mjr | 35:d832bcab089e | 1429 | } |
mjr | 35:d832bcab089e | 1430 | else if (val != stable) |
mjr | 35:d832bcab089e | 1431 | { |
mjr | 35:d832bcab089e | 1432 | // The new raw sample is the same as the last raw sample, |
mjr | 35:d832bcab089e | 1433 | // and different from the stable value. This means that |
mjr | 35:d832bcab089e | 1434 | // the sample value has been the same for the time currently |
mjr | 35:d832bcab089e | 1435 | // indicated by our timer. If enough time has elapsed to |
mjr | 35:d832bcab089e | 1436 | // consider the value stable, apply the new value. |
mjr | 35:d832bcab089e | 1437 | if (t.read() > tmin) |
mjr | 35:d832bcab089e | 1438 | stable = val; |
mjr | 35:d832bcab089e | 1439 | } |
mjr | 35:d832bcab089e | 1440 | } |
mjr | 35:d832bcab089e | 1441 | |
mjr | 35:d832bcab089e | 1442 | private: |
mjr | 35:d832bcab089e | 1443 | // current stable value |
mjr | 35:d832bcab089e | 1444 | bool stable; |
mjr | 35:d832bcab089e | 1445 | |
mjr | 35:d832bcab089e | 1446 | // last raw sample value |
mjr | 35:d832bcab089e | 1447 | bool prv; |
mjr | 35:d832bcab089e | 1448 | |
mjr | 35:d832bcab089e | 1449 | // elapsed time since last raw input change |
mjr | 35:d832bcab089e | 1450 | Timer t; |
mjr | 35:d832bcab089e | 1451 | |
mjr | 35:d832bcab089e | 1452 | // Minimum time interval for stability, in seconds. Input readings |
mjr | 35:d832bcab089e | 1453 | // must be stable for this long before the stable value is updated. |
mjr | 35:d832bcab089e | 1454 | float tmin; |
mjr | 35:d832bcab089e | 1455 | }; |
mjr | 35:d832bcab089e | 1456 | |
mjr | 35:d832bcab089e | 1457 | |
mjr | 35:d832bcab089e | 1458 | // --------------------------------------------------------------------------- |
mjr | 35:d832bcab089e | 1459 | // |
mjr | 35:d832bcab089e | 1460 | // Turn off all outputs and restore everything to the default LedWiz |
mjr | 35:d832bcab089e | 1461 | // state. This sets outputs #1-32 to LedWiz profile value 48 (full |
mjr | 35:d832bcab089e | 1462 | // brightness) and switch state Off, sets all extended outputs (#33 |
mjr | 35:d832bcab089e | 1463 | // and above) to zero brightness, and sets the LedWiz flash rate to 2. |
mjr | 35:d832bcab089e | 1464 | // This effectively restores the power-on conditions. |
mjr | 35:d832bcab089e | 1465 | // |
mjr | 35:d832bcab089e | 1466 | void allOutputsOff() |
mjr | 35:d832bcab089e | 1467 | { |
mjr | 35:d832bcab089e | 1468 | // reset all LedWiz outputs to OFF/48 |
mjr | 35:d832bcab089e | 1469 | for (int i = 0 ; i < 32 ; ++i) |
mjr | 35:d832bcab089e | 1470 | { |
mjr | 35:d832bcab089e | 1471 | outLevel[i] = 0; |
mjr | 35:d832bcab089e | 1472 | wizOn[i] = 0; |
mjr | 35:d832bcab089e | 1473 | wizVal[i] = 48; |
mjr | 35:d832bcab089e | 1474 | lwPin[i]->set(0); |
mjr | 35:d832bcab089e | 1475 | } |
mjr | 35:d832bcab089e | 1476 | |
mjr | 35:d832bcab089e | 1477 | // reset all extended outputs (ports >32) to full off (brightness 0) |
mjr | 35:d832bcab089e | 1478 | for (int i = 32 ; i < numOutputs ; ++i) |
mjr | 35:d832bcab089e | 1479 | { |
mjr | 35:d832bcab089e | 1480 | outLevel[i] = 0; |
mjr | 35:d832bcab089e | 1481 | lwPin[i]->set(0); |
mjr | 35:d832bcab089e | 1482 | } |
mjr | 35:d832bcab089e | 1483 | |
mjr | 35:d832bcab089e | 1484 | // restore default LedWiz flash rate |
mjr | 35:d832bcab089e | 1485 | wizSpeed = 2; |
mjr | 35:d832bcab089e | 1486 | } |
mjr | 35:d832bcab089e | 1487 | |
mjr | 35:d832bcab089e | 1488 | // --------------------------------------------------------------------------- |
mjr | 35:d832bcab089e | 1489 | // |
mjr | 35:d832bcab089e | 1490 | // TV ON timer. If this feature is enabled, we toggle a TV power switch |
mjr | 35:d832bcab089e | 1491 | // relay (connected to a GPIO pin) to turn on the cab's TV monitors shortly |
mjr | 35:d832bcab089e | 1492 | // after the system is powered. This is useful for TVs that don't remember |
mjr | 35:d832bcab089e | 1493 | // their power state and don't turn back on automatically after being |
mjr | 35:d832bcab089e | 1494 | // unplugged and plugged in again. This feature requires external |
mjr | 35:d832bcab089e | 1495 | // circuitry, which is built in to the expansion board and can also be |
mjr | 35:d832bcab089e | 1496 | // built separately - see the Build Guide for the circuit plan. |
mjr | 35:d832bcab089e | 1497 | // |
mjr | 35:d832bcab089e | 1498 | // Theory of operation: to use this feature, the cabinet must have a |
mjr | 35:d832bcab089e | 1499 | // secondary PC-style power supply (PSU2) for the feedback devices, and |
mjr | 35:d832bcab089e | 1500 | // this secondary supply must be plugged in to the same power strip or |
mjr | 35:d832bcab089e | 1501 | // switched outlet that controls power to the TVs. This lets us use PSU2 |
mjr | 35:d832bcab089e | 1502 | // as a proxy for the TV power state - when PSU2 is on, the TV outlet is |
mjr | 35:d832bcab089e | 1503 | // powered, and when PSU2 is off, the TV outlet is off. We use a little |
mjr | 35:d832bcab089e | 1504 | // latch circuit powered by PSU2 to monitor the status. The latch has a |
mjr | 35:d832bcab089e | 1505 | // current state, ON or OFF, that we can read via a GPIO input pin, and |
mjr | 35:d832bcab089e | 1506 | // we can set the state to ON by pulsing a separate GPIO output pin. As |
mjr | 35:d832bcab089e | 1507 | // long as PSU2 is powered off, the latch stays in the OFF state, even if |
mjr | 35:d832bcab089e | 1508 | // we try to set it by pulsing the SET pin. When PSU2 is turned on after |
mjr | 35:d832bcab089e | 1509 | // being off, the latch starts receiving power but stays in the OFF state, |
mjr | 35:d832bcab089e | 1510 | // since this is the initial condition when the power first comes on. So |
mjr | 35:d832bcab089e | 1511 | // if our latch state pin is reading OFF, we know that PSU2 is either off |
mjr | 35:d832bcab089e | 1512 | // now or *was* off some time since we last checked. We use a timer to |
mjr | 35:d832bcab089e | 1513 | // check the state periodically. Each time we see the state is OFF, we |
mjr | 35:d832bcab089e | 1514 | // try pulsing the SET pin. If the state still reads as OFF, we know |
mjr | 35:d832bcab089e | 1515 | // that PSU2 is currently off; if the state changes to ON, though, we |
mjr | 35:d832bcab089e | 1516 | // know that PSU2 has gone from OFF to ON some time between now and the |
mjr | 35:d832bcab089e | 1517 | // previous check. When we see this condition, we start a countdown |
mjr | 35:d832bcab089e | 1518 | // timer, and pulse the TV switch relay when the countdown ends. |
mjr | 35:d832bcab089e | 1519 | // |
mjr | 35:d832bcab089e | 1520 | // This scheme might seem a little convoluted, but it neatly handles |
mjr | 35:d832bcab089e | 1521 | // all of the different cases that can occur: |
mjr | 35:d832bcab089e | 1522 | // |
mjr | 35:d832bcab089e | 1523 | // - Most cabinets systems are set up with "soft" PC power switches, |
mjr | 35:d832bcab089e | 1524 | // so that the PC goes into "Soft Off" mode (ACPI state S5, in Windows |
mjr | 35:d832bcab089e | 1525 | // parlance) when the user turns off the cabinet. In this state, the |
mjr | 35:d832bcab089e | 1526 | // motherboard supplies power to USB devices, so the KL25Z continues |
mjr | 35:d832bcab089e | 1527 | // running without interruption. The latch system lets us monitor |
mjr | 35:d832bcab089e | 1528 | // the power state even when we're never rebooted, since the latch |
mjr | 35:d832bcab089e | 1529 | // will turn off when PSU2 is off regardless of what the KL25Z is doing. |
mjr | 35:d832bcab089e | 1530 | // |
mjr | 35:d832bcab089e | 1531 | // - Some cabinet builders might prefer to use "hard" power switches, |
mjr | 35:d832bcab089e | 1532 | // cutting all power to the cabinet, including the PC motherboard (and |
mjr | 35:d832bcab089e | 1533 | // thus the KL25Z) every time the machine is turned off. This also |
mjr | 35:d832bcab089e | 1534 | // applies to the "soft" switch case above when the cabinet is unplugged, |
mjr | 35:d832bcab089e | 1535 | // a power outage occurs, etc. In these cases, the KL25Z will do a cold |
mjr | 35:d832bcab089e | 1536 | // boot when the PC is turned on. We don't know whether the KL25Z |
mjr | 35:d832bcab089e | 1537 | // will power up before or after PSU2, so it's not good enough to |
mjr | 35:d832bcab089e | 1538 | // observe the *current* state of PSU2 when we first check - if PSU2 |
mjr | 35:d832bcab089e | 1539 | // were to come on first, checking the current state alone would fool |
mjr | 35:d832bcab089e | 1540 | // us into thinking that no action is required, because we would never |
mjr | 35:d832bcab089e | 1541 | // have known that PSU2 was ever off. The latch handles this case by |
mjr | 35:d832bcab089e | 1542 | // letting us see that PSU2 *was* off before we checked. |
mjr | 35:d832bcab089e | 1543 | // |
mjr | 35:d832bcab089e | 1544 | // - If the KL25Z is rebooted while the main system is running, or the |
mjr | 35:d832bcab089e | 1545 | // KL25Z is unplugged and plugged back in, we will correctly leave the |
mjr | 35:d832bcab089e | 1546 | // TVs as they are. The latch state is independent of the KL25Z's |
mjr | 35:d832bcab089e | 1547 | // power or software state, so it's won't affect the latch state when |
mjr | 35:d832bcab089e | 1548 | // the KL25Z is unplugged or rebooted; when we boot, we'll see that |
mjr | 35:d832bcab089e | 1549 | // the latch is already on and that we don't have to turn on the TVs. |
mjr | 35:d832bcab089e | 1550 | // This is important because TV ON buttons are usually on/off toggles, |
mjr | 35:d832bcab089e | 1551 | // so we don't want to push the button on a TV that's already on. |
mjr | 35:d832bcab089e | 1552 | // |
mjr | 35:d832bcab089e | 1553 | // |
mjr | 35:d832bcab089e | 1554 | #ifdef ENABLE_TV_TIMER |
mjr | 35:d832bcab089e | 1555 | |
mjr | 35:d832bcab089e | 1556 | // Current PSU2 state: |
mjr | 35:d832bcab089e | 1557 | // 1 -> default: latch was on at last check, or we haven't checked yet |
mjr | 35:d832bcab089e | 1558 | // 2 -> latch was off at last check, SET pulsed high |
mjr | 35:d832bcab089e | 1559 | // 3 -> SET pulsed low, ready to check status |
mjr | 35:d832bcab089e | 1560 | // 4 -> TV timer countdown in progress |
mjr | 35:d832bcab089e | 1561 | // 5 -> TV relay on |
mjr | 35:d832bcab089e | 1562 | // |
mjr | 35:d832bcab089e | 1563 | int psu2_state = 1; |
mjr | 35:d832bcab089e | 1564 | DigitalIn psu2_status_sense(PSU2_STATUS_SENSE); |
