Alvaro Cassinelli / Mbed 2 deprecated ActiveMarkers

synch the camera trigger with the signal in phase and quadrature (every frame or every N frames). We can also simulate the product by the in-phase signal (with a small arbitrary phase difference)

Dependencies:   mbed

Flipper.h@0:4b5874bff9bb, 2014-07-14 (annotated)

Committer:
mbedalvaro
Date:
Mon Jul 14 09:35:12 2014 +0000
Revision:
0:4b5874bff9bb
Child:
1:4284f27d638d
this works very well. A VERY small jitter remains... no idea why. Also, not very happy with all the static member variables... looks like they just needed to be globals...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 0:4b5874bff9bb 1 #ifndef Flipper_h
mbedalvaro 0:4b5874bff9bb 2 #define Flipper_h
mbedalvaro 0:4b5874bff9bb 3
mbedalvaro 0:4b5874bff9bb 4 #include "mbed.h"
mbedalvaro 0:4b5874bff9bb 5
mbedalvaro 0:4b5874bff9bb 6 #define shutterPin p21 // for tests
mbedalvaro 0:4b5874bff9bb 7 #define ledPin p22 // the actual modulation of the LED source (equal to PHASE or QUAD signal every N frames)
mbedalvaro 0:4b5874bff9bb 8 #define cameraTriggerPin p23
mbedalvaro 0:4b5874bff9bb 9
mbedalvaro 0:4b5874bff9bb 10 // A class for flip()-ing a DigitalOut using a timer
mbedalvaro 0:4b5874bff9bb 11
mbedalvaro 0:4b5874bff9bb 12 //1) Class for toggling the LED (in phase or quadrature, with a multiplier)
mbedalvaro 0:4b5874bff9bb 13 class Flipper {
mbedalvaro 0:4b5874bff9bb 14 public:
mbedalvaro 0:4b5874bff9bb 15 static DigitalOut _pin;
mbedalvaro 0:4b5874bff9bb 16 static bool state;
mbedalvaro 0:4b5874bff9bb 17 static bool multiplier;//=true; // this is for simulating the deconvolution
mbedalvaro 0:4b5874bff9bb 18 // NOTE initialization needs to be in the cpp file, unless it's a const
mbedalvaro 0:4b5874bff9bb 19
mbedalvaro 0:4b5874bff9bb 20 static void delay90() {state = !state; _pin=state;}
mbedalvaro 0:4b5874bff9bb 21 static void multImmediate() { _pin=state&&multiplier;}
mbedalvaro 0:4b5874bff9bb 22
mbedalvaro 0:4b5874bff9bb 23
mbedalvaro 0:4b5874bff9bb 24 Flipper(PinName pin, unsigned int interval): us_interval(interval) {
mbedalvaro 0:4b5874bff9bb 25 Flipper::_pin=pin;
mbedalvaro 0:4b5874bff9bb 26 state=true;
mbedalvaro 0:4b5874bff9bb 27 _pin=state;
mbedalvaro 0:4b5874bff9bb 28 }
mbedalvaro 0:4b5874bff9bb 29
mbedalvaro 0:4b5874bff9bb 30 void start() {
mbedalvaro 0:4b5874bff9bb 31 myTicker.attach_us(this, &Flipper::flip, us_interval); // the address of the object, member function, and interval
mbedalvaro 0:4b5874bff9bb 32 }
mbedalvaro 0:4b5874bff9bb 33
mbedalvaro 0:4b5874bff9bb 34 void stop() {
mbedalvaro 0:4b5874bff9bb 35 myTicker.detach();
mbedalvaro 0:4b5874bff9bb 36 }
mbedalvaro 0:4b5874bff9bb 37
mbedalvaro 0:4b5874bff9bb 38 void flip() {
mbedalvaro 0:4b5874bff9bb 39 state = !state;
mbedalvaro 0:4b5874bff9bb 40 _pin=state&&multiplier;
mbedalvaro 0:4b5874bff9bb 41 }
mbedalvaro 0:4b5874bff9bb 42
mbedalvaro 0:4b5874bff9bb 43 private:
mbedalvaro 0:4b5874bff9bb 44 unsigned int us_interval;
mbedalvaro 0:4b5874bff9bb 45 Ticker myTicker;
mbedalvaro 0:4b5874bff9bb 46 };
mbedalvaro 0:4b5874bff9bb 47
mbedalvaro 0:4b5874bff9bb 48 // 2) Camera trigger class (NOTE: we are using MODE 2 of Point gray, meaning we control the exposure)
mbedalvaro 0:4b5874bff9bb 49 class Trigger {
mbedalvaro 0:4b5874bff9bb 50
mbedalvaro 0:4b5874bff9bb 51 friend class Flipper; // because we will call delay90() method
mbedalvaro 0:4b5874bff9bb 52
mbedalvaro 0:4b5874bff9bb 53 public:
mbedalvaro 0:4b5874bff9bb 54
mbedalvaro 0:4b5874bff9bb 55 enum triggerState {
mbedalvaro 0:4b5874bff9bb 56 WAITING=0,
mbedalvaro 0:4b5874bff9bb 57 EXPOSE,
mbedalvaro 0:4b5874bff9bb 58 NUM_STATES
mbedalvaro 0:4b5874bff9bb 59 };
mbedalvaro 0:4b5874bff9bb 60
mbedalvaro 0:4b5874bff9bb 61 Trigger(PinName pin, float fps, unsigned int exposure) : _pin(pin) {
mbedalvaro 0:4b5874bff9bb 62 _pin=1;
mbedalvaro 0:4b5874bff9bb 63 us_exposureTime=exposure;
mbedalvaro 0:4b5874bff9bb 64 us_waitingTime=(unsigned int)(1000000.0/fps-us_exposureTime);
mbedalvaro 0:4b5874bff9bb 65 framesQPToggle=2; // default number of frames before toggling between Q and P signals (delaying the Flipper signal by 90 deg).
