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work in progress
Dependencies: FastAnalogIn FastIO USBDevice mbed FastPWM SimpleDMA
Fork of Pinscape_Controller by
Diff: main.cpp
- Revision:
- 31:582472d0bc57
- Parent:
- 28:cb71c4af2912
- Child:
- 32:6e9902f06f48
diff -r 2097c6f8f2db -r 582472d0bc57 main.cpp --- a/main.cpp Wed Sep 23 05:38:27 2015 +0000 +++ b/main.cpp Fri Sep 25 18:49:53 2015 +0000 @@ -337,7 +337,7 @@ // --------------------------------------------------------------------------- // -// LedWiz emulation +// LedWiz emulation, and enhanced TLC5940 output controller // // There are two modes for this feature. The default mode uses the on-board // GPIO ports to implement device outputs - each LedWiz software port is @@ -357,6 +357,17 @@ // for 32 outputs). Every port in this mode has full PWM support. // +// Figure the number of outputs. If we're in the default LedWiz mode, +// we have a fixed set of 32 outputs. If we're in TLC5940 enhanced mode, +// we have 16 outputs per chip. To simplify the LedWiz compatibility code, +// always use a minimum of 32 outputs even if we have fewer than two of the +// TLC5940 chips. +#if !defined(ENABLE_TLC5940) || (TLC_NCHIPS) < 2 +# define NUM_OUTPUTS 32 +#else +# define NUM_OUTPUTS ((TLC5940_NCHIPS)*16) +#endif + // Current starting output index for "PBA" messages from the PC (using // the LedWiz USB protocol). Each PBA message implicitly uses the // current index as the starting point for the ports referenced in @@ -393,7 +404,7 @@ virtual void set(float val) { if (val != prv) - tlc5940.set(idx, (int)(val * 4095)); + tlc5940.set(idx, (int)(val * 4095)); } int idx; float prv; @@ -454,12 +465,14 @@ virtual void set(float val) { } }; -// Array of output assignments. This array is indexed by the LedWiz -// output port number; that protocol is hardwired for 32 ports, so we -// need 32 elements in the array. Each element is an LwOut object -// that provides the mapping to the physical output corresponding to -// the software port. -static LwOut *lwPin[32]; +// Array of output physical pin assignments. This array is indexed +// by LedWiz logical port number - lwPin[n] is the maping for LedWiz +// port n (0-based). If we're using GPIO ports to implement outputs, +// we initialize the array at start-up to map each logical port to the +// physical GPIO pin for the port specified in the ledWizPortMap[] +// array in config.h. If we're using TLC5940 chips for the outputs, +// we map each logical port to the corresponding TLC5940 output. +static LwOut *lwPin[NUM_OUTPUTS]; // initialize the output pin array void initLwOut() @@ -470,14 +483,16 @@ // Set up a TLC5940 output. If the output is within range of // the connected number of chips (16 outputs per chip), assign it // to the current index, otherwise leave it unattached. - if (i < TLC5940_NCHIPS*16) + if (i < (TLC5940_NCHIPS)*16) lwPin[i] = new Lw5940Out(i); else lwPin[i] = new LwUnusedOut(); #else // ENABLE_TLC5940 - // Set up the GPIO pin, according to whether it's PWM-capable or - // digital-only, and whether or not it's assigned at all. + // Set up the GPIO pin. If the pin is not connected ("NC" in the + // pin map), set up a dummy "unused" output for it. If it's a + // real pin, set up a PWM-capable or Digital-Only output handler + // object, according to the pin type in the map. PinName p = (i < countof(ledWizPortMap) ? ledWizPortMap[i].pin : NC); if (p == NC) lwPin[i] = new LwUnusedOut(); @@ -491,10 +506,44 @@ } } +// Current absolute brightness level for an output. This is a float +// value from 0.0 for fully off to 1.0 for fully on. This is the final +// derived value for the port. For outputs set by LedWiz messages, +// this is derived from te LedWiz state, and is updated on each pulse +// timer interrupt for lights in flashing states. For outputs set by +// extended protocol messages, this is simply the brightness last set. +static float outLevel[NUM_OUTPUTS]; + +// LedWiz output states. +// +// The LedWiz protocol has two separate control axes for each output. +// One axis is its on/off state; the other is its "profile" state, which +// is either a fixed brightness or a blinking pattern for the light. +// The two axes are independent. +// +// Note that the LedWiz protocol can only address 32 outputs, so the +// wizOn and wizVal arrays have fixed sizes of 32 elements no matter +// how many physical outputs we're using. + // on/off state for each LedWiz output static uint8_t wizOn[32]; -// profile (brightness/blink) state for each LedWiz output +// Profile (brightness/blink) state for each LedWiz output. If the +// output was last updated through an LedWiz protocol message, it +// will have one of these values: +// +// 0-48 = fixed brightness 0% to 100% +// 129 = ramp up / ramp down +// 130 = flash on / off +// 131 = on / ramp down +// 132 = ramp up / on +// +// Special value 255: If the output was updated through the +// extended protocol, we'll set the wizVal entry to 255, which has +// no meaning in the LedWiz protocol. This tells us that the value +// in outLevel[] was set directly from the extended protocol, so it +// shouldn't be derived from wizVal[]. +// static uint8_t wizVal[32] = { 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, 48, @@ -502,87 +551,156 @@ 48, 48, 48, 48, 48, 48, 48, 48 }; +// LedWiz flash speed. This is a value from 1 to 7 giving the pulse +// rate for lights in blinking states. +static uint8_t wizSpeed = 2; + +// Current LedWiz flash cycle counter. +static uint8_t wizFlashCounter = 0; + +// Get the current brightness level for an LedWiz output. static float wizState(int idx) { - if (wizOn[idx]) + // if the output was last set with an extended protocol message, + // use the value set there, ignoring the output's LedWiz state + if (wizVal[idx] == 255) + return outLevel[idx]; + + // if it's off, show at zero intensity + if (!wizOn[idx]) + return 0; + + // check the state + uint8_t val = wizVal[idx]; + if (val <= 48) + { + // PWM brightness/intensity level. Rescale from the LedWiz + // 0..48 integer range to our internal PwmOut 0..1 float range. + // Note that on the actual LedWiz, level 48 is actually about + // 98% on - contrary to the LedWiz documentation, level 49 is + // the true 100% level. (In the documentation, level 49 is + // simply not a valid setting.) Even so, we treat level 48 as + // 100% on to match the documentation. This won't be perfectly + // ocmpatible with the actual LedWiz, but it makes for such a + // small difference in brightness (if the output device is an + // LED, say) that no one should notice. It seems better to + // err in this direction, because while the difference in + // brightness when attached to an LED won't be noticeable, the + // difference in duty cycle when attached to something like a + // contactor *can* be noticeable - anything less than 100% + // can cause a contactor or relay to chatter. There's almost + // never a situation where you'd want values other than 0% and + // 100% for a contactor or relay, so treating level 48 as 100% + // makes us work properly with software that's expecting the + // documented LedWiz behavior and therefore uses level 48 to + // turn a contactor or relay fully on. + return val/48.0; + } + else if (val == 49) { - // on - map profile brightness state to PWM level - uint8_t val = wizVal[idx]; - if (val <= 48) - { - // PWM brightness/intensity level. Rescale from the LedWiz - // 0..48 integer range to our internal PwmOut 0..1 float range. - // Note that on the actual LedWiz, level 48 is actually about - // 98% on - contrary to the LedWiz documentation, level 49 is - // the true 100% level. (In the documentation, level 49 is - // simply not a valid setting.) Even so, we treat level 48 as - // 100% on to match the documentation. This won't be perfectly - // ocmpatible with the actual LedWiz, but it makes for such a - // small difference in brightness (if the output device is an - // LED, say) that no one should notice. It seems better to - // err in this direction, because while the difference in - // brightness when attached to an LED won't be noticeable, the - // difference in duty cycle when attached to something like a - // contactor *can* be noticeable - anything less than 100% - // can cause a contactor or relay to chatter. There's almost - // never a situation where you'd want values other than 0% and - // 100% for a contactor or relay, so treating level 48 as 100% - // makes us work properly with software that's expecting the - // documented LedWiz behavior and therefore uses level 48 to - // turn a contactor or relay fully on. - return val/48.0; - } - else if (val == 49) - { - // 49 is undefined in the LedWiz documentation, but actually - // means 100% on. The documentation says that levels 1-48 are - // the full PWM range, but empirically it appears that the real - // range implemented in the firmware is 1-49. Some software on - // the PC side (notably DOF) is aware of this and uses level 49 - // to mean "100% on". To ensure compatibility with existing - // PC-side software, we need to recognize level 49. - return 1.0; - } - else if (val >= 129 && val <= 132) - { - // Values of 129-132 select different flashing modes. We don't - // support any of these. Instead, simply treat them as fully on. - // Note that DOF doesn't ever use modes 129-132, as it implements - // all flashing modes itself on the host side, so this limitation - // won't have any effect on DOF users. You can observe it using - // LedBlinky, though. - return 1.0; - } + // 49 is undefined in the LedWiz documentation, but actually + // means 100% on. The documentation says that levels 1-48 