mjr | 35:d832bcab089e | 1565 | DigitalOut psu2_status_set(PSU2_STATUS_SET); |
mjr | 35:d832bcab089e | 1566 | DigitalOut tv_relay(TV_RELAY_PIN); |
mjr | 35:d832bcab089e | 1567 | Timer tv_timer; |
mjr | 35:d832bcab089e | 1568 | void TVTimerInt() |
mjr | 35:d832bcab089e | 1569 | { |
mjr | 35:d832bcab089e | 1570 | // Check our internal state |
mjr | 35:d832bcab089e | 1571 | switch (psu2_state) |
mjr | 35:d832bcab089e | 1572 | { |
mjr | 35:d832bcab089e | 1573 | case 1: |
mjr | 35:d832bcab089e | 1574 | // Default state. This means that the latch was on last |
mjr | 35:d832bcab089e | 1575 | // time we checked or that this is the first check. In |
mjr | 35:d832bcab089e | 1576 | // either case, if the latch is off, switch to state 2 and |
mjr | 35:d832bcab089e | 1577 | // try pulsing the latch. Next time we check, if the latch |
mjr | 35:d832bcab089e | 1578 | // stuck, it means that PSU2 is now on after being off. |
mjr | 35:d832bcab089e | 1579 | if (!psu2_status_sense) |
mjr | 35:d832bcab089e | 1580 | { |
mjr | 35:d832bcab089e | 1581 | // switch to OFF state |
mjr | 35:d832bcab089e | 1582 | psu2_state = 2; |
mjr | 35:d832bcab089e | 1583 | |
mjr | 35:d832bcab089e | 1584 | // try setting the latch |
mjr | 35:d832bcab089e | 1585 | psu2_status_set = 1; |
mjr | 35:d832bcab089e | 1586 | } |
mjr | 35:d832bcab089e | 1587 | break; |
mjr | 35:d832bcab089e | 1588 | |
mjr | 35:d832bcab089e | 1589 | case 2: |
mjr | 35:d832bcab089e | 1590 | // PSU2 was off last time we checked, and we tried setting |
mjr | 35:d832bcab089e | 1591 | // the latch. Drop the SET signal and go to CHECK state. |
mjr | 35:d832bcab089e | 1592 | psu2_status_set = 0; |
mjr | 35:d832bcab089e | 1593 | psu2_state = 3; |
mjr | 35:d832bcab089e | 1594 | break; |
mjr | 35:d832bcab089e | 1595 | |
mjr | 35:d832bcab089e | 1596 | case 3: |
mjr | 35:d832bcab089e | 1597 | // CHECK state: we pulsed SET, and we're now ready to see |
mjr | 35:d832bcab089e | 1598 | // if that stuck. If the latch is now on, PSU2 has transitioned |
mjr | 35:d832bcab089e | 1599 | // from OFF to ON, so start the TV countdown. If the latch is |
mjr | 35:d832bcab089e | 1600 | // off, our SET command didn't stick, so PSU2 is still off. |
mjr | 35:d832bcab089e | 1601 | if (psu2_status_sense) |
mjr | 35:d832bcab089e | 1602 | { |
mjr | 35:d832bcab089e | 1603 | // The latch stuck, so PSU2 has transitioned from OFF |
mjr | 35:d832bcab089e | 1604 | // to ON. Start the TV countdown timer. |
mjr | 35:d832bcab089e | 1605 | tv_timer.reset(); |
mjr | 35:d832bcab089e | 1606 | tv_timer.start(); |
mjr | 35:d832bcab089e | 1607 | psu2_state = 4; |
mjr | 35:d832bcab089e | 1608 | } |
mjr | 35:d832bcab089e | 1609 | else |
mjr | 35:d832bcab089e | 1610 | { |
mjr | 35:d832bcab089e | 1611 | // The latch didn't stick, so PSU2 was still off at |
mjr | 35:d832bcab089e | 1612 | // our last check. Try pulsing it again in case PSU2 |
mjr | 35:d832bcab089e | 1613 | // was turned on since the last check. |
mjr | 35:d832bcab089e | 1614 | psu2_status_set = 1; |
mjr | 35:d832bcab089e | 1615 | psu2_state = 2; |
mjr | 35:d832bcab089e | 1616 | } |
mjr | 35:d832bcab089e | 1617 | break; |
mjr | 35:d832bcab089e | 1618 | |
mjr | 35:d832bcab089e | 1619 | case 4: |
mjr | 35:d832bcab089e | 1620 | // TV timer countdown in progress. If we've reached the |
mjr | 35:d832bcab089e | 1621 | // delay time, pulse the relay. |
mjr | 35:d832bcab089e | 1622 | if (tv_timer.read() >= TV_DELAY_TIME) |
mjr | 35:d832bcab089e | 1623 | { |
mjr | 35:d832bcab089e | 1624 | // turn on the relay for one timer interval |
mjr | 35:d832bcab089e | 1625 | tv_relay = 1; |
mjr | 35:d832bcab089e | 1626 | psu2_state = 5; |
mjr | 35:d832bcab089e | 1627 | } |
mjr | 35:d832bcab089e | 1628 | break; |
mjr | 35:d832bcab089e | 1629 | |
mjr | 35:d832bcab089e | 1630 | case 5: |
mjr | 35:d832bcab089e | 1631 | // TV timer relay on. We pulse this for one interval, so |
mjr | 35:d832bcab089e | 1632 | // it's now time to turn it off and return to the default state. |
mjr | 35:d832bcab089e | 1633 | tv_relay = 0; |
mjr | 35:d832bcab089e | 1634 | psu2_state = 1; |
mjr | 35:d832bcab089e | 1635 | break; |
mjr | 35:d832bcab089e | 1636 | } |
mjr | 35:d832bcab089e | 1637 | } |
mjr | 35:d832bcab089e | 1638 | |
mjr | 35:d832bcab089e | 1639 | Ticker tv_ticker; |
mjr | 35:d832bcab089e | 1640 | void startTVTimer() |
mjr | 35:d832bcab089e | 1641 | { |
mjr | 35:d832bcab089e | 1642 | // Set up our time routine to run every 1/4 second. |
mjr | 35:d832bcab089e | 1643 | tv_ticker.attach(&TVTimerInt, 0.25); |
mjr | 35:d832bcab089e | 1644 | } |
mjr | 35:d832bcab089e | 1645 | |
mjr | 35:d832bcab089e | 1646 | |
mjr | 35:d832bcab089e | 1647 | #else // ENABLE_TV_TIMER |
mjr | 35:d832bcab089e | 1648 | // |
mjr | 35:d832bcab089e | 1649 | // TV timer not used - just provide a dummy startup function |
mjr | 35:d832bcab089e | 1650 | void startTVTimer() { } |
mjr | 35:d832bcab089e | 1651 | // |
mjr | 35:d832bcab089e | 1652 | #endif // ENABLE_TV_TIMER |
mjr | 35:d832bcab089e | 1653 | |
mjr | 17:ab3cec0c8bf4 | 1654 | |
mjr | 17:ab3cec0c8bf4 | 1655 | // --------------------------------------------------------------------------- |
mjr | 17:ab3cec0c8bf4 | 1656 | // |
mjr | 5:a70c0bce770d | 1657 | // Main program loop. This is invoked on startup and runs forever. Our |
mjr | 5:a70c0bce770d | 1658 | // main work is to read our devices (the accelerometer and the CCD), process |
mjr | 5:a70c0bce770d | 1659 | // the readings into nudge and plunger position data, and send the results |
mjr | 5:a70c0bce770d | 1660 | // to the host computer via the USB joystick interface. We also monitor |
mjr | 5:a70c0bce770d | 1661 | // the USB connection for incoming LedWiz commands and process those into |
mjr | 5:a70c0bce770d | 1662 | // port outputs. |
mjr | 5:a70c0bce770d | 1663 | // |
mjr | 0:5acbbe3f4cf4 | 1664 | int main(void) |
mjr | 0:5acbbe3f4cf4 | 1665 | { |
mjr | 1:d913e0afb2ac | 1666 | // turn off our on-board indicator LED |
mjr | 4:02c7cd7b2183 | 1667 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 1668 | ledG = 1; |
mjr | 4:02c7cd7b2183 | 1669 | ledB = 1; |
mjr | 1:d913e0afb2ac | 1670 | |
mjr | 35:d832bcab089e | 1671 | // start the TV timer, if applicable |
mjr | 35:d832bcab089e | 1672 | startTVTimer(); |
mjr | 35:d832bcab089e | 1673 | |
mjr | 35:d832bcab089e | 1674 | // we're not connected/awake yet |
mjr | 35:d832bcab089e | 1675 | bool connected = false; |
mjr | 35:d832bcab089e | 1676 | time_t connectChangeTime = time(0); |
mjr | 35:d832bcab089e | 1677 | |
mjr | 35:d832bcab089e | 1678 | #if TLC5940_NCHIPS |
mjr | 35:d832bcab089e | 1679 | // start the TLC5940 clock |
mjr | 35:d832bcab089e | 1680 | for (int i = 0 ; i < numOutputs ; ++i) lwPin[i]->set(1.0); |
mjr | 35:d832bcab089e | 1681 | tlc5940.start(); |
mjr | 35:d832bcab089e | 1682 | |
mjr | 35:d832bcab089e | 1683 | // enable power to the TLC5940 opto/LED outputs |
mjr | 35:d832bcab089e | 1684 | # ifdef TLC5940_PWRENA |
mjr | 35:d832bcab089e | 1685 | DigitalOut tlcPwrEna(TLC5940_PWRENA); |
mjr | 35:d832bcab089e | 1686 | tlcPwrEna = 1; |
mjr | 35:d832bcab089e | 1687 | # endif |
mjr | 35:d832bcab089e | 1688 | #endif |
mjr | 35:d832bcab089e | 1689 | |
mjr | 6:cc35eb643e8f | 1690 | // initialize the LedWiz ports |
mjr | 6:cc35eb643e8f | 1691 | initLwOut(); |
mjr | 6:cc35eb643e8f | 1692 | |
mjr | 11:bd9da7088e6e | 1693 | // initialize the button input ports |
mjr | 11:bd9da7088e6e | 1694 | initButtons(); |
mjr | 35:d832bcab089e | 1695 | |
mjr | 6:cc35eb643e8f | 1696 | // we don't need a reset yet |
mjr | 6:cc35eb643e8f | 1697 | bool needReset = false; |
mjr | 6:cc35eb643e8f | 1698 | |
mjr | 5:a70c0bce770d | 1699 | // clear the I2C bus for the accelerometer |
mjr | 5:a70c0bce770d | 1700 | clear_i2c(); |
mjr | 5:a70c0bce770d | 1701 | |
mjr | 2:c174f9ee414a | 1702 | // set up a flash memory controller |
mjr | 2:c174f9ee414a | 1703 | FreescaleIAP iap; |
mjr | 2:c174f9ee414a | 1704 | |
mjr | 2:c174f9ee414a | 1705 | // use the last sector of flash for our non-volatile memory structure |
mjr | 2:c174f9ee414a | 1706 | int flash_addr = (iap.flash_size() - SECTOR_SIZE); |
mjr | 2:c174f9ee414a | 1707 | NVM *flash = (NVM *)flash_addr; |
mjr | 2:c174f9ee414a | 1708 | NVM cfg; |
mjr | 2:c174f9ee414a | 1709 | |
mjr | 2:c174f9ee414a | 1710 | // check for valid flash |
mjr | 6:cc35eb643e8f | 1711 | bool flash_valid = flash->valid(); |
mjr | 2:c174f9ee414a | 1712 | |
mjr | 2:c174f9ee414a | 1713 | // if the flash is valid, load it; otherwise initialize to defaults |
mjr | 2:c174f9ee414a | 1714 | if (flash_valid) { |
mjr | 2:c174f9ee414a | 1715 | memcpy(&cfg, flash, sizeof(cfg)); |
mjr | 6:cc35eb643e8f | 1716 | printf("Flash restored: plunger cal=%d, min=%d, zero=%d, max=%d\r\n", |
mjr | 6:cc35eb643e8f | 1717 | cfg.d.plungerCal, cfg.d.plungerMin, cfg.d.plungerZero, cfg.d.plungerMax); |
mjr | 2:c174f9ee414a | 1718 | } |
mjr | 2:c174f9ee414a | 1719 | else { |
mjr | 2:c174f9ee414a | 1720 | printf("Factory reset\r\n"); |
mjr | 2:c174f9ee414a | 1721 | cfg.d.sig = cfg.SIGNATURE; |
mjr | 2:c174f9ee414a | 1722 | cfg.d.vsn = cfg.VERSION; |
mjr | 6:cc35eb643e8f | 1723 | cfg.d.plungerCal = 0; |
mjr | 17:ab3cec0c8bf4 | 1724 | cfg.d.plungerMin = 0; // assume we can go all the way forward... |
mjr | 17:ab3cec0c8bf4 | 1725 | cfg.d.plungerMax = npix; // ...and all the way back |
mjr | 17:ab3cec0c8bf4 | 1726 | cfg.d.plungerZero = npix/6; // the rest position is usually around 1/2" back |
mjr | 21:5048e16cc9ef | 1727 | cfg.d.ledWizUnitNo = DEFAULT_LEDWIZ_UNIT_NUMBER - 1; // unit numbering starts from 0 internally |
mjr | 21:5048e16cc9ef | 1728 | cfg.d.plungerEnabled = PLUNGER_CODE_ENABLED; |
mjr | 2:c174f9ee414a | 1729 | } |
mjr | 1:d913e0afb2ac | 1730 | |
mjr | 6:cc35eb643e8f | 1731 | // Create the joystick USB client. Note that we use the LedWiz unit |
mjr | 6:cc35eb643e8f | 1732 | // number from the saved configuration. |
mjr | 6:cc35eb643e8f | 1733 | MyUSBJoystick js( |
mjr | 6:cc35eb643e8f | 1734 | USB_VENDOR_ID, |
mjr | 35:d832bcab089e | 1735 | MAKE_USB_PRODUCT_ID(USB_VENDOR_ID, USB_PRODUCT_ID, cfg.d.ledWizUnitNo), |
mjr | 6:cc35eb643e8f | 1736 | USB_VERSION_NO); |
mjr | 17:ab3cec0c8bf4 | 1737 | |
mjr | 17:ab3cec0c8bf4 | 1738 | // last report timer - we use this to throttle reports, since VP |
mjr | 17:ab3cec0c8bf4 | 1739 | // doesn't want to hear from us more than about every 10ms |
mjr | 17:ab3cec0c8bf4 | 1740 | Timer reportTimer; |
