Merge branch 'master' into v3.x

blades/blade_id.h

@@ -41,7 +41,7 @@ struct SnapshotBladeID {
 template<int PIN, int PULLUP_PIN>
 struct BridgedPullupBladeID {
   float id() {
-    pinMode(PIN, INPUT_PULLUP);
+    pinMode(PULLUP_PIN, INPUT_PULLUP);
 #ifdef TEENSYDUINO
     ExternalPullupBladeID<PIN, 33000> ID;
 #else    
@@ -51,7 +51,7 @@ struct BridgedPullupBladeID {
 #if PROFFIEBOARD_VERSION == 2
     ret += 470;
 #endif    
-    pinMode(PIN, INPUT_ANALOG);
+    pinMode(PULLUP_PIN, INPUT_ANALOG);
     return ret;
   }
 };

blades/power_pin.h

@@ -4,6 +4,7 @@
 class PowerPinInterface {
 public:
   virtual void Init() = 0;
+  virtual void DeInit() = 0;
   virtual void Power(bool on) = 0;
 };
 
@@ -16,6 +17,9 @@ class PowerPinWrapper : public PowerPinInterface {
   void Init() override {
     pinMode(PIN, OUTPUT);
   }
+  void DeInit() override {
+    pinMode(PIN, INPUT_ANALOG);
+  }
   void Power(bool power) override {
     digitalWrite(PIN, power);
   }
@@ -27,10 +31,14 @@ template<int PIN>
 class PowerPinSingleton {
 public:
   static void Init() {
-    if (refs_ == 255) {
+    if (init_refs_++ == 0) {
       pinMode(PIN, OUTPUT);
       digitalWrite(PIN, 0);
-      refs_ = 0;
+    }
+  }
+  staic void DeInit() {
+    if (--init_refs_ == 0) {
+      pinMode(PIN, INPUT_ANALOG);
     }
   }
   static void Power(bool on) {
@@ -39,16 +47,20 @@ class PowerPinSingleton {
   }
 private:
   static uint8_t refs_;
+  static uint8_t init_refs_;
 };
-template<int PIN>
-uint8_t PowerPinSingleton<PIN>::refs_ = 255;
+template<int PIN> uint8_t PowerPinSingleton<PIN>::refs_ = 0;
+template<int PIN> uint8_t PowerPinSingleton<PIN>::init_refs_ = 0;
 
 template<int PIN>
 class PowerPinWrapper : public PowerPinInterface {
 public:
   void Init() override {
     PowerPinSingleton<PIN>::Init();
   }
+  void DeInit() override {
+    PowerPinSingleton<PIN>::DeInit();
+  }
   void Power(bool power) override {
     if (power == on_) return;
     on_ = power;
@@ -66,6 +78,7 @@ template<>
 class PowerPINS<> : public PowerPinInterface {
 public:
   void Init() override {}
+  void DeInit() override {}
   void Power(bool power) override {
     battery_monitor.SetLoad(power);
   }
@@ -78,6 +91,10 @@ class PowerPINS<PIN, PINS...> : public PowerPinInterface {
     pin_.Init();
     rest_.Init();
   }
+  void DeInit() override {
+    pin_.DeInit();
+    rest_.DeInit();
+  }
   void Power(bool power) override {
     pin_.Power(power);
     rest_.Power(power);

blades/ws2811_blade.h

@@ -47,6 +47,7 @@ class WS2811_Blade : public AbstractBlade, CommandParser, Looper {
   void Power(bool on) {
     if (on) EnableBooster();
     if (!powered_ && on) {
+      power_->Init();
       TRACE("Power on");
       pinMode(pin_.pin(), OUTPUT);
       pin_.BeginFrame();
@@ -67,6 +68,7 @@ class WS2811_Blade : public AbstractBlade, CommandParser, Looper {
       pin_.EndFrame();
       power_->Power(on);
       pinMode(pin_.pin(), INPUT_ANALOG);
+      power_->DeInit();
       current_blade = NULL;
     }
     powered_ = on;
@@ -78,7 +80,6 @@ class WS2811_Blade : public AbstractBlade, CommandParser, Looper {
     STDOUT.print("WS2811 Blade with ");
     STDOUT.print(pin_.num_leds());
     STDOUT.println(" leds.");
-    power_->Init();
     Power(true);
     CommandParser::Link();
     Looper::Link();
@@ -88,7 +89,6 @@ class WS2811_Blade : public AbstractBlade, CommandParser, Looper {
   void Deactivate() override {
     TRACE("Deactivate");
     Power(false);
-    // de-init power pin?
     CommandParser::Unlink();
     Looper::Unlink();
     AbstractBlade::Deactivate();

