Hardware control: mirrors
Diff: laserProjectorHardware.h
- Revision:
- 2:b8673fcb3800
- Parent:
- 1:b1f5ed22087a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/laserProjectorHardware.h Fri Sep 07 06:41:01 2012 +0000 @@ -0,0 +1,73 @@ + +#ifndef hardwareIO_h +#define hardwareIO_h + +#include "mbed.h" + + +//SPI library (for ADC chip) uses the following pins, but we don't have to set them and inputs or outputs +// (this is done when the library is initialized, which is done by pre-instantiation: +#define SCK_PIN p7 //SPI Clock +#define MISO_PIN p6 //SPI input (data comming from DAC, here not connected) +#define MOSI_PIN p5 //SPI output (data going to DAC) + +//**** CHIP SELECT pins for MP4922 DAC (mirrors and red laser) +// VERY IMPORTANT: the chip select for the DACs should be different from the default SPI "SS" pin (Slave Select), which is 53 by default (and will be used by the Ethernet Shield). +#define CS_DAC_MIRRORS p8 //Chip Select of the first DAC (mirrors) + +//**** LASERS pins: +#define LASER_RED_PIN p28 // NOT YET USED (TTL control). NOTE: this is NOT the locking sensing laser! +#define LASER_GREEN_PIN p29 // USED (TTL control) +#define LASER_BLUE_PIN p30 // USED (TTL control) + +//**** MIRRORS: +//The DAC is 12 bytes capable (Max=4096), but we will limit this a little. +#define MAX_AD_MIRRORS 3845 // note: 4095 is the absolute maximum for the SPI voltage (5V). This is for checking hardware compliance, but max and min angles can be defined for X and Y in each LivingSpot instance. +#define MIN_AD_MIRRORS 250 // note: 0 is 0 volts for the SPI voltage. +// We assume that the center of the mirror is at MAX_AD_MIRRORS/2 = 2000: +#define CENTER_AD_MIRROR_X 2047 // This MUST BE the direction of the photodetector. +#define CENTER_AD_MIRROR_Y 2047 // This MUST BE the direction of the photodetector. + + +extern DigitalOut Laser_Red, Laser_Green, Laser_Blue; + +// ================================================================================================================================================================== + +class HardwareIO { +public: + + + void init(void); + + void showLimitsMirrors( int times ); + + // SPI control for DAC for mirrors and red laser power (low level): + void writeOutX(unsigned short value); + void writeOutY(unsigned short value); + void writeOutXY(unsigned short valueX, unsigned short valueY) {writeOutX(valueX); writeOutY(valueY);}; + + + //Displaying lasers: + // Again: for the moment laser are TTL but these could be analog. Now, it is just: powerValue > 0 ==> 'true'; else 'false' + // Red laser: + void setRedPower(int powerRed); + // Green laser: + void setGreenPower(int powerGreen); + // Blue laser: + void setBluePower(int powerBlue); + // Setting all colors at once: + void setRGBPower(unsigned char color); // we will use the 3 LSB bits to set each color + + + +private: + +}; + + +extern HardwareIO IO; // allows the object IO to be used in other .cpp files (IO is pre-instantiated in hardwareIO.cpp) +// NOTE: IO encapsulates many IO functions, but perhaps it is better not to have an IO object - just use each IO function separatedly (as with pc object for instance) +extern Serial pc; // allows pc to be manipulated by other .cpp files, even if pc is defined in the hardwareIO.cpp + + +#endif