Markus Kalkbrenner
work in progress
Dependencies: FastAnalogIn FastIO USBDevice mbed FastPWM SimpleDMA
Fork of
Pinscape_Controller
by 
Mike R
Diff: main.cpp
- Revision:
- 2:c174f9ee414a
- Parent:
- 1:d913e0afb2ac
- Child:
- 3:3514575d4f86
--- a/main.cpp Wed Jul 16 23:33:12 2014 +0000
+++ b/main.cpp Tue Jul 22 04:33:47 2014 +0000
@@ -3,6 +3,31 @@
#include "MMA8451Q.h"
#include "tsl1410r.h"
#include "FreescaleIAP.h"
+#include "crc32.h"
+
+// customization of the joystick class to expose connect/suspend status
+class MyUSBJoystick: public USBJoystick
+{
+public:
+ MyUSBJoystick(uint16_t vendor_id, uint16_t product_id, uint16_t product_release)
+ : USBJoystick(vendor_id, product_id, product_release)
+ {
+ connected_ = false;
+ suspended_ = false;
+ }
+
+ int isConnected() const { return connected_; }
+ int isSuspended() const { return suspended_; }
+
+protected:
+ virtual void connectStateChanged(unsigned int connected)
+ { connected_ = connected; }
+ virtual void suspendStateChanged(unsigned int suspended)
+ { suspended_ = suspended; }
+
+ int connected_;
+ int suspended_;
+};
// on-board RGB LED elements - we use these for diagnostics
PwmOut led1(LED1), led2(LED2), led3(LED3);
@@ -62,6 +87,36 @@
}
};
+// Non-volatile memory structure. We store persistent a small
+// amount of persistent data in flash memory to retain calibration
+// data between sessions.
+struct NVM
+{
+ // checksum - we use this to determine if the flash record
+ // has been initialized
+ uint32_t checksum;
+
+ // signature value
+ static const uint32_t SIGNATURE = 0x4D4A522A;
+ static const uint16_t VERSION = 0x0002;
+
+ // stored data (excluding the checksum)
+ struct
+ {
+ // signature and version - further verification that we have valid
+ // initialized data
+ uint32_t sig;
+ uint16_t vsn;
+
+ // direction - 0 means unknown, 1 means bright end is pixel 0, 2 means reversed
+ uint8_t dir;
+
+ // plunger calibration min and max
+ int plungerMin;
+ int plungerMax;
+ } d;
+};
+
int main(void)
{
// turn off our on-board indicator LED
@@ -69,9 +124,42 @@
led2 = 1;
led3 = 1;
- // plunger calibration data
- const int npix = 320;
- int plungerMin = 0, plungerMax = npix;
+ // set up a flash memory controller
+ FreescaleIAP iap;
+
+ // use the last sector of flash for our non-volatile memory structure
+ int flash_addr = (iap.flash_size() - SECTOR_SIZE);
+ NVM *flash = (NVM *)flash_addr;
+ NVM cfg;
+
+ // check for valid flash
+ bool flash_valid = (flash->d.sig == flash->SIGNATURE
+ && flash->d.vsn == flash->VERSION
+ && flash->checksum == CRC32(&flash->d, sizeof(flash->d)));
+
+ // Number of pixels we read from the sensor on each frame. This can be
+ // less than the physical pixel count if desired; we'll read every nth
+ // piexl if so. E.g., with a 1280-pixel physical sensor, if npix is 320,
+ // we'll read every 4th pixel. VP doesn't seem to have very high
+ // resolution internally for the plunger, so it's probably not necessary
+ // to use the full resolution of the sensor - about 160 pixels seems
+ // perfectly adequate. We can read the sensor faster (and thus provide
+ // a higher refresh rate) if we read fewer pixels in each frame.