mjr | 17:ab3cec0c8bf4 | 1741 | reportTimer.start(); |
mjr | 17:ab3cec0c8bf4 | 1742 | |
mjr | 17:ab3cec0c8bf4 | 1743 | // initialize the calibration buttons, if present |
mjr | 17:ab3cec0c8bf4 | 1744 | DigitalIn *calBtn = (CAL_BUTTON_PIN == NC ? 0 : new DigitalIn(CAL_BUTTON_PIN)); |
mjr | 17:ab3cec0c8bf4 | 1745 | DigitalOut *calBtnLed = (CAL_BUTTON_LED == NC ? 0 : new DigitalOut(CAL_BUTTON_LED)); |
mjr | 6:cc35eb643e8f | 1746 | |
mjr | 1:d913e0afb2ac | 1747 | // plunger calibration button debounce timer |
mjr | 1:d913e0afb2ac | 1748 | Timer calBtnTimer; |
mjr | 1:d913e0afb2ac | 1749 | calBtnTimer.start(); |
mjr | 1:d913e0afb2ac | 1750 | int calBtnLit = false; |
mjr | 1:d913e0afb2ac | 1751 | |
mjr | 1:d913e0afb2ac | 1752 | // Calibration button state: |
mjr | 1:d913e0afb2ac | 1753 | // 0 = not pushed |
mjr | 1:d913e0afb2ac | 1754 | // 1 = pushed, not yet debounced |
mjr | 1:d913e0afb2ac | 1755 | // 2 = pushed, debounced, waiting for hold time |
mjr | 1:d913e0afb2ac | 1756 | // 3 = pushed, hold time completed - in calibration mode |
mjr | 1:d913e0afb2ac | 1757 | int calBtnState = 0; |
mjr | 1:d913e0afb2ac | 1758 | |
mjr | 1:d913e0afb2ac | 1759 | // set up a timer for our heartbeat indicator |
mjr | 1:d913e0afb2ac | 1760 | Timer hbTimer; |
mjr | 1:d913e0afb2ac | 1761 | hbTimer.start(); |
mjr | 1:d913e0afb2ac | 1762 | int hb = 0; |
mjr | 5:a70c0bce770d | 1763 | uint16_t hbcnt = 0; |
mjr | 1:d913e0afb2ac | 1764 | |
mjr | 1:d913e0afb2ac | 1765 | // set a timer for accelerometer auto-centering |
mjr | 1:d913e0afb2ac | 1766 | Timer acTimer; |
mjr | 1:d913e0afb2ac | 1767 | acTimer.start(); |
mjr | 1:d913e0afb2ac | 1768 | |
mjr | 0:5acbbe3f4cf4 | 1769 | // create the accelerometer object |
mjr | 5:a70c0bce770d | 1770 | Accel accel(MMA8451_SCL_PIN, MMA8451_SDA_PIN, MMA8451_I2C_ADDRESS, MMA8451_INT_PIN); |
mjr | 0:5acbbe3f4cf4 | 1771 | |
mjr | 21:5048e16cc9ef | 1772 | #ifdef ENABLE_JOYSTICK |
mjr | 17:ab3cec0c8bf4 | 1773 | // last accelerometer report, in joystick units (we report the nudge |
mjr | 17:ab3cec0c8bf4 | 1774 | // acceleration via the joystick x & y axes, per the VP convention) |
mjr | 17:ab3cec0c8bf4 | 1775 | int x = 0, y = 0; |
mjr | 17:ab3cec0c8bf4 | 1776 | |
mjr | 21:5048e16cc9ef | 1777 | // flag: send a pixel dump after the next read |
mjr | 21:5048e16cc9ef | 1778 | bool reportPix = false; |
mjr | 21:5048e16cc9ef | 1779 | #endif |
mjr | 21:5048e16cc9ef | 1780 | |
mjr | 17:ab3cec0c8bf4 | 1781 | // create our plunger sensor object |
mjr | 17:ab3cec0c8bf4 | 1782 | PlungerSensor plungerSensor; |
mjr | 17:ab3cec0c8bf4 | 1783 | |
mjr | 17:ab3cec0c8bf4 | 1784 | // last plunger report position, in 'npix' normalized pixel units |
mjr | 17:ab3cec0c8bf4 | 1785 | int pos = 0; |
mjr | 17:ab3cec0c8bf4 | 1786 | |
mjr | 17:ab3cec0c8bf4 | 1787 | // last plunger report, in joystick units (we report the plunger as the |
mjr | 17:ab3cec0c8bf4 | 1788 | // "z" axis of the joystick, per the VP convention) |
mjr | 17:ab3cec0c8bf4 | 1789 | int z = 0; |
mjr | 17:ab3cec0c8bf4 | 1790 | |
mjr | 17:ab3cec0c8bf4 | 1791 | // most recent prior plunger readings, for tracking release events(z0 is |
mjr | 17:ab3cec0c8bf4 | 1792 | // reading just before the last one we reported, z1 is the one before that, |
mjr | 17:ab3cec0c8bf4 | 1793 | // z2 the next before that) |
mjr | 17:ab3cec0c8bf4 | 1794 | int z0 = 0, z1 = 0, z2 = 0; |
mjr | 17:ab3cec0c8bf4 | 1795 | |
mjr | 17:ab3cec0c8bf4 | 1796 | // Simulated "bounce" position when firing. We model the bounce off of |
mjr | 17:ab3cec0c8bf4 | 1797 | // the barrel spring when the plunger is released as proportional to the |
mjr | 17:ab3cec0c8bf4 | 1798 | // distance it was retracted just before being released. |
mjr | 17:ab3cec0c8bf4 | 1799 | int zBounce = 0; |
mjr | 2:c174f9ee414a | 1800 | |
mjr | 17:ab3cec0c8bf4 | 1801 | // Simulated Launch Ball button state. If a "ZB Launch Ball" port is |
mjr | 17:ab3cec0c8bf4 | 1802 | // defined for our LedWiz port mapping, any time that port is turned ON, |
mjr | 17:ab3cec0c8bf4 | 1803 | // we'll simulate pushing the Launch Ball button if the player pulls |
mjr | 17:ab3cec0c8bf4 | 1804 | // back and releases the plunger, or simply pushes on the plunger from |
mjr | 17:ab3cec0c8bf4 | 1805 | // the rest position. This allows the plunger to be used in lieu of a |
mjr | 17:ab3cec0c8bf4 | 1806 | // physical Launch Ball button for tables that don't have plungers. |
mjr | 17:ab3cec0c8bf4 | 1807 | // |
mjr | 17:ab3cec0c8bf4 | 1808 | // States: |
mjr | 17:ab3cec0c8bf4 | 1809 | // 0 = default |
mjr | 17:ab3cec0c8bf4 | 1810 | // 1 = cocked (plunger has been pulled back about 1" from state 0) |
mjr | 17:ab3cec0c8bf4 | 1811 | // 2 = uncocked (plunger is pulled back less than 1" from state 1) |
mjr | 21:5048e16cc9ef | 1812 | // 3 = launching, plunger is forward beyond park position |
mjr | 21:5048e16cc9ef | 1813 | // 4 = launching, plunger is behind park position |
mjr | 21:5048e16cc9ef | 1814 | // 5 = pressed and holding (plunger has been pressed forward beyond |
mjr | 21:5048e16cc9ef | 1815 | // the park position from state 0) |
mjr | 17:ab3cec0c8bf4 | 1816 | int lbState = 0; |
mjr | 6:cc35eb643e8f | 1817 | |
mjr | 17:ab3cec0c8bf4 | 1818 | // Time since last lbState transition. Some of the states are time- |
mjr | 17:ab3cec0c8bf4 | 1819 | // sensitive. In the "uncocked" state, we'll return to state 0 if |
mjr | 17:ab3cec0c8bf4 | 1820 | // we remain in this state for more than a few milliseconds, since |
mjr | 17:ab3cec0c8bf4 | 1821 | // it indicates that the plunger is being slowly returned to rest |
mjr | 17:ab3cec0c8bf4 | 1822 | // rather than released. In the "launching" state, we need to release |
mjr | 17:ab3cec0c8bf4 | 1823 | // the Launch Ball button after a moment, and we need to wait for |
mjr | 17:ab3cec0c8bf4 | 1824 | // the plunger to come to rest before returning to state 0. |
mjr | 17:ab3cec0c8bf4 | 1825 | Timer lbTimer; |
mjr | 17:ab3cec0c8bf4 | 1826 | lbTimer.start(); |
mjr | 17:ab3cec0c8bf4 | 1827 | |
mjr | 18:5e890ebd0023 | 1828 | // Launch Ball simulated push timer. We start this when we simulate |
mjr | 18:5e890ebd0023 | 1829 | // the button push, and turn off the simulated button when enough time |
mjr | 18:5e890ebd0023 | 1830 | // has elapsed. |
mjr | 18:5e890ebd0023 | 1831 | Timer lbBtnTimer; |
mjr | 18:5e890ebd0023 | 1832 | |
mjr | 17:ab3cec0c8bf4 | 1833 | // Simulated button states. This is a vector of button states |
mjr | 17:ab3cec0c8bf4 | 1834 | // for the simulated buttons. We combine this with the physical |
mjr | 17:ab3cec0c8bf4 | 1835 | // button states on each USB joystick report, so we will report |
mjr | 17:ab3cec0c8bf4 | 1836 | // a button as pressed if either the physical button is being pressed |
mjr | 17:ab3cec0c8bf4 | 1837 | // or we're simulating a press on the button. This is used for the |
mjr | 17:ab3cec0c8bf4 | 1838 | // simulated Launch Ball button. |
mjr | 17:ab3cec0c8bf4 | 1839 | uint32_t simButtons = 0; |
mjr | 6:cc35eb643e8f | 1840 | |
mjr | 6:cc35eb643e8f | 1841 | // Firing in progress: we set this when we detect the start of rapid |
mjr | 6:cc35eb643e8f | 1842 | // plunger movement from a retracted position towards the rest position. |
mjr | 17:ab3cec0c8bf4 | 1843 | // |
mjr | 17:ab3cec0c8bf4 | 1844 | // When we detect a firing event, we send VP a series of synthetic |
mjr | 17:ab3cec0c8bf4 | 1845 | // reports simulating the idealized plunger motion. The actual physical |
mjr | 17:ab3cec0c8bf4 | 1846 | // motion is much too fast to report to VP; in the time between two USB |
mjr | 17:ab3cec0c8bf4 | 1847 | // reports, the plunger can shoot all the way forward, rebound off of |
mjr | 17:ab3cec0c8bf4 | 1848 | // the barrel spring, bounce back part way, and bounce forward again, |
mjr | 17:ab3cec0c8bf4 | 1849 | // or even do all of this more than once. This means that sampling the |
mjr | 17:ab3cec0c8bf4 | 1850 | // physical motion at the USB report rate would create a misleading |
mjr | 17:ab3cec0c8bf4 | 1851 | // picture of the plunger motion, since our samples would catch the |
mjr | 17:ab3cec0c8bf4 | 1852 | // plunger at random points in this oscillating motion. From the |
mjr | 17:ab3cec0c8bf4 | 1853 | // user's perspective, the physical action that occurred is simply that |
mjr | 17:ab3cec0c8bf4 | 1854 | // the plunger was released from a particular distance, so it's this |
mjr | 17:ab3cec0c8bf4 | 1855 | // high-level event that we want to convey to VP. To do this, we |
mjr | 17:ab3cec0c8bf4 | 1856 | // synthesize a series of reports to convey an idealized version of |
mjr | 17:ab3cec0c8bf4 | 1857 | // the release motion that's perfectly synchronized to the VP reports. |
mjr | 17:ab3cec0c8bf4 | 1858 | // Essentially we pretend that our USB position samples are exactly |
mjr | 17:ab3cec0c8bf4 | 1859 | // aligned in time with (1) the point of retraction just before the |
mjr | 17:ab3cec0c8bf4 | 1860 | // user released the plunger, (2) the point of maximum forward motion |
mjr | 17:ab3cec0c8bf4 | 1861 | // just after the user released the plunger (the point of maximum |
mjr | 17:ab3cec0c8bf4 | 1862 | // compression as the plunger bounces off of the barrel spring), and |
mjr | 17:ab3cec0c8bf4 | 1863 | // (3) the plunger coming to rest at the park position. This series |
mjr | 17:ab3cec0c8bf4 | 1864 | // of reports is synthetic in the sense that it's not what we actually |
mjr | 17:ab3cec0c8bf4 | 1865 | // see on the CCD at the times of these reports - the true plunger |
mjr | 17:ab3cec0c8bf4 | 1866 | // position is oscillating at high speed during this period. But at |
mjr | 17:ab3cec0c8bf4 | 1867 | // the same time it conveys a more faithful picture of the true physical |
mjr | 17:ab3cec0c8bf4 | 1868 | // motion to VP, and allows VP to reproduce the true physical motion |
mjr | 17:ab3cec0c8bf4 | 1869 | // more faithfully in its simulation model, by correcting for the |
mjr | 17:ab3cec0c8bf4 | 1870 | // relatively low sampling rate in the communication path between the |
mjr | 17:ab3cec0c8bf4 | 1871 | // real plunger and VP's model plunger. |
mjr | 17:ab3cec0c8bf4 | 1872 | // |
mjr | 17:ab3cec0c8bf4 | 1873 | // If 'firing' is non-zero, it's the index of our current report in |
mjr | 17:ab3cec0c8bf4 | 1874 | // the synthetic firing report series. |
mjr | 9:fd65b0a94720 | 1875 | int firing = 0; |
