SonicMEMS@Cornell
a
Diff: main.cpp
- Revision:
- 0:cd12a9602e45
- Child:
- 1:17d4a70bff6a
diff -r 000000000000 -r cd12a9602e45 main.cpp
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Thu Aug 20 21:20:04 2015 +0000
@@ -0,0 +1,310 @@
+/*============================================================================
+ mbed_S9132_stream03
+ Read out data from Hamamatsu S9132 Profile sensor
+ and stream data to computer through serial usb
+ Visarute Pinrod
+ SonicMEMS Laboratory, ECE, Cornell University, Ithaca, NY, USA
+ August 15, 2015
+============================================================================*/
+
+#include "mbed.h"
+#include "FastIO.h"
+
+FastOut<p23> stC;
+FastOut<p24> clkC;
+FastIn<p25> eosX;
+FastIn<p26> trigX;
+FastIn<p27> eocX;
+FastIn<p28> doY;
+FastIn<p29> doX;
+FastIn<p30> trigY;
+
+//DigitalOut stC(p23);
+//DigitalOut clkC(p24);
+//DigitalIn eosX(p25);
+//DigitalIn trigX(p26);
+//DigitalIn eocX(p27);
+//DigitalIn doY(p28);
+//DigitalIn doX(p29);
+//DigitalIn trigY(p30);
+// DigitalOut myled(LED1);
+
+// Object
+Serial pc(USBTX, USBRX); // tx, rx
+
+void initial(){
+ pc.baud(460800);
+ //pc.baud(921600);
+ stC=1;
+ clkC= 0;
+}
+
+void readS9132() {
+ short i=0;
+ short x[256] = {0};
+ short y[256] = {0};
+ for(i=0;i<256;i++){
+ x[i]=0xEA6;
+ y[i]=0xEA6;
+ }
+ char eoc=2;
+ char bit=11;
+ short xp = 0;
+ short yp = 0;
+ char xo = 0;
+ char yo = 0;
+ short pxi=0;
+ stC=1;
+ clkC= 0;
+ stC=0;
+ wait_us(1);
+ clkC= 1;
+ wait_us(1);
+ clkC= 0;
+ wait_us(1);
+ clkC= 1;
+ wait_us(1);
+ clkC= 0;
+ wait_us(1);
+
+ wait_us(1);
+ stC=1;
+ //pc.printf("\n\n ========= Restart MBED ========= \n\n");
+ for(i=0;i<3200;i++) {
+ //pc.printf(" i = %d ",i);
+ clkC= 1;
+ wait_us(1);
+ /*pc.printf(" trigX ");
+ if (trigX.read() == 1){
+ pc.printf("1");
+ }else{
+ pc.printf("0");
+ }
+ pc.printf(" trigY ");
+ if (trigY.read() == 1){
+ pc.printf("1");
+ }else{
+ pc.printf("0");
+ }*/
+ clkC= 0;
+ wait_us(1);
+ //pc.printf(" eoc ");
+ if (eocX.read() == 1){
+ //pc.printf("1");
+ eoc=1;
+ }else{
+ //pc.printf("0");
+ eoc=0;
+ }
+ /*pc.printf(" eos ");
+ if (eosX.read() == 1){
+ pc.printf("1");
+ }else{
+ pc.printf("0");
+ }
+ pc.printf(" doX ");*/
+ if (doX.read() == 1){
+ //pc.printf("1");
+ xo=1;
+ }else{
+ //pc.printf("0");
+ xo=0;
+ }
+ //pc.printf(" doY ");
+ if (doY.read() == 1){
+ //pc.printf("1");
+ yo=1;
+ }else{
+ //pc.printf("0");
+ yo=0;
+ }
+
+ /*pc.printf(" trigX ");
+ if (trigX.read() == 1){
+ pc.printf("1");
+ }else{
+ pc.printf("0");
+ }
+ pc.printf(" trigY ");
+ if (trigY.read() == 1){
+ pc.printf("1");
+ }else{
+ pc.printf("0");
+ }
+ pc.printf("\n");
+ */
+
+ if(eoc==0){
+ bit--;
+ if(bit<10){
