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Diff: laserProjectorHardware/laserProjectorHardware.cpp
- Revision:
- 3:3fe7d6b5cf24
- Child:
- 4:e00e709d7173
--- /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; +}