buttons/debounced_button.h

@@ -10,13 +10,9 @@ class DebouncedButton {
   void Update() {
     STATE_MACHINE_BEGIN();
     while (true) {
-      while (!Read()) YIELD();
-      pushed_ = true;
-      do {
-         if (Read()) last_on_ = millis();
-         YIELD();
-      } while (millis() - last_on_ < timeout());
-      pushed_ = false;
+      if (!Read()) last_off_ = millis();
+      pushed_ = millis() - last_off_ > timeout();
+      YIELD();
     }
     STATE_MACHINE_END();
   }
@@ -30,7 +26,7 @@ class DebouncedButton {
   virtual bool Read() = 0;
 
 private:
-  uint32_t last_on_;
+  uint32_t last_off_;
   bool pushed_ = false;
   StateMachineState state_machine_;
 };

buttons/stm32l4_touchbutton.h

@@ -219,7 +219,7 @@ class TouchButton : public ButtonBase {
       while (!TSC->ISR.get<TSC_IER_TYPE::EOA>()) YIELD();
 
       if (TSC->ISR.get<TSC_IER_TYPE::MCE>()) {
-	STDOUT.print("Touch error!");
+	STDOUT.print("Touch error!\n");
 	SLEEP(100);
 	// Error
       } else {

common/battery_monitor.h

@@ -18,10 +18,7 @@ BatteryMonitor() : reader_(batteryLevelPin,
   void SetLoad(bool on) {
     loaded_ = on;
   }
-  bool low() const {
-    // Battery isn't low if it's not connected at all.
-    return battery() < (loaded_ ? 2.6 : 3.0) && battery() > 0.5;
-  }
+  bool low() const { return millis() - last_ok_ > 1000; }
   float battery_percent() {
     // Energy is roughly proportional to voltage squared.
     float v = battery();
@@ -46,15 +43,17 @@ BatteryMonitor() : reader_(batteryLevelPin,
   }
 protected:
   void Setup() override {
-    really_old_voltage_ = old_voltage_ = last_voltage_ = battery_now();
+    last_voltage_ = battery_now();
     SetPinHigh(false);
+    last_ok_ = millis();
   }
   void Loop() override {
     if (reading_) {
       if (!reader_.Done()) return;
       float v = battery_now();
-      last_voltage_ = last_voltage_ * 0.999 + v * 0.001;
+      last_voltage_ = last_voltage_ * 0.997 + v * 0.003;
       reading_ = false;
+      if (!IsLow()) last_ok_ = millis();
     }
     uint32_t now = micros();
     if (now - last_voltage_read_time_ >= 1000) {
@@ -71,6 +70,16 @@ BatteryMonitor() : reader_(batteryLevelPin,
     }
   }
 
+  bool IsLow() {
+#if VERSION_MAJOR >= 4
+    if (USBD_Connected()) return false;
+#endif
+    // Battery isn't low if it's not connected at all.
+    if (battery() < 0.5) return false;
+
+    return battery() < (loaded_ ? 2.6 : 3.0);
+  }
+
   bool Parse(const char* cmd, const char* arg) override {
     if (!strcmp(cmd, "battery_voltage")) {
       STDOUT.println(battery());
@@ -128,10 +137,8 @@ BatteryMonitor() : reader_(batteryLevelPin,
   bool loaded_ = false;
   float last_voltage_ = 0.0;
   uint32_t last_voltage_read_time_ = 0;
-  float old_voltage_ = 0.0;
-  float really_old_voltage_ = 0.0;
   uint32_t last_print_millis_;
-  uint32_t last_beep_ = 0;
+  uint32_t last_ok_;
   AnalogReader reader_;
   bool reading_ = false;
 };