+ const int npix = 160;
+
+ // if the flash is valid, load it; otherwise initialize to defaults
+ if (flash_valid) {
+ memcpy(&cfg, flash, sizeof(cfg));
+ printf("Flash restored: plunger min=%d, max=%d\r\n",
+ cfg.d.plungerMin, cfg.d.plungerMax);
+ }
+ else {
+ printf("Factory reset\r\n");
+ cfg.d.sig = cfg.SIGNATURE;
+ cfg.d.vsn = cfg.VERSION;
+ cfg.d.plungerMin = 0;
+ cfg.d.plungerMax = npix;
+ }
// plunger calibration button debounce timer
Timer calBtnTimer;
@@ -97,32 +185,20 @@
acTimer.start();
int t0ac = acTimer.read_ms();
- // set up a timer for reading the plunger sensor
- Timer ccdTimer;
- ccdTimer.start();
- int t0ccd = ccdTimer.read_ms();
-
-#if 0
- // DEBUG
- Timer ccdDbgTimer;
- ccdDbgTimer.start();
- int t0ccdDbg = ccdDbgTimer.read_ms();
-#endif
-
// Create the joystick USB client. Light the on-board indicator LED
// red while connecting, and change to green after we connect.
- led1 = 0.75;
- USBJoystick js(0xFAFA, 0x00F7, 0x0001);
+ led1 = 0;
+ MyUSBJoystick js(0xFAFA, 0x00F7, 0x0001);
led1 = 1;
- led2 = 0.75;
-
+ led2 = 0;
+
// create the accelerometer object
const int MMA8451_I2C_ADDRESS = (0x1d<<1);
MMA8451Q accel(PTE25, PTE24, MMA8451_I2C_ADDRESS);
// create the CCD array object
TSL1410R ccd(PTE20, PTE21, PTB0);
-
+
// recent accelerometer readings, for auto centering
int iAccPrv = 0, nAccPrv = 0;
const int maxAccPrv = 5;
@@ -130,9 +206,12 @@
// last accelerometer report, in mouse coordinates
int x = 127, y = 127, z = 0;
-
+
// raw accelerator centerpoint, on the unit interval (-1.0 .. +1.0)
float xCenter = 0.0, yCenter = 0.0;
+
+ // start the first CCD integration cycle
+ ccd.clear();
// we're all set up - now just loop, processing sensor reports and
// host requests
@@ -219,21 +298,49 @@
calBtnState = 3;
// reset the calibration limits
- plungerMax = 0;
- plungerMin = npix;
+ cfg.d.plungerMax = 0;
+ cfg.d.plungerMin = npix;
}
break;
+
+ case 3:
+ // Already in calibration mode - pushing the button in this
+ // state doesn't change the current state, but we won't leave
+ // this state as long as it's held down. We can simply do
+ // nothing here.
+ break;
}
}
else
{
- // Button released. If we're not already in calibration mode,
- // reset the button state. Once calibration mode starts, it sticks
- // until the calibration time elapses.
- if (calBtnState != 3)
+ // Button released. If we're in calibration mode, and
+ // the calibration time has elapsed, end the calibration
+ // and save the results to flash.
+ //
+ // Otherwise, return to the base state without saving anything.
+ // If the button is released before we make it to calibration
+ // mode, it simply cancels the attempt.
+ if (calBtnState == 3
+ && calBtnTimer.read_ms() - calBtnDownTime > 17500)
+ {
+ // exit calibration mode
calBtnState = 0;
- else if (calBtnTimer.read_ms() - calBtnDownTime > 32500)
+
+ // Save the current configuration state to flash, so that it
+ // will be preserved through power off. Update the checksum
+ // first so that we recognize the flash record as valid.
