![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
work in progress
Dependencies: FastAnalogIn FastIO USBDevice mbed FastPWM SimpleDMA
Fork of Pinscape_Controller by
main.cpp
- Committer:
- mjr
- Date:
- 2014-07-16
- Revision:
- 1:d913e0afb2ac
- Parent:
- 0:5acbbe3f4cf4
- Child:
- 2:c174f9ee414a
File content as of revision 1:d913e0afb2ac:
#include "mbed.h" #include "USBJoystick.h" #include "MMA8451Q.h" #include "tsl1410r.h" #include "FreescaleIAP.h" // on-board RGB LED elements - we use these for diagnostics PwmOut led1(LED1), led2(LED2), led3(LED3); // calibration button - switch input and LED output DigitalIn calBtn(PTE29); DigitalOut calBtnLed(PTE23); static int pbaIdx = 0; // on/off state for each LedWiz output static uint8_t wizOn[32]; // profile (brightness/blink) state for each LedWiz output static uint8_t wizVal[32] = { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }; static float wizState(int idx) { if (wizOn[idx]) { // on - map profile brightness state to PWM level uint8_t val = wizVal[idx]; if (val >= 1 && val <= 48) return 1.0 - val/48.0; else if (val >= 129 && val <= 132) return 0.0; else return 1.0; } else { // off return 1.0; } } static void updateWizOuts() { led1 = wizState(0); led2 = wizState(1); led3 = wizState(2); } struct AccPrv { AccPrv() : x(0), y(0) { } float x; float y; double dist(AccPrv &b) { float dx = x - b.x, dy = y - b.y; return sqrt(dx*dx + dy*dy); } }; int main(void) { // turn off our on-board indicator LED led1 = 1; led2 = 1; led3 = 1; // plunger calibration data const int npix = 320; int plungerMin = 0, plungerMax = npix; // plunger calibration button debounce timer Timer calBtnTimer; calBtnTimer.start(); int calBtnDownTime = 0; int calBtnLit = false; // Calibration button state: // 0 = not pushed // 1 = pushed, not yet debounced // 2 = pushed, debounced, waiting for hold time // 3 = pushed, hold time completed - in calibration mode int calBtnState = 0; // set up a timer for our heartbeat indicator Timer hbTimer; hbTimer.start(); int t0Hb = hbTimer.read_ms(); int hb = 0; // set a timer for accelerometer auto-centering Timer acTimer; 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 = 1; led2 = 0.75; // 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; AccPrv accPrv[maxAccPrv]; // 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; // we're all set up - now just loop, processing sensor reports and // host requests for (;;) { // Look for an incoming report. Continue processing input as // long as there's anything pending - this ensures that we // handle input in as timely a fashion as possible by deferring // output tasks as long as there's input to process. HID_REPORT report; while (js.readNB(&report) && report.length == 8) { uint8_t *data = report.data; if (data[0] == 64) { // LWZ-SBA - first four bytes are bit-packed on/off flags // for the outputs; 5th byte is the pulse speed (0-7) //printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n", // data[1], data[2], data[3], data[4], data[5]); // update all on/off states for (int i = 0, bit = 1, ri = 1 ; i < 32 ; ++i, bit <<= 1) { if (bit == 0x100) { bit = 1; ++ri; } wizOn[i] = ((data[ri] & bit) != 0); } // update the physical outputs updateWizOuts(); // reset the PBA counter pbaIdx = 0; } else { // LWZ-PBA - full state dump; each byte is one output // in the current bank. pbaIdx keeps track of the bank; // this is incremented implicitly by each PBA message. //printf("LWZ-PBA[%d] %02x %02x %02x %02x %02x %02x %02x %02x\r\n", // pbaIdx, data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7]); // update all output profile settings for (int i = 0 ; i < 8 ; ++i) wizVal[pbaIdx + i] = data[i]; // update the physical LED state if this is the last bank if (pbaIdx == 24) updateWizOuts(); // advance to the next bank pbaIdx = (pbaIdx + 8) & 31; } } // check for plunger calibration if (!calBtn) { // check the state switch (calBtnState) { case 0: // button not yet pushed - start debouncing calBtnTimer.reset(); calBtnDownTime = calBtnTimer.read_ms(); calBtnState = 1; break; case 1: // pushed, not yet debounced - if the debounce time has // passed, start the hold period if (calBtnTimer.read_ms() - calBtnDownTime > 50) calBtnState = 2; break; case 2: // in the hold period - if the button has been held down // for the entire hold period, move to calibration mode if (calBtnTimer.read_ms() - calBtnDownTime > 2050) { // enter calibration mode calBtnState = 3; // reset the calibration limits plungerMax = 0; plungerMin = npix; } 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) calBtnState = 0; else if (calBtnTimer.read_ms() - calBtnDownTime > 32500) calBtnState = 0; } // light/flash the calibration button light, if applicable int newCalBtnLit = calBtnLit; switch (calBtnState) { case 2: // in the hold period - flash the light newCalBtnLit = (((calBtnTimer.read_ms() - calBtnDownTime)/250) & 1); break; case 3: // calibration mode - show steady on newCalBtnLit = true; break; default: // not calibrating/holding - show steady off newCalBtnLit = false; break; } if (calBtnLit != newCalBtnLit) { calBtnLit = newCalBtnLit; calBtnLed = (calBtnLit ? 1 : 0); } // read the plunger sensor int znew = z; /* if (ccdTimer.read_ms() - t0ccd > 33) */ { // 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(pix[i-1]) + long(pix[i]) + long(pix[i+1]) < midpt) { // 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; } } // reset the timer ccdTimer.reset(); t0ccd = ccdTimer.read_ms(); } // read the accelerometer float xa, ya; accel.getAccXY(xa, ya); // check for auto-centering every so often if (acTimer.read_ms() - t0ac > 1000) { // add the sample to the history list accPrv[iAccPrv].x = xa; accPrv[iAccPrv].y = ya; // store the slot iAccPrv += 1; iAccPrv %= maxAccPrv; nAccPrv += 1; // If we have a full complement, check for stability. The // raw accelerometer input is in the rnage -4096 to 4096, but // the class cover normalizes to a unit interval (-1.0 .. +1.0). const float accTol = .005; if (nAccPrv >= maxAccPrv && accPrv[0].dist(accPrv[1]) < accTol && accPrv[0].dist(accPrv[2]) < accTol && accPrv[0].dist(accPrv[3]) < accTol && accPrv[0].dist(accPrv[4]) < accTol) { // figure the new center xCenter = (accPrv[0].x + accPrv[1].x + accPrv[2].x + accPrv[3].x + accPrv[4].x)/5.0; yCenter = (accPrv[0].y + accPrv[1].y + accPrv[2].y + accPrv[3].y + accPrv[4].y)/5.0; } // reset the auto-center timer acTimer.reset(); t0ac = acTimer.read_ms(); } // adjust for our auto centering xa -= xCenter; ya -= yCenter; // confine to the unit interval if (xa < -1.0) xa = -1.0; if (xa > 1.0) xa = 1.0; if (ya < -1.0) ya = -1.0; if (ya > 1.0) ya = 1.0; // figure the new mouse report data int xnew = (int)(127 * xa); int ynew = (int)(127 * ya); // send an update if the position has changed // if (xnew != x || ynew != y || znew != z) { x = xnew; y = ynew; z = znew; // 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); } // show a heartbeat flash in blue every so often if (hbTimer.read_ms() - t0Hb > 1000) { // invert the blue LED state hb = !hb; led3 = (hb ? .5 : 1); // reset the heartbeat timer hbTimer.reset(); t0Hb = hbTimer.read_ms(); } } }