config/proffieboard_v1_graflex.h

@@ -0,0 +1,63 @@
+// This is a sample configuration file.
+// This saber has:
+//   o Proffieboard V1 hardware.
+//   o A touchbutton and a regular button
+//   o An 8-pin blade connector
+//   o All blades and presets are stored in common_config.h
+// If you have a saber similar to this one, make a copy and use the copy.
+
+#ifdef CONFIG_TOP
+
+// Proffieboard V1 electronics
+#include "proffieboard_v1_config.h"
+
+// Number of simultaneously connected blades.
+// (For interchangeable blades, see the blades[] array.)
+#define NUM_BLADES 1
+
+// Number of buttons
+#define NUM_BUTTONS 2
+
+// Dual power buttons means that clicking AUX will also turn the saber on.
+// If not defined, AUX will go to next preset when off.
+#define DUAL_POWER_BUTTONS
+
+// Volume, useful range is about 0-2000.
+#define VOLUME 1800
+
+// If you have two 144 LED/m strips in your blade, connect
+// both of them to bladePin and drive them in parallel.
+const unsigned int maxLedsPerStrip = 144;
+
+// This defines how sensitive the clash detection is.
+#define CLASH_THRESHOLD_G 1.0
+
+// Define this if your power button is a touch button.
+#define POWER_TOUCHBUTTON_SENSITIVITY 1700
+// #define AUX_TOUCHBUTTON_SENSITIVITY 1700
+// #define AUX2_TOUCHBUTTON_SENSITIVITY 1700
+
+#define BLADE_ID_CLASS BridgedPullupBladeID<bladeIdentifyPin, blade2Pin>
+
+// Feature defines, these let you turn off large blocks of code
+// used for debugging.
+#define ENABLE_AUDIO
+#define ENABLE_MOTION
+#define ENABLE_WS2811
+#define ENABLE_SD
+
+#endif
+
+#include "common_presets.h"
+
+#ifdef CONFIG_BUTTONS
+
+// There are currently three available button classes:
+// Button (standard momentary button)
+// TouchButton (similar to momentary button, but reacts to touch).
+// LatchingButton (on/off button, always controls ignition)
+
+TouchButton PowerButton(BUTTON_POWER, powerButtonPin, 2500, "pow");
+Button AuxButton(BUTTON_AUX, auxPin, "aux");
+#endif
+

props/blaster.h

@@ -125,7 +125,7 @@ class Blaster : public PropBase {
   }
 
   // Pull in parent's SetPreset, but turn the blaster on.
-  virtual void SetPreset(int preset_num, bool announce) override {
+  void SetPreset(int preset_num, bool announce) override {
     PropBase::SetPreset(preset_num, announce);
 
     if (!SFX_poweron) {
@@ -135,6 +135,12 @@ class Blaster : public PropBase {
     }
   }
 
+  void LowBatteryOff() override {
+    if (SFX_poweron) {
+      PropBase::LowBatteryOff();
+    }
+  }
+
   // Self-destruct pulled from detonator 
   bool armed_ = false;
 

props/prop_base.h

@@ -722,6 +722,32 @@ class PropBase : CommandParser, Looper, protected SaberBase {
 #endif
   }
 
+  virtual void LowBatteryOff() {
+    if (SaberBase::IsOn()) {
+      STDOUT.print("Battery low, turning off. Battery voltage: ");
+      STDOUT.println(battery_monitor.battery());
+      Off();
+    }
+  }
+
+  virtual void CheckLowBattery() {
+    if (battery_monitor.low()) {
+      // TODO: FIXME
+      if (current_style() && !current_style()->Charging()) {
+	LowBatteryOff();
+
+	if (millis() - last_beep_ > 5000) {
+#ifdef ENABLE_AUDIO
+	  // TODO: allow this to be replaced with WAV file
+	  talkie.Say(talkie_low_battery_15, 15);
+#endif
+	  STDOUT << "Battery low :" << battery_monitor.battery() << "\n";
+	  last_beep_ = millis();
+	}
+      }
+    }
+  }
+
   uint32_t last_beep_;
   float current_tick_angle_ = 0.0;
 
@@ -735,23 +761,7 @@ class PropBase : CommandParser, Looper, protected SaberBase {
       clash_pending_ = false;
       Clash2(pending_clash_is_stab_);
     }
-    if (battery_monitor.low()) {
-      // TODO: FIXME
-      if (current_style() && !current_style()->Charging()) {
-        if (SaberBase::IsOn()) {
-          STDOUT.print("Battery low, turning off. Battery voltage: ");
-          STDOUT.println(battery_monitor.battery());
-          Off();
-        } else if (millis() - last_beep_ > 5000) {
-          STDOUT.println("Battery low beep");
-#ifdef ENABLE_AUDIO
-          // TODO: allow this to be replaced with WAV file
-          talkie.Say(talkie_low_battery_15, 15);
-#endif
-          last_beep_ = millis();
-        }
-      }
-    }
+    CheckLowBattery();
 #ifdef ENABLE_AUDIO
     if (track_player_ && !track_player_->isPlaying()) {
       track_player_.Free();