mjr | 2:c174f9ee414a | 1876 | |
mjr | 2:c174f9ee414a | 1877 | // start the first CCD integration cycle |
mjr | 17:ab3cec0c8bf4 | 1878 | plungerSensor.init(); |
mjr | 9:fd65b0a94720 | 1879 | |
mjr | 9:fd65b0a94720 | 1880 | // Device status. We report this on each update so that the host config |
mjr | 9:fd65b0a94720 | 1881 | // tool can detect our current settings. This is a bit mask consisting |
mjr | 9:fd65b0a94720 | 1882 | // of these bits: |
mjr | 35:d832bcab089e | 1883 | // 0x0001 -> plunger sensor enabled |
mjr | 35:d832bcab089e | 1884 | // 0x8000 -> RESERVED - must always be zero |
mjr | 35:d832bcab089e | 1885 | // |
mjr | 35:d832bcab089e | 1886 | // Note that the high bit (0x8000) must always be 0, since we use that |
mjr | 35:d832bcab089e | 1887 | // to distinguish special request reply packets. |
mjr | 17:ab3cec0c8bf4 | 1888 | uint16_t statusFlags = (cfg.d.plungerEnabled ? 0x01 : 0x00); |
mjr | 10:976666ffa4ef | 1889 | |
mjr | 1:d913e0afb2ac | 1890 | // we're all set up - now just loop, processing sensor reports and |
mjr | 1:d913e0afb2ac | 1891 | // host requests |
mjr | 0:5acbbe3f4cf4 | 1892 | for (;;) |
mjr | 0:5acbbe3f4cf4 | 1893 | { |
mjr | 18:5e890ebd0023 | 1894 | // Look for an incoming report. Process a few input reports in |
mjr | 18:5e890ebd0023 | 1895 | // a row, but stop after a few so that a barrage of inputs won't |
mjr | 20:4c43877327ab | 1896 | // starve our output event processing. Also, pause briefly between |
mjr | 20:4c43877327ab | 1897 | // reads; allowing reads to occur back-to-back seems to occasionally |
mjr | 20:4c43877327ab | 1898 | // stall the USB pipeline (for reasons unknown; I'd fix the underlying |
mjr | 20:4c43877327ab | 1899 | // problem if I knew what it was). |
mjr | 0:5acbbe3f4cf4 | 1900 | HID_REPORT report; |
mjr | 20:4c43877327ab | 1901 | for (int rr = 0 ; rr < 4 && js.readNB(&report) ; ++rr, wait_ms(1)) |
mjr | 0:5acbbe3f4cf4 | 1902 | { |
mjr | 6:cc35eb643e8f | 1903 | // all Led-Wiz reports are 8 bytes exactly |
mjr | 6:cc35eb643e8f | 1904 | if (report.length == 8) |
mjr | 1:d913e0afb2ac | 1905 | { |
mjr | 35:d832bcab089e | 1906 | // LedWiz commands come in two varieties: SBA and PBA. An |
mjr | 35:d832bcab089e | 1907 | // SBA is marked by the first byte having value 64 (0x40). In |
mjr | 35:d832bcab089e | 1908 | // the real LedWiz protocol, any other value in the first byte |
mjr | 35:d832bcab089e | 1909 | // means it's a PBA message. However, *valid* PBA messages |
mjr | 35:d832bcab089e | 1910 | // always have a first byte (and in fact all 8 bytes) in the |
mjr | 35:d832bcab089e | 1911 | // range 0-49 or 129-132. Anything else is invalid. We take |
mjr | 35:d832bcab089e | 1912 | // advantage of this to implement private protocol extensions. |
mjr | 35:d832bcab089e | 1913 | // So our full protocol is as follows: |
mjr | 35:d832bcab089e | 1914 | // |
mjr | 35:d832bcab089e | 1915 | // first byte = |
mjr | 35:d832bcab089e | 1916 | // 0-48 -> LWZ-PBA |
mjr | 35:d832bcab089e | 1917 | // 64 -> LWZ SBA |
mjr | 35:d832bcab089e | 1918 | // 65 -> private control message; second byte specifies subtype |
mjr | 35:d832bcab089e | 1919 | // 129-132 -> LWZ-PBA |
mjr | 35:d832bcab089e | 1920 | // 200-219 -> extended bank brightness set for outputs N to N+6, where |
mjr | 35:d832bcab089e | 1921 | // N is (first byte - 200)*7 |
mjr | 35:d832bcab089e | 1922 | // other -> reserved for future use |
mjr | 35:d832bcab089e | 1923 | // |
mjr | 6:cc35eb643e8f | 1924 | uint8_t *data = report.data; |
mjr | 6:cc35eb643e8f | 1925 | if (data[0] == 64) |
mjr | 0:5acbbe3f4cf4 | 1926 | { |
mjr | 6:cc35eb643e8f | 1927 | // LWZ-SBA - first four bytes are bit-packed on/off flags |
mjr | 31:582472d0bc57 | 1928 | // for the outputs; 5th byte is the pulse speed (1-7) |
mjr | 6:cc35eb643e8f | 1929 | //printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n", |
mjr | 6:cc35eb643e8f | 1930 | // data[1], data[2], data[3], data[4], data[5]); |
mjr | 0:5acbbe3f4cf4 | 1931 | |
mjr | 6:cc35eb643e8f | 1932 | // update all on/off states |
mjr | 6:cc35eb643e8f | 1933 | for (int i = 0, bit = 1, ri = 1 ; i < 32 ; ++i, bit <<= 1) |
mjr | 6:cc35eb643e8f | 1934 | { |
mjr | 35:d832bcab089e | 1935 | // figure the on/off state bit for this output |
mjr | 6:cc35eb643e8f | 1936 | if (bit == 0x100) { |
mjr | 6:cc35eb643e8f | 1937 | bit = 1; |
mjr | 6:cc35eb643e8f | 1938 | ++ri; |
mjr | 6:cc35eb643e8f | 1939 | } |
mjr | 35:d832bcab089e | 1940 | |
mjr | 35:d832bcab089e | 1941 | // set the on/off state |
mjr | 6:cc35eb643e8f | 1942 | wizOn[i] = ((data[ri] & bit) != 0); |
mjr | 35:d832bcab089e | 1943 | |
mjr | 35:d832bcab089e | 1944 | // If the wizVal setting is 255, it means that this |
mjr | 35:d832bcab089e | 1945 | // output was last set to a brightness value with the |
mjr | 35:d832bcab089e | 1946 | // extended protocol. Return it to LedWiz control by |
mjr | 35:d832bcab089e | 1947 | // rescaling the brightness setting to the LedWiz range |
mjr | 35:d832bcab089e | 1948 | // and updating wizVal with the result. If it's any |
mjr | 35:d832bcab089e | 1949 | // other value, it was previously set by a PBA message, |
mjr | 35:d832bcab089e | 1950 | // so simply retain the last setting - in the normal |
mjr | 35:d832bcab089e | 1951 | // LedWiz protocol, the "profile" (brightness) and on/off |
mjr | 35:d832bcab089e | 1952 | // states are independent, so an SBA just turns an output |
mjr | 35:d832bcab089e | 1953 | // on or off but retains its last brightness level. |
mjr | 35:d832bcab089e | 1954 | if (wizVal[i] == 255) |
mjr | 35:d832bcab089e | 1955 | wizVal[i] = (uint8_t)round(outLevel[i]*48); |
mjr | 6:cc35eb643e8f | 1956 | } |
mjr | 31:582472d0bc57 | 1957 | |
mjr | 31:582472d0bc57 | 1958 | // set the flash speed - enforce the value range 1-7 |
mjr | 31:582472d0bc57 | 1959 | wizSpeed = data[5]; |
mjr | 31:582472d0bc57 | 1960 | if (wizSpeed < 1) |
mjr | 31:582472d0bc57 | 1961 | wizSpeed = 1; |
mjr | 31:582472d0bc57 | 1962 | else if (wizSpeed > 7) |
mjr | 31:582472d0bc57 | 1963 | wizSpeed = 7; |
mjr | 6:cc35eb643e8f | 1964 | |
mjr | 6:cc35eb643e8f | 1965 | // update the physical outputs |
mjr | 1:d913e0afb2ac | 1966 | updateWizOuts(); |
mjr | 6:cc35eb643e8f | 1967 | |
mjr | 6:cc35eb643e8f | 1968 | // reset the PBA counter |
mjr | 6:cc35eb643e8f | 1969 | pbaIdx = 0; |
mjr | 6:cc35eb643e8f | 1970 | } |
mjr | 6:cc35eb643e8f | 1971 | else if (data[0] == 65) |
mjr | 6:cc35eb643e8f | 1972 | { |
mjr | 6:cc35eb643e8f | 1973 | // Private control message. This isn't an LedWiz message - it's |
mjr | 6:cc35eb643e8f | 1974 | // an extension for this device. 65 is an invalid PBA setting, |
mjr | 6:cc35eb643e8f | 1975 | // and isn't used for any other LedWiz message, so we appropriate |
mjr | 6:cc35eb643e8f | 1976 | // it for our own private use. The first byte specifies the |
mjr | 6:cc35eb643e8f | 1977 | // message type. |
mjr | 6:cc35eb643e8f | 1978 | if (data[1] == 1) |
mjr | 6:cc35eb643e8f | 1979 | { |
mjr | 9:fd65b0a94720 | 1980 | // 1 = Set Configuration: |
mjr | 6:cc35eb643e8f | 1981 | // data[2] = LedWiz unit number (0x00 to 0x0f) |
mjr | 6:cc35eb643e8f | 1982 | // data[3] = feature enable bit mask: |
mjr | 21:5048e16cc9ef | 1983 | // 0x01 = enable plunger sensor |
mjr | 6:cc35eb643e8f | 1984 | |
mjr | 6:cc35eb643e8f | 1985 | // we'll need a reset if the LedWiz unit number is changing |
mjr | 6:cc35eb643e8f | 1986 | uint8_t newUnitNo = data[2] & 0x0f; |
mjr | 6:cc35eb643e8f | 1987 | needReset |= (newUnitNo != cfg.d.ledWizUnitNo); |
mjr | 6:cc35eb643e8f | 1988 | |
mjr | 6:cc35eb643e8f | 1989 | // set the configuration parameters from the message |
mjr | 6:cc35eb643e8f | 1990 | cfg.d.ledWizUnitNo = newUnitNo; |
mjr | 17:ab3cec0c8bf4 | 1991 | cfg.d.plungerEnabled = data[3] & 0x01; |
mjr | 6:cc35eb643e8f | 1992 | |
mjr | 9:fd65b0a94720 | 1993 | // update the status flags |
mjr | 9:fd65b0a94720 | 1994 | statusFlags = (statusFlags & ~0x01) | (data[3] & 0x01); |
mjr | 9:fd65b0a94720 | 1995 | |
mjr | 9:fd65b0a94720 | 1996 | // if the ccd is no longer enabled, use 0 for z reports |
mjr | 17:ab3cec0c8bf4 | 1997 | if (!cfg.d.plungerEnabled) |
mjr | 9:fd65b0a94720 | 1998 | z = 0; |
mjr | 9:fd65b0a94720 | 1999 | |
mjr | 6:cc35eb643e8f | 2000 | // save the configuration |
mjr | 6:cc35eb643e8f | 2001 | cfg.save(iap, flash_addr); |
mjr | 6:cc35eb643e8f | 2002 | } |
mjr | 21:5048e16cc9ef | 2003 | #ifdef ENABLE_JOYSTICK |
mjr | 9:fd65b0a94720 | 2004 | else if (data[1] == 2) |
mjr | 9:fd65b0a94720 | 2005 | { |
mjr | 9:fd65b0a94720 | 2006 | // 2 = Calibrate plunger |
mjr | 9:fd65b0a94720 | 2007 | // (No parameters) |
mjr | 9:fd65b0a94720 | 2008 | |
mjr | 9:fd65b0a94720 | 2009 | // enter calibration mode |
mjr | 9:fd65b0a94720 | 2010 | calBtnState = 3; |
mjr | 9:fd65b0a94720 | 2011 | calBtnTimer.reset(); |
mjr | 9:fd65b0a94720 | 2012 | cfg.resetPlunger(); |
mjr | 9:fd65b0a94720 | 2013 | } |
mjr | 10:976666ffa4ef | 2014 | else if (data[1] == 3) |
mjr | 10:976666ffa4ef | 2015 | { |
mjr | 10:976666ffa4ef | 2016 | // 3 = pixel dump |
mjr | 10:976666ffa4ef | 2017 | // (No parameters) |
mjr | 10:976666ffa4ef | 2018 | reportPix = true; |
mjr | 10:976666ffa4ef | 2019 | |
mjr | 10:976666ffa4ef | 2020 | // show purple until we finish sending the report |
mjr | 10:976666ffa4ef | 2021 | ledR = 0; |
mjr | 10:976666ffa4ef | 2022 | ledB = 0; |
mjr | 10:976666ffa4ef | 2023 | ledG = 1; |
mjr | 10:976666ffa4ef | 2024 | } |
mjr | 35:d832bcab089e | 2025 | else if (data[1] == 4) |
mjr | 35:d832bcab089e | 2026 | { |
mjr | 35:d832bcab089e | 2027 | // 4 = hardware configuration query |
mjr | 35:d832bcab089e | 2028 | // (No parameters) |
mjr | 35:d832bcab089e | 2029 | wait_ms(1); |
mjr | 35:d832bcab089e | 2030 | js.reportConfig(numOutputs, cfg.d.ledWizUnitNo); |
mjr | 35:d832bcab089e | 2031 | } |
mjr | 35:d832bcab089e | 2032 | else if (data[1] == 5) |
mjr | 35:d832bcab089e | 2033 | { |
mjr | 35:d832bcab089e | 2034 | // 5 = all outputs off, reset to LedWiz defaults |
mjr | 35:d832bcab089e | 2035 | allOutputsOff(); |
mjr | 35:d832bcab089e | 2036 | } |
mjr | 21:5048e16cc9ef | 2037 | #endif // ENABLE_JOYSTICK |
mjr | 6:cc35eb643e8f | 2038 | } |
mjr | 35:d832bcab089e | 2039 | else if (data[0] >= 200 && data[0] < 220) |
mjr | 35:d832bcab089e | 2040 | { |
mjr | 35:d832bcab089e | 2041 | // Extended protocol - banked brightness update. |
mjr | 35:d832bcab089e | 2042 | // data[0]-200 gives us the bank of 7 outputs we're setting: |