+ cfg.checksum = CRC32(&cfg.d, sizeof(cfg.d));
+ iap.erase_sector(flash_addr);
+ iap.program_flash(flash_addr, &cfg, sizeof(cfg));
+
+ // the flash state is now valid
+ flash_valid = true;
+ }
+ else if (calBtnState != 3)
+ {
+ // didn't make it to calibration mode - cancel the operation
calBtnState = 0;
+ }
}
// light/flash the calibration button light, if applicable
@@ -258,89 +365,86 @@
if (calBtnLit != newCalBtnLit)
{
calBtnLit = newCalBtnLit;
- calBtnLed = (calBtnLit ? 1 : 0);
+ if (calBtnLit) {
+ calBtnLed = 1;
+ led1 = 0;
+ led2 = 0;
+ led3 = 1;
+ }
+ else {
+ calBtnLed = 0;
+ led1 = 1;
+ led2 = 1;
+ led3 = 0;
+ }
}
// read the plunger sensor
int znew = z;
- /* if (ccdTimer.read_ms() - t0ccd > 33) */
+ uint16_t pix[npix];
+ ccd.read(pix, npix);
+
+ // get the average brightness at each end of the sensor
+ long avg1 = (long(pix[0]) + long(pix[1]) + long(pix[2]) + long(pix[3]) + long(pix[4]))/5;
+ long avg2 = (long(pix[npix-1]) + long(pix[npix-2]) + long(pix[npix-3]) + long(pix[npix-4]) + long(pix[npix-5]))/5;
+
+ // figure the midpoint in the brightness; multiply by 3 so that we can
+ // compare sums of three pixels at a time to smooth out noise
+ long midpt = (avg1 + avg2)/2 * 3;
+
+ // Work from the bright end to the dark end. VP interprets the
+ // Z axis value as the amount the plunger is pulled: the minimum
+ // is the rest position, the maximum is fully pulled. So we
+ // essentially want to report how much of the sensor is lit,
+ // since this increases as the plunger is pulled back.
+ int si = 1, di = 1;
+ if (avg1 < avg2)
+ si = npix - 2, di = -1;
+
+ // scan for the midpoint
+ uint16_t *pixp = pix + si;
+ for (int n = 1 ; n < npix - 1 ; ++n, pixp += di)
{
- // read the sensor at reduced resolution
- uint16_t pix[npix];
- ccd.read(pix, npix, 0);
-
-#if 0
- // debug - send samples every 5 seconds
- if (ccdDbgTimer.read_ms() - t0ccdDbg > 5000)
- {
- for (int i = 0 ; i < npix ; ++i)
- printf("%x ", pix[i]);
- printf("\r\n\r\n");
-
- ccdDbgTimer.reset();
- t0ccdDbg = ccdDbgTimer.read_ms();
- }
-#endif
-
- // check which end is the brighter - this is the "tip" end
- // of the plunger
- long avg1 = (long(pix[0]) + long(pix[1]) + long(pix[2]) + long(pix[3]) + long(pix[4]))/5;
- long avg2 = (long(pix[npix-1]) + long(pix[npix-2]) + long(pix[npix-3]) + long(pix[npix-4]) + long(pix[npix-5]))/5;
-
- // figure the midpoint in the brightness
- long midpt = (avg1 + avg2)/2 * 3;
-
- // Work from the bright end to the dark end. VP interprets the
- // Z axis value as the amount the plunger is pulled: the minimum
- // is the rest position, the maximum is fully pulled. So we
- // essentially want to report how much of the sensor is lit,
- // since this increases as the plunger is pulled back.
- int si = 1, di = 1;
- if (avg1 < avg2)
- si = npix - 1, di = -1;
-
- // scan for the midpoint
- for (int n = 1, i = si ; n < npix - 1 ; ++n, i += di)
+ // if we've crossed the midpoint, report this position
+ if (long(pixp[-1]) + long(pixp[0]) + long(pixp[1]) < midpt)
{
- // if we've crossed the midpoint, report this position
- if (long(pix[i-1]) + long(pix[i]) + long(pix[i+1]) < midpt)
+ // note the new position
+ int pos = n;
+
+ // if the bright end and dark end don't differ by enough, skip this
+ // reading entirely - we must have an overexposed or underexposed frame
+ if (labs(avg1 - avg2) < 0x3333)
+ break;
+
+ // Calibrate, or apply calibration, depending on the mode.
+ // In either case, normalize to a 0-127 range. VP appears to
+ // ignore negative Z axis values.
+ if (calBtnState == 3)
{
- // note the new position
- int pos = abs(i - si);
-
- // Calibrate, or apply calibration, depending on the mode.
- // In either case, normalize to a 0-127 range. VP appears to
- // ignore negative Z axis values.