mbedalvaro 0:4b5874bff9bb 66 QP_Mode=true;
mbedalvaro 0:4b5874bff9bb 67 }
mbedalvaro 0:4b5874bff9bb 68
mbedalvaro 0:4b5874bff9bb 69 void setQPToggleFrames(unsigned int numToggleQPFrames) {
mbedalvaro 0:4b5874bff9bb 70 framesQPToggle=numToggleQPFrames;
mbedalvaro 0:4b5874bff9bb 71 }
mbedalvaro 0:4b5874bff9bb 72
mbedalvaro 0:4b5874bff9bb 73 void setFrameRate(float fps) {
mbedalvaro 0:4b5874bff9bb 74 us_waitingTime=(unsigned int)(1000000.0/fps-us_exposureTime);
mbedalvaro 0:4b5874bff9bb 75 }
mbedalvaro 0:4b5874bff9bb 76
mbedalvaro 0:4b5874bff9bb 77 void setExposure(unsigned int exposure) {
mbedalvaro 0:4b5874bff9bb 78 us_exposureTime=exposure;
mbedalvaro 0:4b5874bff9bb 79 }
mbedalvaro 0:4b5874bff9bb 80
mbedalvaro 0:4b5874bff9bb 81 void start() {
mbedalvaro 0:4b5874bff9bb 82 // We start in WAITING and go to EXPOSE
mbedalvaro 0:4b5874bff9bb 83 myTimer.attach_us(this, &Trigger::trigger, us_waitingTime); // the address of the object, member function, and interval
mbedalvaro 0:4b5874bff9bb 84 myTriggerState=WAITING;
mbedalvaro 0:4b5874bff9bb 85 frameCounter=0;
mbedalvaro 0:4b5874bff9bb 86 }
mbedalvaro 0:4b5874bff9bb 87
mbedalvaro 0:4b5874bff9bb 88 void toggleQP(bool mode) {
mbedalvaro 0:4b5874bff9bb 89 QP_Mode=mode;
mbedalvaro 0:4b5874bff9bb 90 }
mbedalvaro 0:4b5874bff9bb 91
mbedalvaro 0:4b5874bff9bb 92 void stop() {
mbedalvaro 0:4b5874bff9bb 93 myTimer.detach();
mbedalvaro 0:4b5874bff9bb 94 }
mbedalvaro 0:4b5874bff9bb 95
mbedalvaro 0:4b5874bff9bb 96 void trigger() {
mbedalvaro 0:4b5874bff9bb 97 switch(myTriggerState) {
mbedalvaro 0:4b5874bff9bb 98 case WAITING: // if the state was "wait" and we got here, we need to start exposing:
mbedalvaro 0:4b5874bff9bb 99 _pin=0; // a high-low change triggers the camera
mbedalvaro 0:4b5874bff9bb 100 // now we need to reset the timeout and give it another value:
mbedalvaro 0:4b5874bff9bb 101 myTimer.attach_us(this, &Trigger::trigger, us_exposureTime);
mbedalvaro 0:4b5874bff9bb 102 myTriggerState=EXPOSE;
mbedalvaro 0:4b5874bff9bb 103 break;
mbedalvaro 0:4b5874bff9bb 104 case EXPOSE: // if the state was EXPOSE, we need to stop exposing and go to wait:
mbedalvaro 0:4b5874bff9bb 105 _pin=1; // a low-high stop exposing
mbedalvaro 0:4b5874bff9bb 106 // now we need to reset the timeout and give it another value:
mbedalvaro 0:4b5874bff9bb 107 myTimer.attach_us(this, &Trigger::trigger, us_waitingTime);
mbedalvaro 0:4b5874bff9bb 108 myTriggerState=WAITING;
mbedalvaro 0:4b5874bff9bb 109
mbedalvaro 0:4b5874bff9bb 110 // Also, this means we acquired ONE frame...