mjr | 35:d832bcab089e | 2043 | // 200 is outputs 0-6, 201 is outputs 7-13, 202 is 14-20, etc. |
mjr | 35:d832bcab089e | 2044 | // The remaining bytes are brightness levels, 0-255, for the |
mjr | 35:d832bcab089e | 2045 | // seven outputs in the selected bank. The LedWiz flashing |
mjr | 35:d832bcab089e | 2046 | // modes aren't accessible in this message type; we can only |
mjr | 35:d832bcab089e | 2047 | // set a fixed brightness, but in exchange we get 8-bit |
mjr | 35:d832bcab089e | 2048 | // resolution rather than the paltry 0-48 scale that the real |
mjr | 35:d832bcab089e | 2049 | // LedWiz uses. There's no separate on/off status for outputs |
mjr | 35:d832bcab089e | 2050 | // adjusted with this message type, either, as there would be |
mjr | 35:d832bcab089e | 2051 | // for a PBA message - setting a non-zero value immediately |
mjr | 35:d832bcab089e | 2052 | // turns the output, overriding the last SBA setting. |
mjr | 35:d832bcab089e | 2053 | // |
mjr | 35:d832bcab089e | 2054 | // For outputs 0-31, this overrides any previous PBA/SBA |
mjr | 35:d832bcab089e | 2055 | // settings for the port. Any subsequent PBA/SBA message will |
mjr | 35:d832bcab089e | 2056 | // in turn override the setting made here. It's simple - the |
mjr | 35:d832bcab089e | 2057 | // most recent message of either type takes precedence. For |
mjr | 35:d832bcab089e | 2058 | // outputs above the LedWiz range, PBA/SBA messages can't |
mjr | 35:d832bcab089e | 2059 | // address those ports anyway. |
mjr | 35:d832bcab089e | 2060 | int i0 = (data[0] - 200)*7; |
mjr | 35:d832bcab089e | 2061 | int i1 = i0 + 7 < numOutputs ? i0 + 7 : numOutputs; |
mjr | 35:d832bcab089e | 2062 | for (int i = i0 ; i < i1 ; ++i) |
mjr | 35:d832bcab089e | 2063 | { |
mjr | 35:d832bcab089e | 2064 | // set the brightness level for the output |
mjr | 35:d832bcab089e | 2065 | float b = data[i-i0+1]/255.0; |
mjr | 35:d832bcab089e | 2066 | outLevel[i] = b; |
mjr | 35:d832bcab089e | 2067 | |
mjr | 35:d832bcab089e | 2068 | // if it's in the basic LedWiz output set, set the LedWiz |
mjr | 35:d832bcab089e | 2069 | // profile value to 255, which means "use outLevel" |
mjr | 35:d832bcab089e | 2070 | if (i < 32) |
mjr | 35:d832bcab089e | 2071 | wizVal[i] = 255; |
mjr | 35:d832bcab089e | 2072 | |
mjr | 35:d832bcab089e | 2073 | // set the output |
mjr | 35:d832bcab089e | 2074 | lwPin[i]->set(b); |
mjr | 35:d832bcab089e | 2075 | } |
mjr | 35:d832bcab089e | 2076 | } |
mjr | 6:cc35eb643e8f | 2077 | else |
mjr | 6:cc35eb643e8f | 2078 | { |
mjr | 35:d832bcab089e | 2079 | // Everything else is LWZ-PBA. This is a full "profile" |
mjr | 35:d832bcab089e | 2080 | // dump from the host for one bank of 8 outputs. Each |
mjr | 35:d832bcab089e | 2081 | // byte sets one output in the current bank. The current |
mjr | 35:d832bcab089e | 2082 | // bank is implied; the bank starts at 0 and is reset to 0 |
mjr | 35:d832bcab089e | 2083 | // by any LWZ-SBA message, and is incremented to the next |
mjr | 35:d832bcab089e | 2084 | // bank by each LWZ-PBA message. Our variable pbaIdx keeps |
mjr | 35:d832bcab089e | 2085 | // track of our notion of the current bank. There's no direct |
mjr | 35:d832bcab089e | 2086 | // way for the host to select the bank; it just has to count |
mjr | 35:d832bcab089e | 2087 | // on us staying in sync. In practice, the host will always |
mjr | 35:d832bcab089e | 2088 | // send a full set of 4 PBA messages in a row to set all 32 |
mjr | 35:d832bcab089e | 2089 | // outputs. |
mjr | 35:d832bcab089e | 2090 | // |
mjr | 35:d832bcab089e | 2091 | // Note that a PBA implicitly overrides our extended profile |
mjr | 35:d832bcab089e | 2092 | // messages (message prefix 200-219), because this sets the |
mjr | 35:d832bcab089e | 2093 | // wizVal[] entry for each output, and that takes precedence |
mjr | 35:d832bcab089e | 2094 | // over the extended protocol settings. |
mjr | 35:d832bcab089e | 2095 | // |
mjr | 6:cc35eb643e8f | 2096 | //printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n", |
mjr | 6:cc35eb643e8f | 2097 | // pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); |
mjr | 6:cc35eb643e8f | 2098 | |
mjr | 35:d832bcab089e | 2099 | // Update all output profile settings |
mjr | 6:cc35eb643e8f | 2100 | for (int i = 0 ; i < 8 ; ++i) |
mjr | 6:cc35eb643e8f | 2101 | wizVal[pbaIdx + i] = data[i]; |
mjr | 6:cc35eb643e8f | 2102 | |
mjr | 35:d832bcab089e | 2103 | // Update the physical LED state if this is the last bank. |
mjr | 35:d832bcab089e | 2104 | // Note that hosts always send a full set of four PBA |
mjr | 35:d832bcab089e | 2105 | // messages, so there's no need to do a physical update |
mjr | 35:d832bcab089e | 2106 | // until we've received the last bank's PBA message. |
mjr | 6:cc35eb643e8f | 2107 | if (pbaIdx == 24) |
mjr | 13:72dda449c3c0 | 2108 | { |
mjr | 6:cc35eb643e8f | 2109 | updateWizOuts(); |
mjr | 13:72dda449c3c0 | 2110 | pbaIdx = 0; |
mjr | 13:72dda449c3c0 | 2111 | } |
mjr | 13:72dda449c3c0 | 2112 | else |
mjr | 13:72dda449c3c0 | 2113 | pbaIdx += 8; |
mjr | 6:cc35eb643e8f | 2114 | } |
mjr | 0:5acbbe3f4cf4 | 2115 | } |
mjr | 0:5acbbe3f4cf4 | 2116 | } |
mjr | 1:d913e0afb2ac | 2117 | |
mjr | 1:d913e0afb2ac | 2118 | // check for plunger calibration |
mjr | 17:ab3cec0c8bf4 | 2119 | if (calBtn != 0 && !calBtn->read()) |
mjr | 0:5acbbe3f4cf4 | 2120 | { |
mjr | 1:d913e0afb2ac | 2121 | // check the state |
mjr | 1:d913e0afb2ac | 2122 | switch (calBtnState) |
mjr | 0:5acbbe3f4cf4 | 2123 | { |
mjr | 1:d913e0afb2ac | 2124 | case 0: |
mjr | 1:d913e0afb2ac | 2125 | // button not yet pushed - start debouncing |
mjr | 1:d913e0afb2ac | 2126 | calBtnTimer.reset(); |
mjr | 1:d913e0afb2ac | 2127 | calBtnState = 1; |
mjr | 1:d913e0afb2ac | 2128 | break; |
mjr | 1:d913e0afb2ac | 2129 | |
mjr | 1:d913e0afb2ac | 2130 | case 1: |
mjr | 1:d913e0afb2ac | 2131 | // pushed, not yet debounced - if the debounce time has |
mjr | 1:d913e0afb2ac | 2132 | // passed, start the hold period |
mjr | 9:fd65b0a94720 | 2133 | if (calBtnTimer.read_ms() > 50) |
mjr | 1:d913e0afb2ac | 2134 | calBtnState = 2; |
mjr | 1:d913e0afb2ac | 2135 | break; |
mjr | 1:d913e0afb2ac | 2136 | |
mjr | 1:d913e0afb2ac | 2137 | case 2: |
mjr | 1:d913e0afb2ac | 2138 | // in the hold period - if the button has been held down |
mjr | 1:d913e0afb2ac | 2139 | // for the entire hold period, move to calibration mode |
mjr | 9:fd65b0a94720 | 2140 | if (calBtnTimer.read_ms() > 2050) |
mjr | 1:d913e0afb2ac | 2141 | { |
mjr | 1:d913e0afb2ac | 2142 | // enter calibration mode |
mjr | 1:d913e0afb2ac | 2143 | calBtnState = 3; |
mjr | 9:fd65b0a94720 | 2144 | calBtnTimer.reset(); |
mjr | 9:fd65b0a94720 | 2145 | cfg.resetPlunger(); |
mjr | 1:d913e0afb2ac | 2146 | } |
mjr | 1:d913e0afb2ac | 2147 | break; |
mjr | 2:c174f9ee414a | 2148 | |
mjr | 2:c174f9ee414a | 2149 | case 3: |
mjr | 9:fd65b0a94720 | 2150 | // Already in calibration mode - pushing the button here |
mjr | 9:fd65b0a94720 | 2151 | // doesn't change the current state, but we won't leave this |
mjr | 9:fd65b0a94720 | 2152 | // state as long as it's held down. So nothing changes here. |
mjr | 2:c174f9ee414a | 2153 | break; |
mjr | 0:5acbbe3f4cf4 | 2154 | } |
mjr | 0:5acbbe3f4cf4 | 2155 | } |
mjr | 1:d913e0afb2ac | 2156 | else |
mjr | 1:d913e0afb2ac | 2157 | { |
mjr | 2:c174f9ee414a | 2158 | // Button released. If we're in calibration mode, and |
mjr | 2:c174f9ee414a | 2159 | // the calibration time has elapsed, end the calibration |
mjr | 2:c174f9ee414a | 2160 | // and save the results to flash. |
mjr | 2:c174f9ee414a | 2161 | // |
mjr | 2:c174f9ee414a | 2162 | // Otherwise, return to the base state without saving anything. |
mjr | 2:c174f9ee414a | 2163 | // If the button is released before we make it to calibration |
mjr | 2:c174f9ee414a | 2164 | // mode, it simply cancels the attempt. |
mjr | 9:fd65b0a94720 | 2165 | if (calBtnState == 3 && calBtnTimer.read_ms() > 15000) |
mjr | 2:c174f9ee414a | 2166 | { |
mjr | 2:c174f9ee414a | 2167 | // exit calibration mode |
mjr | 1:d913e0afb2ac | 2168 | calBtnState = 0; |
mjr | 2:c174f9ee414a | 2169 | |
mjr | 6:cc35eb643e8f | 2170 | // save the updated configuration |
mjr | 6:cc35eb643e8f | 2171 | cfg.d.plungerCal = 1; |
mjr | 6:cc35eb643e8f | 2172 | cfg.save(iap, flash_addr); |
mjr | 2:c174f9ee414a | 2173 | |
mjr | 2:c174f9ee414a | 2174 | // the flash state is now valid |
mjr | 2:c174f9ee414a | 2175 | flash_valid = true; |
mjr | 2:c174f9ee414a | 2176 | } |
mjr | 2:c174f9ee414a | 2177 | else if (calBtnState != 3) |
mjr | 2:c174f9ee414a | 2178 | { |
mjr | 2:c174f9ee414a | 2179 | // didn't make it to calibration mode - cancel the operation |
mjr | 1:d913e0afb2ac | 2180 | calBtnState = 0; |
mjr | 2:c174f9ee414a | 2181 | } |
mjr | 1:d913e0afb2ac | 2182 | } |
mjr | 1:d913e0afb2ac | 2183 | |
mjr | 1:d913e0afb2ac | 2184 | // light/flash the calibration button light, if applicable |
mjr | 1:d913e0afb2ac | 2185 | int newCalBtnLit = calBtnLit; |
mjr | 1:d913e0afb2ac | 2186 | switch (calBtnState) |
mjr | 0:5acbbe3f4cf4 | 2187 | { |
mjr | 1:d913e0afb2ac | 2188 | case 2: |
mjr | 1:d913e0afb2ac | 2189 | // in the hold period - flash the light |
mjr | 9:fd65b0a94720 | 2190 | newCalBtnLit = ((calBtnTimer.read_ms()/250) & 1); |
mjr | 1:d913e0afb2ac | 2191 | break; |
mjr | 1:d913e0afb2ac | 2192 | |
mjr | 1:d913e0afb2ac | 2193 | case 3: |
mjr | 1:d913e0afb2ac | 2194 | // calibration mode - show steady on |
mjr | 1:d913e0afb2ac | 2195 | newCalBtnLit = true; |
mjr | 1:d913e0afb2ac | 2196 | break; |
mjr | 1:d913e0afb2ac | 2197 | |
mjr | 1:d913e0afb2ac | 2198 | default: |
mjr | 1:d913e0afb2ac | 2199 | // not calibrating/holding - show steady off |
mjr | 1:d913e0afb2ac | 2200 | newCalBtnLit = false; |
mjr | 1:d913e0afb2ac | 2201 | break; |
mjr | 1:d913e0afb2ac | 2202 | } |
mjr | 3:3514575d4f86 | 2203 | |
mjr | 3:3514575d4f86 | 2204 | // light or flash the external calibration button LED, and |
mjr | 3:3514575d4f86 | 2205 | // do the same with the on-board blue LED |
mjr | 1:d913e0afb2ac | 2206 | if (calBtnLit != newCalBtnLit) |
mjr | 1:d913e0afb2ac | 2207 | { |
mjr | 1:d913e0afb2ac | 2208 | calBtnLit = newCalBtnLit; |
mjr | 2:c174f9ee414a | 2209 | if (calBtnLit) { |
mjr | 17:ab3cec0c8bf4 | 2210 | if (calBtnLed != 0) |
mjr | 17:ab3cec0c8bf4 | 2211 | calBtnLed->write(1); |
mjr | 4:02c7cd7b2183 | 2212 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 2213 | ledG = 1; |