are + // the full PWM range, but empirically it appears that the real + // range implemented in the firmware is 1-49. Some software on + // the PC side (notably DOF) is aware of this and uses level 49 + // to mean "100% on". To ensure compatibility with existing + // PC-side software, we need to recognize level 49. + return 1.0; + } + else if (val == 129) + { + // 129 = ramp up / ramp down + if (wizFlashCounter < 128) + return wizFlashCounter/127.0; else - { - // Other values are undefined in the LedWiz documentation. Hosts - // *should* never send undefined values, since whatever behavior an - // LedWiz unit exhibits in response is accidental and could change - // in a future version. We'll treat all undefined values as equivalent - // to 48 (fully on). - // - // NB: the 49 and 129-132 cases are broken out above for the sake - // of documentation. We end up using 1.0 as the return value for - // everything outside of the defined 0-48 range, so we could collapse - // this whole thing to a single 'else' branch, but I wanted to call - // out the specific reasons for handling the settings above as we do. - return 1.0; - } + return (255 - wizFlashCounter)/127.0; + } + else if (val == 130) + { + // 130 = flash on / off + return (wizFlashCounter < 128 ? 1.0 : 0.0); + } + else if (val == 131) + { + // 131 = on / ramp down + return (255 - wizFlashCounter)/255.0; } - else + else if (val == 132) + { + // 132 = ramp up / on + return wizFlashCounter/255.0; + } + else { - // off - show at 0 intensity - return 0.0; + // Other values are undefined in the LedWiz documentation. Hosts + // *should* never send undefined values, since whatever behavior an + // LedWiz unit exhibits in response is accidental and could change + // in a future version. We'll treat all undefined values as equivalent + // to 48 (fully on). + return 1.0; } } +// LedWiz flash timer pulse. This fires periodically to update +// LedWiz flashing outputs. At the slowest pulse speed set via +// the SBA command, each waveform cycle has 256 steps, so we +// choose the pulse time base so that the slowest cycle completes +// in 2 seconds. This seems to roughly match the real LedWiz +// behavior. We run the pulse timer at the same rate regardless +// of the pulse speed; at higher pulse speeds, we simply use +// larger steps through the cycle on each interrupt. Running +// every 1/127 of a second = 8ms seems to be a pretty light load. +Timeout wizPulseTimer; +#define WIZ_PULSE_TIME_BASE (1.0/127.0) +static void wizPulse() +{ + // increase the counter by the speed increment, and wrap at 256 + wizFlashCounter += wizSpeed; + wizFlashCounter &= 0xff; + + // if we have any flashing lights, update them + int ena = false; + for (int i = 0 ; i < 32 ; ++i) + { + if (wizOn[i]) + { + uint8_t s = wizVal[i]; + if (s >= 129 && s <= 132) + { + lwPin[i]->set(wizState(i)); + ena = true; + } + } + } + + // Set up the next timer pulse only if we found anything flashing. + // To minimize overhead from this feature, we only enable the interrupt + // when we need it. This eliminates any performance penalty to other + // features when the host software doesn't care about the flashing + // modes. For example, DOF never uses these modes, so there's no + // need for them when running Visual Pinball. + if (ena) + wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE); +} + +// Update the physical outputs connected to the LedWiz ports. This is +// called after any update from an LedWiz protocol message. static void updateWizOuts() { + // update each output + int pulse = false; for (int i = 0 ; i < 32 ; ++i) + { + pulse |= (wizVal[i] >= 129 && wizVal[i] <= 132); lwPin[i]->set(wizState(i)); + } + + // if any outputs are set to flashing mode, and the pulse timer + // isn't running, turn it on + if (pulse) + wizPulseTimer.attach(wizPulse, WIZ_PULSE_TIME_BASE); } - // --------------------------------------------------------------------------- // // Button input @@ -907,7 +1025,7 @@ printf("%f %f %d %d %f\r\n", vx, vy, x, y, dt); #endif } - + private: // adjust a raw acceleration figure to a usb report value int rawToReport(float v) @@ -1243,6 +1361,11 @@ bool reportPix = false; #endif +#ifdef ENABLE_TLC5940 + // start the TLC5940 clock + tlc5940.start(); +#endif + // create our plunger sensor object PlungerSensor plungerSensor; @@ -1368,7 +1491,7 @@ 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) + // for the outputs; 5th byte is the pulse speed (1-7) //printf("LWZ-SBA %02x %02x %02x %02x ; %02x\r\n", // data[1], data[2], data[3], data[4], data[5]); @@ -1381,6 +1504,13 @@ } wizOn[i] = ((data[ri] & bit) != 0); } + + // set the flash speed - enforce the value range 1-7 + wizSpeed = data[5]; + if (wizSpeed < 1) + wizSpeed = 1; + else if (wizSpeed > 7) + wizSpeed = 7; // update the physical outputs updateWizOuts();