Diff: laserProjectorHardware/laserProjectorHardware.cpp

Revision:

3:3fe7d6b5cf24

Child:

4:e00e709d7173

diff -r 0548c7bf9fba -r 3fe7d6b5cf24 laserProjectorHardware/laserProjectorHardware.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/laserProjectorHardware/laserProjectorHardware.cpp	Thu Oct 04 05:16:25 2012 +0000
@@ -0,0 +1,135 @@
+#include "laserProjectorHardware.h"
+
+HardwareIO IO; // preintantiation of cross-file global object IO
+
+// --------------------------------------  (0) SETUP ALL IO (call this in the setup() function in main program)
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+ SPI spiDAC(MOSI_PIN, MISO_PIN, SCK_PIN); // mosi, miso, sclk
+ DigitalOut csDAC(CS_DAC_MIRRORS);
+       
+ DigitalOut Laser_Red(LASER_RED_PIN); // NOTE: this is NOT the lock in sensing laser (actually, not used yet)
+ DigitalOut Laser_Green(LASER_GREEN_PIN);
+ DigitalOut Laser_Blue(LASER_BLUE_PIN);
+
+void HardwareIO::init(void) {
+    Laser_Red = 0; // note: this is not the lockin-laser!
+    Laser_Green = 0;
+    Laser_Blue = 0;
+    
+    //Serial Communication setup:
+    pc.baud(115200);//
+   //  pc.baud(921600);//115200);//
+    
+    // Setup the spi for 8 bit data, high steady state clock,
+    // second edge capture, with a 10MHz clock rate
+    csDAC = 1;
+    spiDAC.format(16,0);
+    spiDAC.frequency(16000000);
+   
+   // default initial mirror position: 
+    writeOutX(CENTER_AD_MIRROR_X);
+    writeOutY(CENTER_AD_MIRROR_Y);
+    
+}
+
+//write on the first DAC, output A (mirror X)
+void HardwareIO::writeOutX(unsigned short value){
+ if(value > MAX_AD_MIRRORS) value = MAX_AD_MIRRORS;
+ if(value < MIN_AD_MIRRORS) value = MIN_AD_MIRRORS;
+ 
+ value |= 0x7000;
+ value &= 0x7FFF;
+ 
+ csDAC = 0;
+ spiDAC.write(value);
+ csDAC = 1;
+}
+
+//write on the first DAC, output B (mirror Y)
+void HardwareIO::writeOutY(unsigned short value){
+ if(value > MAX_AD_MIRRORS) value = MAX_AD_MIRRORS;
+ if(value < MIN_AD_MIRRORS) value = MIN_AD_MIRRORS;
+ 
+ value |= 0xF000;
+ value &= 0xFFFF;
+ 
+ csDAC = 0;
+ spiDAC.write(value);
+ csDAC = 1;
+}
+
+void HardwareIO::setRedPower(int powerValue){
+    if(powerValue > 0){
+        Laser_Red = 1;
+    }
+    else{
+        Laser_Red = 0;
+    }
+}
+void HardwareIO::setGreenPower(int powerValue){
+    if(powerValue > 0){
+        Laser_Green = 1;
+    }
+    else{
+        Laser_Green = 0;
+    }
+}
+void HardwareIO::setBluePower(int powerValue){
+    if(powerValue > 0){
+        Laser_Blue = 1;
+    }
+    else{
+        Laser_Blue = 0;
+    }
+}
+void HardwareIO::setRGBPower(unsigned char color) {
+    //lockin.setLaserPower(color&0x04>0? false : true);
+    Laser_Red=color&0x04>>2;
+    Laser_Green=(color&0x02)>>1;
+    Laser_Blue =color&0x01;
+}
+
+void HardwareIO::showLimitsMirrors(int times) {
+      unsigned short pointsPerLine=150;
+      int shiftX = (MAX_AD_MIRRORS - MIN_AD_MIRRORS) / pointsPerLine;
+      int shiftY = (MAX_AD_MIRRORS - MIN_AD_MIRRORS) / pointsPerLine;
+   
+      Laser_Green=1;
+   
+     //for (int repeat=0; repeat<times; repeat++) {
+     
+     Timer t;
+     t.start();
+     while(t.read_ms()<times*1000) {
+       
+      writeOutX(MIN_AD_MIRRORS);writeOutY(MIN_AD_MIRRORS);
+   
+      for(int j=0; j<pointsPerLine; j++){   
+       wait_us(200);//delay between each points
+       writeOutY(j*shiftY + MIN_AD_MIRRORS);
+       }
+      
+      writeOutX(MIN_AD_MIRRORS);writeOutY(MAX_AD_MIRRORS);
+      for(int j=0; j<pointsPerLine; j++) {
+         wait_us(200);//delay between each points
+         writeOutX(j*shiftX + MIN_AD_MIRRORS);
+         }
+      
+      writeOutX(MAX_AD_MIRRORS);writeOutY(MAX_AD_MIRRORS);
+      for(int j=0; j<pointsPerLine; j++) {
+         wait_us(200);//delay between each points
+         writeOutY(-j*shiftX + MAX_AD_MIRRORS);
+         }
+      
+       writeOutX(MAX_AD_MIRRORS);writeOutY(MIN_AD_MIRRORS);
+      for(int j=0; j<pointsPerLine; j++) {
+         wait_us(200);//delay between each points
+         writeOutX(-j*shiftX + MAX_AD_MIRRORS);
+         }
+      
+      }
+      t.stop();
+      Laser_Green=0;
+}