mjr | 9:fd65b0a94720 | 2214 | ledB = 0; |
mjr | 2:c174f9ee414a | 2215 | } |
mjr | 2:c174f9ee414a | 2216 | else { |
mjr | 17:ab3cec0c8bf4 | 2217 | if (calBtnLed != 0) |
mjr | 17:ab3cec0c8bf4 | 2218 | calBtnLed->write(0); |
mjr | 4:02c7cd7b2183 | 2219 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 2220 | ledG = 1; |
mjr | 9:fd65b0a94720 | 2221 | ledB = 1; |
mjr | 2:c174f9ee414a | 2222 | } |
mjr | 1:d913e0afb2ac | 2223 | } |
mjr | 1:d913e0afb2ac | 2224 | |
mjr | 17:ab3cec0c8bf4 | 2225 | // If the plunger is enabled, and we're not already in a firing event, |
mjr | 17:ab3cec0c8bf4 | 2226 | // and the last plunger reading had the plunger pulled back at least |
mjr | 17:ab3cec0c8bf4 | 2227 | // a bit, watch for plunger release events until it's time for our next |
mjr | 17:ab3cec0c8bf4 | 2228 | // USB report. |
mjr | 17:ab3cec0c8bf4 | 2229 | if (!firing && cfg.d.plungerEnabled && z >= JOYMAX/6) |
mjr | 17:ab3cec0c8bf4 | 2230 | { |
mjr | 17:ab3cec0c8bf4 | 2231 | // monitor the plunger until it's time for our next report |
mjr | 17:ab3cec0c8bf4 | 2232 | while (reportTimer.read_ms() < 15) |
mjr | 17:ab3cec0c8bf4 | 2233 | { |
mjr | 17:ab3cec0c8bf4 | 2234 | // do a fast low-res scan; if it's at or past the zero point, |
mjr | 17:ab3cec0c8bf4 | 2235 | // start a firing event |
mjr | 17:ab3cec0c8bf4 | 2236 | if (plungerSensor.lowResScan() <= cfg.d.plungerZero) |
mjr | 17:ab3cec0c8bf4 | 2237 | firing = 1; |
mjr | 17:ab3cec0c8bf4 | 2238 | } |
mjr | 17:ab3cec0c8bf4 | 2239 | } |
mjr | 17:ab3cec0c8bf4 | 2240 | |
mjr | 6:cc35eb643e8f | 2241 | // read the plunger sensor, if it's enabled |
mjr | 17:ab3cec0c8bf4 | 2242 | if (cfg.d.plungerEnabled) |
mjr | 6:cc35eb643e8f | 2243 | { |
mjr | 6:cc35eb643e8f | 2244 | // start with the previous reading, in case we don't have a |
mjr | 6:cc35eb643e8f | 2245 | // clear result on this frame |
mjr | 6:cc35eb643e8f | 2246 | int znew = z; |
mjr | 17:ab3cec0c8bf4 | 2247 | if (plungerSensor.highResScan(pos)) |
mjr | 6:cc35eb643e8f | 2248 | { |
mjr | 17:ab3cec0c8bf4 | 2249 | // We got a new reading. If we're in calibration mode, use it |
mjr | 17:ab3cec0c8bf4 | 2250 | // to figure the new calibration, otherwise adjust the new reading |
mjr | 17:ab3cec0c8bf4 | 2251 | // for the established calibration. |
mjr | 17:ab3cec0c8bf4 | 2252 | if (calBtnState == 3) |
mjr | 6:cc35eb643e8f | 2253 | { |
mjr | 17:ab3cec0c8bf4 | 2254 | // Calibration mode. If this reading is outside of the current |
mjr | 17:ab3cec0c8bf4 | 2255 | // calibration bounds, expand the bounds. |
mjr | 17:ab3cec0c8bf4 | 2256 | if (pos < cfg.d.plungerMin) |
mjr | 17:ab3cec0c8bf4 | 2257 | cfg.d.plungerMin = pos; |
mjr | 17:ab3cec0c8bf4 | 2258 | if (pos < cfg.d.plungerZero) |
mjr | 17:ab3cec0c8bf4 | 2259 | cfg.d.plungerZero = pos; |
mjr | 17:ab3cec0c8bf4 | 2260 | if (pos > cfg.d.plungerMax) |
mjr | 17:ab3cec0c8bf4 | 2261 | cfg.d.plungerMax = pos; |
mjr | 6:cc35eb643e8f | 2262 | |
mjr | 17:ab3cec0c8bf4 | 2263 | // normalize to the full physical range while calibrating |
mjr | 17:ab3cec0c8bf4 | 2264 | znew = int(round(float(pos)/npix * JOYMAX)); |
mjr | 17:ab3cec0c8bf4 | 2265 | } |
mjr | 17:ab3cec0c8bf4 | 2266 | else |
mjr | 17:ab3cec0c8bf4 | 2267 | { |
mjr | 17:ab3cec0c8bf4 | 2268 | // Not in calibration mode, so normalize the new reading to the |
mjr | 17:ab3cec0c8bf4 | 2269 | // established calibration range. |
mjr | 17:ab3cec0c8bf4 | 2270 | // |
mjr | 17:ab3cec0c8bf4 | 2271 | // Note that negative values are allowed. Zero represents the |
mjr | 17:ab3cec0c8bf4 | 2272 | // "park" position, where the plunger sits when at rest. A mechanical |
mjr | 23:14f8c5004cd0 | 2273 | // plunger has a small amount of travel in the "push" direction, |
mjr | 17:ab3cec0c8bf4 | 2274 | // since the barrel spring can be compressed slightly. Negative |
mjr | 17:ab3cec0c8bf4 | 2275 | // values represent travel in the push direction. |
mjr | 17:ab3cec0c8bf4 | 2276 | if (pos > cfg.d.plungerMax) |
mjr | 17:ab3cec0c8bf4 | 2277 | pos = cfg.d.plungerMax; |
mjr | 17:ab3cec0c8bf4 | 2278 | znew = int(round(float(pos - cfg.d.plungerZero) |
mjr | 17:ab3cec0c8bf4 | 2279 | / (cfg.d.plungerMax - cfg.d.plungerZero + 1) * JOYMAX)); |
mjr | 6:cc35eb643e8f | 2280 | } |
mjr | 6:cc35eb643e8f | 2281 | } |
mjr | 7:100a25f8bf56 | 2282 | |
mjr | 17:ab3cec0c8bf4 | 2283 | // If we're not already in a firing event, check to see if the |
mjr | 17:ab3cec0c8bf4 | 2284 | // new position is forward of the last report. If it is, a firing |
mjr | 17:ab3cec0c8bf4 | 2285 | // event might have started during the high-res scan. This might |
mjr | 17:ab3cec0c8bf4 | 2286 | // seem unlikely given that the scan only takes about 5ms, but that |
mjr | 17:ab3cec0c8bf4 | 2287 | // 5ms represents about 25-30% of our total time between reports, |
mjr | 17:ab3cec0c8bf4 | 2288 | // there's about a 1 in 4 chance that a release starts during a |
mjr | 17:ab3cec0c8bf4 | 2289 | // scan. |
mjr | 17:ab3cec0c8bf4 | 2290 | if (!firing && z0 > 0 && znew < z0) |
mjr | 17:ab3cec0c8bf4 | 2291 | { |
mjr | 17:ab3cec0c8bf4 | 2292 | // The plunger has moved forward since the previous report. |
mjr | 17:ab3cec0c8bf4 | 2293 | // Watch it for a few more ms to see if we can get a stable |
mjr | 17:ab3cec0c8bf4 | 2294 | // new position. |
mjr | 23:14f8c5004cd0 | 2295 | int pos0 = plungerSensor.lowResScan(); |
mjr | 23:14f8c5004cd0 | 2296 | int pos1 = pos0; |
mjr | 17:ab3cec0c8bf4 | 2297 | Timer tw; |
mjr | 17:ab3cec0c8bf4 | 2298 | tw.start(); |
mjr | 17:ab3cec0c8bf4 | 2299 | while (tw.read_ms() < 6) |
mjr | 17:ab3cec0c8bf4 | 2300 | { |
mjr | 23:14f8c5004cd0 | 2301 | // read the new position |
mjr | 23:14f8c5004cd0 | 2302 | int pos2 = plungerSensor.lowResScan(); |
mjr | 23:14f8c5004cd0 | 2303 | |
mjr | 23:14f8c5004cd0 | 2304 | // If it's stable over consecutive readings, stop looping. |
mjr | 23:14f8c5004cd0 | 2305 | // (Count it as stable if the position is within about 1/8". |
mjr | 23:14f8c5004cd0 | 2306 | // pos1 and pos2 are reported in pixels, so they range from |
mjr | 23:14f8c5004cd0 | 2307 | // 0 to npix. The overall travel of a standard plunger is |
mjr | 23:14f8c5004cd0 | 2308 | // about 3.2", so we have (npix/3.2) pixels per inch, hence |
mjr | 23:14f8c5004cd0 | 2309 | // 1/8" is (npix/3.2)*(1/8) pixels.) |
mjr | 23:14f8c5004cd0 | 2310 | if (abs(pos2 - pos1) < int(npix/(3.2*8))) |
mjr | 23:14f8c5004cd0 | 2311 | break; |
mjr | 23:14f8c5004cd0 | 2312 | |
mjr | 23:14f8c5004cd0 | 2313 | // If we've crossed the rest position, and we've moved by |
mjr | 23:14f8c5004cd0 | 2314 | // a minimum distance from where we starting this loop, begin |
mjr | 23:14f8c5004cd0 | 2315 | // a firing event. (We require a minimum distance to prevent |
mjr | 23:14f8c5004cd0 | 2316 | // spurious firing from random analog noise in the readings |
mjr | 23:14f8c5004cd0 | 2317 | // when the plunger is actually just sitting still at the |
mjr | 23:14f8c5004cd0 | 2318 | // rest position. If it's at rest, it's normal to see small |
mjr | 23:14f8c5004cd0 | 2319 | // random fluctuations in the analog reading +/- 1% or so |
mjr | 23:14f8c5004cd0 | 2320 | // from the 0 point, especially with a sensor like a |
mjr | 23:14f8c5004cd0 | 2321 | // potentionemeter that reports the position as a single |
mjr | 23:14f8c5004cd0 | 2322 | // analog voltage.) Note that we compare the latest reading |
mjr | 23:14f8c5004cd0 | 2323 | // to the first reading of the loop - we don't require the |
mjr | 23:14f8c5004cd0 | 2324 | // threshold motion over consecutive readings, but any time |
mjr | 23:14f8c5004cd0 | 2325 | // over the stability wait loop. |
mjr | 23:14f8c5004cd0 | 2326 | if (pos1 < cfg.d.plungerZero |
mjr | 23:14f8c5004cd0 | 2327 | && abs(pos2 - pos0) > int(npix/(3.2*8))) |
mjr | 17:ab3cec0c8bf4 | 2328 | { |
mjr | 17:ab3cec0c8bf4 | 2329 | firing = 1; |
mjr | 17:ab3cec0c8bf4 | 2330 | break; |
mjr | 17:ab3cec0c8bf4 | 2331 | } |
mjr | 23:14f8c5004cd0 | 2332 | |
mjr | 17:ab3cec0c8bf4 | 2333 | // the new reading is now the prior reading |
mjr | 17:ab3cec0c8bf4 | 2334 | pos1 = pos2; |
mjr | 17:ab3cec0c8bf4 | 2335 | } |
mjr | 17:ab3cec0c8bf4 | 2336 | } |
mjr | 17:ab3cec0c8bf4 | 2337 | |
mjr | 17:ab3cec0c8bf4 | 2338 | // Check for a simulated Launch Ball button press, if enabled |
mjr | 18:5e890ebd0023 | 2339 | if (ZBLaunchBallPort != 0) |
mjr | 17:ab3cec0c8bf4 | 2340 | { |
mjr | 18:5e890ebd0023 | 2341 | const int cockThreshold = JOYMAX/3; |
mjr | 18:5e890ebd0023 | 2342 | const int pushThreshold = int(-JOYMAX/3 * LaunchBallPushDistance); |
mjr | 17:ab3cec0c8bf4 | 2343 | int newState = lbState; |
mjr | 17:ab3cec0c8bf4 | 2344 | switch (lbState) |
mjr | 17:ab3cec0c8bf4 | 2345 | { |
mjr | 17:ab3cec0c8bf4 | 2346 | case 0: |
mjr | 17:ab3cec0c8bf4 | 2347 | // Base state. If the plunger is pulled back by an inch |
mjr | 17:ab3cec0c8bf4 | 2348 | // or more, go to "cocked" state. If the plunger is pushed |
mjr | 21:5048e16cc9ef | 2349 | // forward by 1/4" or more, go to "pressed" state. |
mjr | 18:5e890ebd0023 | 2350 | if (znew >= cockThreshold) |
mjr | 17:ab3cec0c8bf4 | 2351 | newState = 1; |
mjr | 18:5e890ebd0023 | 2352 | else if (znew <= pushThreshold) |
mjr | 21:5048e16cc9ef | 2353 | newState = 5; |
mjr | 17:ab3cec0c8bf4 | 2354 | break; |
mjr | 17:ab3cec0c8bf4 | 2355 | |
mjr | 17:ab3cec0c8bf4 | 2356 | case 1: |
mjr | 17:ab3cec0c8bf4 | 2357 | // Cocked state. If a firing event is now in progress, |
mjr | 17:ab3cec0c8bf4 | 2358 | // go to "launch" state. Otherwise, if the plunger is less |
mjr | 17:ab3cec0c8bf4 | 2359 | // than 1" retracted, go to "uncocked" state - the player |
mjr | 17:ab3cec0c8bf4 | 2360 | // might be slowly returning the plunger to rest so as not |
mjr | 17:ab3cec0c8bf4 | 2361 | // to trigger a launch. |
mjr | 17:ab3cec0c8bf4 | 2362 | if (firing || znew <= 0) |
mjr | 17:ab3cec0c8bf4 | 2363 | newState = 3; |
mjr | 18:5e890ebd0023 | 2364 | else if (znew < cockThreshold) |
mjr | 17:ab3cec0c8bf4 | 2365 | newState = 2; |
mjr | 17:ab3cec0c8bf4 | 2366 | break; |
mjr | 17:ab3cec0c8bf4 | 2367 | |
mjr | 17:ab3cec0c8bf4 | 2368 | case 2: |
mjr | 17:ab3cec0c8bf4 | 2369 | // Uncocked state. If the plunger is more than an inch |
mjr | 17:ab3cec0c8bf4 | 2370 | // retracted, return to cocked state. If we've been in |
mjr | 17:ab3cec0c8bf4 | 2371 | // the uncocked state for more than half a second, return |