mbedalvaro 0:4b5874bff9bb 111 // Switch the from phase to quadrature int the friend class Flipper, every N frames (if we want):
mbedalvaro 0:4b5874bff9bb 112 frameCounter=(frameCounter+1)%framesQPToggle;
mbedalvaro 0:4b5874bff9bb 113 if (QP_Mode&&frameCounter==0) {
mbedalvaro 0:4b5874bff9bb 114 //Flipper::state = ! Flipper::state ; // this correspond to calling the flip function (but without multiplier)
mbedalvaro 0:4b5874bff9bb 115 Flipper::delay90();
mbedalvaro 0:4b5874bff9bb 116 }
mbedalvaro 0:4b5874bff9bb 117 break;
mbedalvaro 0:4b5874bff9bb 118 default:
mbedalvaro 0:4b5874bff9bb 119 break;
mbedalvaro 0:4b5874bff9bb 120 }
mbedalvaro 0:4b5874bff9bb 121 }
mbedalvaro 0:4b5874bff9bb 122
mbedalvaro 0:4b5874bff9bb 123 private:
mbedalvaro 0:4b5874bff9bb 124 DigitalOut _pin;
mbedalvaro 0:4b5874bff9bb 125 bool QP_Mode; // this is to select toggling or not
mbedalvaro 0:4b5874bff9bb 126 triggerState myTriggerState;
mbedalvaro 0:4b5874bff9bb 127 unsigned int frameCounter;
mbedalvaro 0:4b5874bff9bb 128 unsigned int framesQPToggle;
mbedalvaro 0:4b5874bff9bb 129 unsigned int us_exposureTime, us_waitingTime;
mbedalvaro 0:4b5874bff9bb 130 Timeout myTimer; // I need to use a timeout, and not a ticker because the intervals are different for the trigger period and exposure time
mbedalvaro 0:4b5874bff9bb 131 };
mbedalvaro 0:4b5874bff9bb 132
mbedalvaro 0:4b5874bff9bb 133 // 3) The simulation of the LCD shutter:
mbedalvaro 0:4b5874bff9bb 134 class Shutter{
mbedalvaro 0:4b5874bff9bb 135 friend class Flipper; // because we will modify the Flipper variable "multiplier"
mbedalvaro 0:4b5874bff9bb 136
mbedalvaro 0:4b5874bff9bb 137 public:
mbedalvaro 0:4b5874bff9bb 138 // Note: we don't really need a toggling pin for this, but it can be good to see it on the oscilloscope
mbedalvaro 0:4b5874bff9bb 139 Shutter(PinName pin, unsigned int interval) : _pin(pin), us_interval(interval) {
mbedalvaro 0:4b5874bff9bb 140 state=true;
mbedalvaro 0:4b5874bff9bb 141 _pin=state;
mbedalvaro 0:4b5874bff9bb 142 mix=true;
mbedalvaro 0:4b5874bff9bb 143 }
mbedalvaro 0:4b5874bff9bb 144
mbedalvaro 0:4b5874bff9bb 145 void start() {
mbedalvaro 0:4b5874bff9bb 146 myTicker.attach_us(this, &Shutter::flip, us_interval); // the address of the object, member function, and interval
mbedalvaro 0:4b5874bff9bb 147 }
mbedalvaro 0:4b5874bff9bb 148
mbedalvaro 0:4b5874bff9bb 149 void mixSignal(bool mode) {
mbedalvaro 0:4b5874bff9bb 150 mix=mode;
mbedalvaro 0:4b5874bff9bb 151 }
mbedalvaro 0:4b5874bff9bb 152
mbedalvaro 0:4b5874bff9bb 153 void stop() {
mbedalvaro 0:4b5874bff9bb 154 myTicker.detach();
mbedalvaro 0:4b5874bff9bb 155 }
mbedalvaro 0:4b5874bff9bb 156
mbedalvaro 0:4b5874bff9bb 157 // the shutter "flip" function also affect the friend variable "multiplier":
mbedalvaro 0:4b5874bff9bb 158 void flip() {
mbedalvaro 0:4b5874bff9bb 159 state = !state;
mbedalvaro 0:4b5874bff9bb 160 _pin=state;
mbedalvaro 0:4b5874bff9bb 161 if (mix) {
mbedalvaro 0:4b5874bff9bb 162 Flipper::multiplier=state;
mbedalvaro 0:4b5874bff9bb 163 }
mbedalvaro 0:4b5874bff9bb 164 else {
mbedalvaro 0:4b5874bff9bb 165 Flipper::multiplier=true;
mbedalvaro 0:4b5874bff9bb 166 }
mbedalvaro 0:4b5874bff9bb 167 Flipper::multImmediate();
mbedalvaro 0:4b5874bff9bb 168 }
mbedalvaro 0:4b5874bff9bb 169
mbedalvaro 0:4b5874bff9bb 170 private:
mbedalvaro 0:4b5874bff9bb 171 bool mix; // this is for mixing this signal with the led (ie, product)
mbedalvaro 0:4b5874bff9bb 172 bool state;
mbedalvaro 0:4b5874bff9bb 173 DigitalOut _pin;
mbedalvaro 0:4b5874bff9bb 174 unsigned int us_interval;
mbedalvaro 0:4b5874bff9bb 175 Ticker myTicker;
mbedalvaro 0:4b5874bff9bb 176 };
mbedalvaro 0:4b5874bff9bb 177
mbedalvaro 0:4b5874bff9bb 178 #endif