- if (calBtnState == 3)
- {
- // calibrating - note if we're expanding the calibration envelope
- if (pos < plungerMin)
- plungerMin = pos;
- if (pos > plungerMax)
- plungerMax = pos;
-
- // normalize to the full physical range while calibrating
- znew = int(float(pos)/npix * 127);
- }
- else
- {
- // running normally - normalize to the calibration range
- if (pos < plungerMin)
- pos = plungerMin;
- if (pos > plungerMax)
- pos = plungerMax;
- znew = int(float(pos - plungerMin)/(plungerMax - plungerMin + 1) * 127);
- }
-
- // done
- break;
+ // calibrating - note if we're expanding the calibration envelope
+ if (pos < cfg.d.plungerMin)
+ cfg.d.plungerMin = pos;
+ if (pos > cfg.d.plungerMax)
+ cfg.d.plungerMax = pos;
+
+ // normalize to the full physical range while calibrating
+ znew = int(float(pos)/npix * 127);
}
+ else
+ {
+ // running normally - normalize to the calibration range
+ if (pos < cfg.d.plungerMin)
+ pos = cfg.d.plungerMin;
+ if (pos > cfg.d.plungerMax)
+ pos = cfg.d.plungerMax;
+ znew = int(float(pos - cfg.d.plungerMin)
+ / (cfg.d.plungerMax - cfg.d.plungerMin + 1) * 127);
+ }
+
+ // done
+ break;
}
-
- // reset the timer
- ccdTimer.reset();
- t0ccd = ccdTimer.read_ms();
- }
+ }
// read the accelerometer
float xa, ya;
@@ -391,26 +495,79 @@
// figure the new mouse report data
int xnew = (int)(127 * xa);
int ynew = (int)(127 * ya);
+
+ // store the updated joystick coordinates
+ x = xnew;
+ y = ynew;
+ z = znew;
- // send an update if the position has changed
- // if (xnew != x || ynew != y || znew != z)
+ // if we're in USB suspend or disconnect mode, spin
+ if (js.isSuspended() || !js.isConnected())
{
- x = xnew;
- y = ynew;
- z = znew;
+ // go dark (turn off the indicator LEDs)
+ led2 = 1;
+ led3 = 1;
+ led1 = 1;
+
+ // wait until we're connected and come out of suspend mode
+ while (js.isSuspended() || !js.isConnected())
+ {
+ // spin for a bit
+ wait(1);
+
+ // if we're not suspended, flash red; otherwise stay dark
+ if (!js.isSuspended())
+ led1 = !led1;
+ }
+ }
- // Send the status report. Note that the X axis needs to be
- // reversed, becasue the native accelerometer reports seem to
- // assume that the card is component side down.
- js.update(x, -y, z, 0);
- }
+ // Send the status report. Note one of the axes needs to be
+ // reversed, because the native accelerometer reports seem to
+ // assume that the card is component side down; we have to
+ // reverse one or the other axis to account for the reversed
+ // coordinate system. It doesn't really matter which one,
+ // but reversing Y seems to give intuitive results when viewed
+ // in the Windows joystick control panel. Note that the
+ // coordinate system we report is ultimately arbitrary, since
+ // Visual Pinball has preference settings that let us set up
+ // axis reversals and a global rotation for the joystick.
+ js.update(x, -y, z, 0);
- // show a heartbeat flash in blue every so often
- if (hbTimer.read_ms() - t0Hb > 1000)
+ // show a heartbeat flash in blue every so often if not in
+ // calibration mode
+ if (calBtnState < 2 && hbTimer.read_ms() - t0Hb > 1000)
{
- // invert the blue LED state
- hb = !hb;
- led3 = (hb ? .5 : 1);
+ if (js.isSuspended())
+ {
+ // suspended - turn off the LEDs entirely
+ led1 = 1;
+ led2 = 1;
+ led3 = 1;
+ }
+ else if (!js.isConnected())
+ {
+ // not connected - flash red
+ hb = !hb;
+ led1 = (hb ? 0 : 1);
+ led2 = 1;
+ led3 = 1;
+ }
+ else if (flash_valid)
+ {
+ // connected, NVM valid - flash blue/green
+ hb = !hb;
+ led1 = 1;
+ led2 = (hb ? 0 : 1);
+ led3 = (hb ? 1 : 0);
+ }
+ else
+ {
+ // connected, factory reset - flash yellow/green
+ hb = !hb;
+ led1 = (hb ? 0 : 1);
+ led2 = 0;
+ led3 = 0;
+ }
// reset the heartbeat timer
hbTimer.reset();