mjr | 18:5e890ebd0023 | 2372 | // to the base state. This allows the user to return the |
mjr | 18:5e890ebd0023 | 2373 | // plunger to rest without triggering a launch, by moving |
mjr | 18:5e890ebd0023 | 2374 | // it at manual speed to the rest position rather than |
mjr | 18:5e890ebd0023 | 2375 | // releasing it. |
mjr | 18:5e890ebd0023 | 2376 | if (znew >= cockThreshold) |
mjr | 17:ab3cec0c8bf4 | 2377 | newState = 1; |
mjr | 17:ab3cec0c8bf4 | 2378 | else if (lbTimer.read_ms() > 500) |
mjr | 17:ab3cec0c8bf4 | 2379 | newState = 0; |
mjr | 17:ab3cec0c8bf4 | 2380 | break; |
mjr | 17:ab3cec0c8bf4 | 2381 | |
mjr | 17:ab3cec0c8bf4 | 2382 | case 3: |
mjr | 17:ab3cec0c8bf4 | 2383 | // Launch state. If the plunger is no longer pushed |
mjr | 17:ab3cec0c8bf4 | 2384 | // forward, switch to launch rest state. |
mjr | 18:5e890ebd0023 | 2385 | if (znew >= 0) |
mjr | 17:ab3cec0c8bf4 | 2386 | newState = 4; |
mjr | 17:ab3cec0c8bf4 | 2387 | break; |
mjr | 17:ab3cec0c8bf4 | 2388 | |
mjr | 17:ab3cec0c8bf4 | 2389 | case 4: |
mjr | 17:ab3cec0c8bf4 | 2390 | // Launch rest state. If the plunger is pushed forward |
mjr | 17:ab3cec0c8bf4 | 2391 | // again, switch back to launch state. If not, and we've |
mjr | 17:ab3cec0c8bf4 | 2392 | // been in this state for at least 200ms, return to the |
mjr | 17:ab3cec0c8bf4 | 2393 | // default state. |
mjr | 18:5e890ebd0023 | 2394 | if (znew <= pushThreshold) |
mjr | 17:ab3cec0c8bf4 | 2395 | newState = 3; |
mjr | 17:ab3cec0c8bf4 | 2396 | else if (lbTimer.read_ms() > 200) |
mjr | 17:ab3cec0c8bf4 | 2397 | newState = 0; |
mjr | 17:ab3cec0c8bf4 | 2398 | break; |
mjr | 21:5048e16cc9ef | 2399 | |
mjr | 21:5048e16cc9ef | 2400 | case 5: |
mjr | 21:5048e16cc9ef | 2401 | // Press-and-Hold state. If the plunger is no longer pushed |
mjr | 21:5048e16cc9ef | 2402 | // forward, AND it's been at least 50ms since we generated |
mjr | 21:5048e16cc9ef | 2403 | // the simulated Launch Ball button press, return to the base |
mjr | 21:5048e16cc9ef | 2404 | // state. The minimum time is to ensure that VP has a chance |
mjr | 21:5048e16cc9ef | 2405 | // to see the button press and to avoid transient key bounce |
mjr | 21:5048e16cc9ef | 2406 | // effects when the plunger position is right on the threshold. |
mjr | 21:5048e16cc9ef | 2407 | if (znew > pushThreshold && lbTimer.read_ms() > 50) |
mjr | 21:5048e16cc9ef | 2408 | newState = 0; |
mjr | 21:5048e16cc9ef | 2409 | break; |
mjr | 17:ab3cec0c8bf4 | 2410 | } |
mjr | 17:ab3cec0c8bf4 | 2411 | |
mjr | 17:ab3cec0c8bf4 | 2412 | // change states if desired |
mjr | 18:5e890ebd0023 | 2413 | const uint32_t lbButtonBit = (1 << (LaunchBallButton - 1)); |
mjr | 17:ab3cec0c8bf4 | 2414 | if (newState != lbState) |
mjr | 17:ab3cec0c8bf4 | 2415 | { |
mjr | 21:5048e16cc9ef | 2416 | // If we're entering Launch state OR we're entering the |
mjr | 21:5048e16cc9ef | 2417 | // Press-and-Hold state, AND the ZB Launch Ball LedWiz signal |
mjr | 21:5048e16cc9ef | 2418 | // is turned on, simulate a Launch Ball button press. |
mjr | 21:5048e16cc9ef | 2419 | if (((newState == 3 && lbState != 4) || newState == 5) |
mjr | 21:5048e16cc9ef | 2420 | && wizOn[ZBLaunchBallPort-1]) |
mjr | 18:5e890ebd0023 | 2421 | { |
mjr | 18:5e890ebd0023 | 2422 | lbBtnTimer.reset(); |
mjr | 18:5e890ebd0023 | 2423 | lbBtnTimer.start(); |
mjr | 18:5e890ebd0023 | 2424 | simButtons |= lbButtonBit; |
mjr | 18:5e890ebd0023 | 2425 | } |
mjr | 21:5048e16cc9ef | 2426 | |
mjr | 17:ab3cec0c8bf4 | 2427 | // if we're switching to state 0, release the button |
mjr | 17:ab3cec0c8bf4 | 2428 | if (newState == 0) |
mjr | 17:ab3cec0c8bf4 | 2429 | simButtons &= ~(1 << (LaunchBallButton - 1)); |
mjr | 17:ab3cec0c8bf4 | 2430 | |
mjr | 17:ab3cec0c8bf4 | 2431 | // switch to the new state |
mjr | 17:ab3cec0c8bf4 | 2432 | lbState = newState; |
mjr | 17:ab3cec0c8bf4 | 2433 | |
mjr | 17:ab3cec0c8bf4 | 2434 | // start timing in the new state |
mjr | 17:ab3cec0c8bf4 | 2435 | lbTimer.reset(); |
mjr | 17:ab3cec0c8bf4 | 2436 | } |
mjr | 21:5048e16cc9ef | 2437 | |
mjr | 21:5048e16cc9ef | 2438 | // If the Launch Ball button press is in effect, but the |
mjr | 21:5048e16cc9ef | 2439 | // ZB Launch Ball LedWiz signal is no longer turned on, turn |
mjr | 21:5048e16cc9ef | 2440 | // off the button. |
mjr | 21:5048e16cc9ef | 2441 | // |
mjr | 21:5048e16cc9ef | 2442 | // If we're in one of the Launch states (state #3 or #4), |
mjr | 21:5048e16cc9ef | 2443 | // and the button has been on for long enough, turn it off. |
mjr | 21:5048e16cc9ef | 2444 | // The Launch mode is triggered by a pull-and-release gesture. |
mjr | 21:5048e16cc9ef | 2445 | // From the user's perspective, this is just a single gesture |
mjr | 21:5048e16cc9ef | 2446 | // that should trigger just one momentary press on the Launch |
mjr | 21:5048e16cc9ef | 2447 | // Ball button. Physically, though, the plunger usually |
mjr | 21:5048e16cc9ef | 2448 | // bounces back and forth for 500ms or so before coming to |
mjr | 21:5048e16cc9ef | 2449 | // rest after this gesture. That's what the whole state |
mjr | 21:5048e16cc9ef | 2450 | // #3-#4 business is all about - we stay in this pair of |
mjr | 21:5048e16cc9ef | 2451 | // states until the plunger comes to rest. As long as we're |
mjr | 21:5048e16cc9ef | 2452 | // in these states, we won't send duplicate button presses. |
mjr | 21:5048e16cc9ef | 2453 | // But we also don't want the one button press to continue |
mjr | 21:5048e16cc9ef | 2454 | // the whole time, so we'll time it out now. |
mjr | 21:5048e16cc9ef | 2455 | // |
mjr | 21:5048e16cc9ef | 2456 | // (This could be written as one big 'if' condition, but |
mjr | 21:5048e16cc9ef | 2457 | // I'm breaking it out verbosely like this to make it easier |
mjr | 21:5048e16cc9ef | 2458 | // for human readers such as myself to comprehend the logic.) |
mjr | 21:5048e16cc9ef | 2459 | if ((simButtons & lbButtonBit) != 0) |
mjr | 18:5e890ebd0023 | 2460 | { |
mjr | 21:5048e16cc9ef | 2461 | int turnOff = false; |
mjr | 21:5048e16cc9ef | 2462 | |
mjr | 21:5048e16cc9ef | 2463 | // turn it off if the ZB Launch Ball signal is off |
mjr | 21:5048e16cc9ef | 2464 | if (!wizOn[ZBLaunchBallPort-1]) |
mjr | 21:5048e16cc9ef | 2465 | turnOff = true; |
mjr | 21:5048e16cc9ef | 2466 | |
mjr | 21:5048e16cc9ef | 2467 | // also turn it off if we're in state 3 or 4 ("Launch"), |
mjr | 21:5048e16cc9ef | 2468 | // and the button has been on long enough |
mjr | 21:5048e16cc9ef | 2469 | if ((lbState == 3 || lbState == 4) && lbBtnTimer.read_ms() > 250) |
mjr | 21:5048e16cc9ef | 2470 | turnOff = true; |
mjr | 21:5048e16cc9ef | 2471 | |
mjr | 21:5048e16cc9ef | 2472 | // if we decided to turn off the button, do so |
mjr | 21:5048e16cc9ef | 2473 | if (turnOff) |
mjr | 21:5048e16cc9ef | 2474 | { |
mjr | 21:5048e16cc9ef | 2475 | lbBtnTimer.stop(); |
mjr | 21:5048e16cc9ef | 2476 | simButtons &= ~lbButtonBit; |
mjr | 21:5048e16cc9ef | 2477 | } |
mjr | 18:5e890ebd0023 | 2478 | } |
mjr | 17:ab3cec0c8bf4 | 2479 | } |
mjr | 17:ab3cec0c8bf4 | 2480 | |
mjr | 17:ab3cec0c8bf4 | 2481 | // If a firing event is in progress, generate synthetic reports to |
mjr | 17:ab3cec0c8bf4 | 2482 | // describe an idealized version of the plunger motion to VP rather |
mjr | 17:ab3cec0c8bf4 | 2483 | // than reporting the actual physical plunger position. |
mjr | 6:cc35eb643e8f | 2484 | // |
mjr | 17:ab3cec0c8bf4 | 2485 | // We use the synthetic reports during a release event because the |
mjr | 17:ab3cec0c8bf4 | 2486 | // physical plunger motion when released is too fast for VP to track. |
mjr | 17:ab3cec0c8bf4 | 2487 | // VP only syncs its internal physics model with the outside world |
mjr | 17:ab3cec0c8bf4 | 2488 | // about every 10ms. In that amount of time, the plunger moves |
mjr | 17:ab3cec0c8bf4 | 2489 | // fast enough when released that it can shoot all the way forward, |
mjr | 17:ab3cec0c8bf4 | 2490 | // bounce off of the barrel spring, and rebound part of the way |
mjr | 17:ab3cec0c8bf4 | 2491 | // back. The result is the classic analog-to-digital problem of |
mjr | 17:ab3cec0c8bf4 | 2492 | // sample aliasing. If we happen to time our sample during the |
mjr | 17:ab3cec0c8bf4 | 2493 | // release motion so that we catch the plunger at the peak of a |
mjr | 17:ab3cec0c8bf4 | 2494 | // bounce, the digital signal incorrectly looks like the plunger |
mjr | 17:ab3cec0c8bf4 | 2495 | // is moving slowly forward - VP thinks we went from fully |
mjr | 17:ab3cec0c8bf4 | 2496 | // retracted to half retracted in the sample interval, whereas |
mjr | 17:ab3cec0c8bf4 | 2497 | // we actually traveled all the way forward and half way back, |
mjr | 17:ab3cec0c8bf4 | 2498 | // so the speed VP infers is about 1/3 of the actual speed. |
mjr | 9:fd65b0a94720 | 2499 | // |
mjr | 17:ab3cec0c8bf4 | 2500 | // To correct this, we take advantage of our ability to sample |
mjr | 17:ab3cec0c8bf4 | 2501 | // the CCD image several times in the course of a VP report. If |
mjr | 17:ab3cec0c8bf4 | 2502 | // we catch the plunger near the origin after we've seen it |
mjr | 17:ab3cec0c8bf4 | 2503 | // retracted, we go into Release Event mode. During this mode, |
mjr | 17:ab3cec0c8bf4 | 2504 | // we stop reporting the true physical plunger position, and |
mjr | 17:ab3cec0c8bf4 | 2505 | // instead report an idealized pattern: we report the plunger |
mjr | 17:ab3cec0c8bf4 | 2506 | // immediately shooting forward to a position in front of the |
mjr | 17:ab3cec0c8bf4 | 2507 | // park position that's in proportion to how far back the plunger |
mjr | 17:ab3cec0c8bf4 | 2508 | // was just before the release, and we then report it stationary |
mjr | 17:ab3cec0c8bf4 | 2509 | // at the park position. We continue to report the stationary |
mjr | 17:ab3cec0c8bf4 | 2510 | // park position until the actual physical plunger motion has |
mjr | 17:ab3cec0c8bf4 | 2511 | // stabilized on a new position. We then exit Release Event |
mjr | 17:ab3cec0c8bf4 | 2512 | // mode and return to reporting the true physical position. |
mjr | 17:ab3cec0c8bf4 | 2513 | if (firing) |
mjr | 6:cc35eb643e8f | 2514 | { |
mjr | 17:ab3cec0c8bf4 | 2515 | // Firing in progress. Keep reporting the park position |
mjr | 17:ab3cec0c8bf4 | 2516 | // until the physical plunger position comes to rest. |
mjr | 17:ab3cec0c8bf4 | 2517 | const int restTol = JOYMAX/24; |
mjr | 17:ab3cec0c8bf4 | 2518 | if (firing == 1) |
mjr | 6:cc35eb643e8f | 2519 | { |