+ xp=xp<<1|xo;
+ yp=yp<<1|yo;
+ }
+ if(bit==0){
+ bit=11;
+ x[pxi]=xp;
+ y[pxi]=yp;
+ pxi++;
+ //pc.printf("pxi= %d, x = %03X, y = %03X\n",pxi,xp,yp);
+ wait_us(1);
+ xp=0;
+ yp=0;
+
+ }
+ }
+ }
+ pc.printf("[CAM_READ_ST]");
+ for(i=0;i<256;i++){
+ pc.printf("%03X%03X",x[i],y[i]);
+ //pc.printf(" i= %d, x = %03X, y = %03X\n",i,x[i],y[i]);
+ }
+ pc.printf("[CAM_READ_ED]\n");
+}
+
+void flushS9132() {
+ short i=0;
+ short x[256] = {0};
+ short y[256] = {0};
+ for(i=0;i<256;i++){
+ x[i]=0xEA6;
+ y[i]=0xEA6;
+ }
+ char eoc=2;
+ char bit=11;
+ short xp = 0;
+ short yp = 0;
+ char xo = 0;
+ char yo = 0;
+ short pxi=0;
+ stC=1;
+ clkC= 0;
+ stC=0;
+ wait_us(1);
+ clkC= 1;
+ wait_us(1);
+ clkC= 0;
+ wait_us(1);
+ clkC= 1;
+ wait_us(1);
+ clkC= 0;
+ wait_us(1);
+
+ wait_us(1);
+ stC=1;
+ //pc.printf("\n\n ========= Restart MBED ========= \n\n");
+ for(i=0;i<3200;i++) {
+ //pc.printf(" i = %d ",i);
+ clkC= 1;
+ wait_us(1);
+ /*pc.printf(" trigX ");
+ if (trigX.read() == 1){
+ pc.printf("1");
+ }else{
+ pc.printf("0");
+ }
+ pc.printf(" trigY ");
+ if (trigY.read() == 1){
+ pc.printf("1");
+ }else{
+ pc.printf("0");
+ }*/
+ clkC= 0;
+ wait_us(1);
+ //pc.printf(" eoc ");
+ if (eocX.read() == 1){
+ //pc.printf("1");
+ eoc=1;
+ }else{
+ //pc.printf("0");
+ eoc=0;
+ }
+ /*pc.printf(" eos ");
+ if (eosX.read() == 1){
+ pc.printf("1");
+ }else{
+ pc.printf("0");
+ }
+ pc.printf(" doX ");*/
+ if (doX.read() == 1){
+ //pc.printf("1");
+ xo=1;
+ }else{
+ //pc.printf("0");
+ xo=0;
+ }
+ //pc.printf(" doY ");
+ if (doY.read() == 1){
+ //pc.printf("1");
+ yo=1;
+ }else{
+ //pc.printf("0");
+ yo=0;
+ }
+
+ /*pc.printf(" trigX ");
+ if (trigX.read() == 1){
+ pc.printf("1");
+ }else{
+ pc.printf("0");
+ }
+ pc.printf(" trigY ");
+ if (trigY.read() == 1){
+ pc.printf("1");
+ }else{
+ pc.printf("0");
+ }
+ pc.printf("\n");
+ */
+
+ if(eoc==0){
+ bit--;
+ if(bit<10){
+ xp=xp<<1|xo;
+ yp=yp<<1|yo;
+ }
+ if(bit==0){
+ bit=11;
+ x[pxi]=xp;
+ y[pxi]=yp;
+ pxi++;
+ //pc.printf("pxi= %d, x = %03X, y = %03X\n",pxi,xp,yp);
+ wait_us(1);
+ xp=0;
+ yp=0;
+
+ }
+ }
+ }
+}
+
+int main(){
+ // Variable for main function
+ char buf[16]; // Buffer for the command from PC
+ initial();
+ while(1) {
+ flushS9132();
+ if (pc.readable()) {
+ //Command format: Start Mode Submode VALUe enD S F F FFFF D
+ pc.gets(buf, 16);
+ //pc.printf("Get buf: %s\n",buf);
+ if ((buf[0] == 'S')&&(buf[7] == 'D')) {
+ //Mode switch
+ switch(buf[1]) {
+ //read all axis mode
+ case 'c':
+ // camera
+ switch(buf[2]) {
+ case 'o':
+ readS9132();
+ break;
+ default:
+ break;
+ }
+ default:
+ break;
+ }
+ }
+ }
+ }
+ return 0;
+}
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