mjr | 17:ab3cec0c8bf4 | 2520 | // For the first couple of frames, show the plunger shooting |
mjr | 17:ab3cec0c8bf4 | 2521 | // forward past the zero point, to simulate the momentum carrying |
mjr | 17:ab3cec0c8bf4 | 2522 | // it forward to bounce off of the barrel spring. Show the |
mjr | 17:ab3cec0c8bf4 | 2523 | // bounce as proportional to the distance it was retracted |
mjr | 17:ab3cec0c8bf4 | 2524 | // in the prior report. |
mjr | 17:ab3cec0c8bf4 | 2525 | z = zBounce = -z0/6; |
mjr | 17:ab3cec0c8bf4 | 2526 | ++firing; |
mjr | 6:cc35eb643e8f | 2527 | } |
mjr | 17:ab3cec0c8bf4 | 2528 | else if (firing == 2) |
mjr | 9:fd65b0a94720 | 2529 | { |
mjr | 17:ab3cec0c8bf4 | 2530 | // second frame - keep the bounce a little longer |
mjr | 17:ab3cec0c8bf4 | 2531 | z = zBounce; |
mjr | 17:ab3cec0c8bf4 | 2532 | ++firing; |
mjr | 17:ab3cec0c8bf4 | 2533 | } |
mjr | 17:ab3cec0c8bf4 | 2534 | else if (firing > 4 |
mjr | 17:ab3cec0c8bf4 | 2535 | && abs(znew - z0) < restTol |
mjr | 17:ab3cec0c8bf4 | 2536 | && abs(znew - z1) < restTol |
mjr | 17:ab3cec0c8bf4 | 2537 | && abs(znew - z2) < restTol) |
mjr | 17:ab3cec0c8bf4 | 2538 | { |
mjr | 17:ab3cec0c8bf4 | 2539 | // The physical plunger has come to rest. Exit firing |
mjr | 17:ab3cec0c8bf4 | 2540 | // mode and resume reporting the actual position. |
mjr | 17:ab3cec0c8bf4 | 2541 | firing = false; |
mjr | 17:ab3cec0c8bf4 | 2542 | z = znew; |
mjr | 9:fd65b0a94720 | 2543 | } |
mjr | 9:fd65b0a94720 | 2544 | else |
mjr | 9:fd65b0a94720 | 2545 | { |
mjr | 17:ab3cec0c8bf4 | 2546 | // until the physical plunger comes to rest, simply |
mjr | 17:ab3cec0c8bf4 | 2547 | // report the park position |
mjr | 9:fd65b0a94720 | 2548 | z = 0; |
mjr | 17:ab3cec0c8bf4 | 2549 | ++firing; |
mjr | 9:fd65b0a94720 | 2550 | } |
mjr | 6:cc35eb643e8f | 2551 | } |
mjr | 6:cc35eb643e8f | 2552 | else |
mjr | 6:cc35eb643e8f | 2553 | { |
mjr | 17:ab3cec0c8bf4 | 2554 | // not in firing mode - report the true physical position |
mjr | 17:ab3cec0c8bf4 | 2555 | z = znew; |
mjr | 6:cc35eb643e8f | 2556 | } |
mjr | 17:ab3cec0c8bf4 | 2557 | |
mjr | 17:ab3cec0c8bf4 | 2558 | // shift the new reading into the recent history buffer |
mjr | 6:cc35eb643e8f | 2559 | z2 = z1; |
mjr | 6:cc35eb643e8f | 2560 | z1 = z0; |
mjr | 6:cc35eb643e8f | 2561 | z0 = znew; |
mjr | 2:c174f9ee414a | 2562 | } |
mjr | 6:cc35eb643e8f | 2563 | |
mjr | 11:bd9da7088e6e | 2564 | // update the buttons |
mjr | 18:5e890ebd0023 | 2565 | uint32_t buttons = readButtons(); |
mjr | 17:ab3cec0c8bf4 | 2566 | |
mjr | 21:5048e16cc9ef | 2567 | #ifdef ENABLE_JOYSTICK |
mjr | 17:ab3cec0c8bf4 | 2568 | // If it's been long enough since our last USB status report, |
mjr | 17:ab3cec0c8bf4 | 2569 | // send the new report. We throttle the report rate because |
mjr | 17:ab3cec0c8bf4 | 2570 | // it can overwhelm the PC side if we report too frequently. |
mjr | 17:ab3cec0c8bf4 | 2571 | // VP only wants to sync with the real world in 10ms intervals, |
mjr | 17:ab3cec0c8bf4 | 2572 | // so reporting more frequently only creates i/o overhead |
mjr | 17:ab3cec0c8bf4 | 2573 | // without doing anything to improve the simulation. |
mjr | 17:ab3cec0c8bf4 | 2574 | if (reportTimer.read_ms() > 15) |
mjr | 17:ab3cec0c8bf4 | 2575 | { |
mjr | 17:ab3cec0c8bf4 | 2576 | // read the accelerometer |
mjr | 17:ab3cec0c8bf4 | 2577 | int xa, ya; |
mjr | 17:ab3cec0c8bf4 | 2578 | accel.get(xa, ya); |
mjr | 17:ab3cec0c8bf4 | 2579 | |
mjr | 17:ab3cec0c8bf4 | 2580 | // confine the results to our joystick axis range |
mjr | 17:ab3cec0c8bf4 | 2581 | if (xa < -JOYMAX) xa = -JOYMAX; |
mjr | 17:ab3cec0c8bf4 | 2582 | if (xa > JOYMAX) xa = JOYMAX; |
mjr | 17:ab3cec0c8bf4 | 2583 | if (ya < -JOYMAX) ya = -JOYMAX; |
mjr | 17:ab3cec0c8bf4 | 2584 | if (ya > JOYMAX) ya = JOYMAX; |
mjr | 17:ab3cec0c8bf4 | 2585 | |
mjr | 17:ab3cec0c8bf4 | 2586 | // store the updated accelerometer coordinates |
mjr | 17:ab3cec0c8bf4 | 2587 | x = xa; |
mjr | 17:ab3cec0c8bf4 | 2588 | y = ya; |
mjr | 17:ab3cec0c8bf4 | 2589 | |
mjr | 21:5048e16cc9ef | 2590 | // Report the current plunger position UNLESS the ZB Launch Ball |
mjr | 21:5048e16cc9ef | 2591 | // signal is on, in which case just report a constant 0 value. |
mjr | 21:5048e16cc9ef | 2592 | // ZB Launch Ball turns off the plunger position because it |
mjr | 21:5048e16cc9ef | 2593 | // tells us that the table has a Launch Ball button instead of |
mjr | 21:5048e16cc9ef | 2594 | // a traditional plunger. |
mjr | 21:5048e16cc9ef | 2595 | int zrep = (ZBLaunchBallPort != 0 && wizOn[ZBLaunchBallPort-1] ? 0 : z); |
mjr | 21:5048e16cc9ef | 2596 | |
mjr | 25:e22b88bd783a | 2597 | // Send the status report. Note that we have to map the X and Y |
mjr | 25:e22b88bd783a | 2598 | // axes from the accelerometer to match the Windows joystick axes. |
mjr | 25:e22b88bd783a | 2599 | // The mapping is determined according to the mounting direction |
mjr | 25:e22b88bd783a | 2600 | // set in config.h via the ORIENTATION_xxx macros. |
mjr | 25:e22b88bd783a | 2601 | js.update(JOY_X(x,y), JOY_Y(x,y), zrep, buttons | simButtons, statusFlags); |
mjr | 17:ab3cec0c8bf4 | 2602 | |
mjr | 17:ab3cec0c8bf4 | 2603 | // we've just started a new report interval, so reset the timer |
mjr | 17:ab3cec0c8bf4 | 2604 | reportTimer.reset(); |
mjr | 17:ab3cec0c8bf4 | 2605 | } |
mjr | 21:5048e16cc9ef | 2606 | |
mjr | 10:976666ffa4ef | 2607 | // If we're in pixel dump mode, report all pixel exposure values |
mjr | 10:976666ffa4ef | 2608 | if (reportPix) |
mjr | 10:976666ffa4ef | 2609 | { |
mjr | 17:ab3cec0c8bf4 | 2610 | // send the report |
mjr | 17:ab3cec0c8bf4 | 2611 | plungerSensor.sendExposureReport(js); |
mjr | 17:ab3cec0c8bf4 | 2612 | |
mjr | 10:976666ffa4ef | 2613 | // we have satisfied this request |
mjr | 10:976666ffa4ef | 2614 | reportPix = false; |
mjr | 10:976666ffa4ef | 2615 | } |
mjr | 10:976666ffa4ef | 2616 | |
mjr | 21:5048e16cc9ef | 2617 | #else // ENABLE_JOYSTICK |
mjr | 21:5048e16cc9ef | 2618 | // We're a secondary controller, with no joystick reporting. Send |
mjr | 21:5048e16cc9ef | 2619 | // a generic status report to the host periodically for the sake of |
mjr | 21:5048e16cc9ef | 2620 | // the Windows config tool. |
mjr | 21:5048e16cc9ef | 2621 | if (reportTimer.read_ms() > 200) |
mjr | 21:5048e16cc9ef | 2622 | { |
mjr | 21:5048e16cc9ef | 2623 | js.updateStatus(0); |
mjr | 21:5048e16cc9ef | 2624 | } |
mjr | 21:5048e16cc9ef | 2625 | |
mjr | 21:5048e16cc9ef | 2626 | #endif // ENABLE_JOYSTICK |
mjr | 21:5048e16cc9ef | 2627 | |
mjr | 6:cc35eb643e8f | 2628 | #ifdef DEBUG_PRINTF |
mjr | 6:cc35eb643e8f | 2629 | if (x != 0 || y != 0) |
mjr | 6:cc35eb643e8f | 2630 | printf("%d,%d\r\n", x, y); |
mjr | 6:cc35eb643e8f | 2631 | #endif |
mjr | 6:cc35eb643e8f | 2632 | |
mjr | 35:d832bcab089e | 2633 | // check for connection status changes |
mjr | 35:d832bcab089e | 2634 | int newConnected = js.isConnected() && !js.isSuspended(); |
mjr | 35:d832bcab089e | 2635 | if (newConnected != connected) |
mjr | 35:d832bcab089e | 2636 | { |
mjr | 35:d832bcab089e | 2637 | // give it a few seconds to stabilize |
mjr | 35:d832bcab089e | 2638 | time_t tc = time(0); |
mjr | 35:d832bcab089e | 2639 | if (tc - connectChangeTime > 3) |
mjr | 35:d832bcab089e | 2640 | { |
mjr | 35:d832bcab089e | 2641 | // note the new status |
mjr | 35:d832bcab089e | 2642 | connected = newConnected; |
mjr | 35:d832bcab089e | 2643 | connectChangeTime = tc; |
mjr | 35:d832bcab089e | 2644 | |
mjr | 35:d832bcab089e | 2645 | // if we're no longer connected, turn off all outputs |
mjr | 35:d832bcab089e | 2646 | if (!connected) |
mjr | 35:d832bcab089e | 2647 | allOutputsOff(); |
mjr | 35:d832bcab089e | 2648 | } |
mjr | 35:d832bcab089e | 2649 | } |
mjr | 35:d832bcab089e | 2650 | |
mjr | 6:cc35eb643e8f | 2651 | // provide a visual status indication on the on-board LED |
mjr | 5:a70c0bce770d | 2652 | if (calBtnState < 2 && hbTimer.read_ms() > 1000) |
mjr | 1:d913e0afb2ac | 2653 | { |
mjr | 35:d832bcab089e | 2654 | if (!newConnected) |
mjr | 2:c174f9ee414a | 2655 | { |
mjr | 5:a70c0bce770d | 2656 | // suspended - turn off the LED |
mjr | 4:02c7cd7b2183 | 2657 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 2658 | ledG = 1; |
mjr | 4:02c7cd7b2183 | 2659 | ledB = 1; |
mjr | 5:a70c0bce770d | 2660 | |
mjr | 5:a70c0bce770d | 2661 | // show a status flash every so often |
mjr | 5:a70c0bce770d | 2662 | if (hbcnt % 3 == 0) |
mjr | 5:a70c0bce770d | 2663 | { |
mjr | 6:cc35eb643e8f | 2664 | // disconnected = red/red flash; suspended = red |
mjr | 5:a70c0bce770d | 2665 | for (int n = js.isConnected() ? 1 : 2 ; n > 0 ; --n) |
mjr | 5:a70c0bce770d | 2666 | { |
mjr | 5:a70c0bce770d | 2667 | ledR = 0; |
mjr | 5:a70c0bce770d | 2668 | wait(0.05); |
mjr | 5:a70c0bce770d | 2669 | ledR = 1; |
mjr | 5:a70c0bce770d | 2670 | wait(0.25); |
mjr | 5:a70c0bce770d | 2671 | } |
mjr | 5:a70c0bce770d | 2672 | } |
mjr | 2:c174f9ee414a | 2673 | } |
mjr | 6:cc35eb643e8f | 2674 | else if (needReset) |
mjr | 2:c174f9ee414a | 2675 | { |
mjr | 6:cc35eb643e8f | 2676 | // connected, need to reset due to changes in config parameters - |
mjr | 6:cc35eb643e8f | 2677 | // flash red/green |
mjr | 6:cc35eb643e8f | 2678 | hb = !hb; |
mjr | 6:cc35eb643e8f | 2679 | ledR = (hb ? 0 : 1); |
mjr | 6:cc35eb643e8f | 2680 | ledG = (hb ? 1 : 0); |
mjr | 6:cc35eb643e8f | 2681 | ledB = 0; |
mjr | 6:cc35eb643e8f | 2682 | } |
mjr | 17:ab3cec0c8bf4 | 2683 | else if (cfg.d.plungerEnabled && !cfg.d.plungerCal) |
mjr | 6:cc35eb643e8f | 2684 | { |
mjr | 6:cc35eb643e8f | 2685 | // connected, plunger calibration needed - flash yellow/green |
mjr | 6:cc35eb643e8f | 2686 | hb = !hb; |
mjr | 6:cc35eb643e8f | 2687 | ledR = (hb ? 0 : 1); |
mjr | 6:cc35eb643e8f | 2688 | ledG = 0; |
mjr | 6:cc35eb643e8f | 2689 | ledB = 1; |
mjr | 6:cc35eb643e8f | 2690 | } |
mjr | 6:cc35eb643e8f | 2691 | else |
mjr | 6:cc35eb643e8f | 2692 | { |
mjr | 6:cc35eb643e8f | 2693 | // connected - flash blue/green |
mjr | 2:c174f9ee414a | 2694 | hb = !hb; |
mjr | 4:02c7cd7b2183 | 2695 | ledR = 1; |
mjr | 4:02c7cd7b2183 | 2696 | ledG = (hb ? 0 : 1); |
mjr | 4:02c7cd7b2183 | 2697 | ledB = (hb ? 1 : 0); |
mjr | 2:c174f9ee414a | 2698 | } |
mjr | 1:d913e0afb2ac | 2699 | |
mjr | 1:d913e0afb2ac | 2700 | // reset the heartbeat timer |
mjr | 1:d913e0afb2ac | 2701 | hbTimer.reset(); |
mjr | 5:a70c0bce770d | 2702 | ++hbcnt; |
mjr | 1:d913e0afb2ac | 2703 | } |
mjr | 1:d913e0afb2ac | 2704 | } |
mjr | 0:5acbbe3f4cf4 | 2705 | } |