Hardware control: mirrors
hardwareIO.h@1:b1f5ed22087a, 2012-09-07 (annotated)
- Committer:
- mbedalvaro
- Date:
- Fri Sep 07 06:35:22 2012 +0000
- Revision:
- 1:b1f5ed22087a
- Parent:
- 0:3fe2fe307968
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Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
mbedalvaro | 0:3fe2fe307968 | 1 | |
mbedalvaro | 0:3fe2fe307968 | 2 | #ifndef hardwareIO_h |
mbedalvaro | 0:3fe2fe307968 | 3 | #define hardwareIO_h |
mbedalvaro | 0:3fe2fe307968 | 4 | |
mbedalvaro | 0:3fe2fe307968 | 5 | #include "mbed.h" |
mbedalvaro | 0:3fe2fe307968 | 6 | |
mbedalvaro | 0:3fe2fe307968 | 7 | |
mbedalvaro | 1:b1f5ed22087a | 8 | //SPI library (for ADC chip) uses the following pins, but we don't have to set them and inputs or outputs |
mbedalvaro | 1:b1f5ed22087a | 9 | // (this is done when the library is initialized, which is done by pre-instantiation: |
mbedalvaro | 0:3fe2fe307968 | 10 | #define SCK_PIN p7 //SPI Clock |
mbedalvaro | 0:3fe2fe307968 | 11 | #define MISO_PIN p6 //SPI input (data comming from DAC, here not connected) |
mbedalvaro | 0:3fe2fe307968 | 12 | #define MOSI_PIN p5 //SPI output (data going to DAC) |
mbedalvaro | 0:3fe2fe307968 | 13 | |
mbedalvaro | 0:3fe2fe307968 | 14 | //**** CHIP SELECT pins for MP4922 DAC (mirrors and red laser) |
mbedalvaro | 0:3fe2fe307968 | 15 | // 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). |
mbedalvaro | 0:3fe2fe307968 | 16 | #define CS_DAC_MIRRORS p8 //Chip Select of the first DAC (mirrors) |
mbedalvaro | 0:3fe2fe307968 | 17 | |
mbedalvaro | 0:3fe2fe307968 | 18 | //**** LASERS pins: |
mbedalvaro | 1:b1f5ed22087a | 19 | #define LASER_RED_PIN p28 // NOT YET USED (TTL control). NOTE: this is NOT the locking sensing laser! |
mbedalvaro | 0:3fe2fe307968 | 20 | #define LASER_GREEN_PIN p29 // USED (TTL control) |
mbedalvaro | 0:3fe2fe307968 | 21 | #define LASER_BLUE_PIN p30 // USED (TTL control) |
mbedalvaro | 0:3fe2fe307968 | 22 | |
mbedalvaro | 0:3fe2fe307968 | 23 | //**** MIRRORS: |
mbedalvaro | 0:3fe2fe307968 | 24 | //The DAC is 12 bytes capable (Max=4096), but we will limit this a little. |
mbedalvaro | 0:3fe2fe307968 | 25 | #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. |
mbedalvaro | 0:3fe2fe307968 | 26 | #define MIN_AD_MIRRORS 250 // note: 0 is 0 volts for the SPI voltage. |
mbedalvaro | 0:3fe2fe307968 | 27 | // We assume that the center of the mirror is at MAX_AD_MIRRORS/2 = 2000: |
mbedalvaro | 0:3fe2fe307968 | 28 | #define CENTER_AD_MIRROR_X 2047 // This MUST BE the direction of the photodetector. |
mbedalvaro | 0:3fe2fe307968 | 29 | #define CENTER_AD_MIRROR_Y 2047 // This MUST BE the direction of the photodetector. |
mbedalvaro | 0:3fe2fe307968 | 30 | |
mbedalvaro | 0:3fe2fe307968 | 31 | |
mbedalvaro | 0:3fe2fe307968 | 32 | extern DigitalOut Laser_Red, Laser_Green, Laser_Blue; |
mbedalvaro | 0:3fe2fe307968 | 33 | |
mbedalvaro | 0:3fe2fe307968 | 34 | // ================================================================================================================================================================== |
mbedalvaro | 0:3fe2fe307968 | 35 | |
mbedalvaro | 0:3fe2fe307968 | 36 | class HardwareIO { |
mbedalvaro | 0:3fe2fe307968 | 37 | public: |
mbedalvaro | 0:3fe2fe307968 | 38 | |
mbedalvaro | 0:3fe2fe307968 | 39 | |
mbedalvaro | 0:3fe2fe307968 | 40 | void init(void); |
mbedalvaro | 0:3fe2fe307968 | 41 | |
mbedalvaro | 0:3fe2fe307968 | 42 | void showLimitsMirrors( int times ); |
mbedalvaro | 0:3fe2fe307968 | 43 | |
mbedalvaro | 0:3fe2fe307968 | 44 | // SPI control for DAC for mirrors and red laser power (low level): |
mbedalvaro | 0:3fe2fe307968 | 45 | void writeOutX(unsigned short value); |
mbedalvaro | 0:3fe2fe307968 | 46 | void writeOutY(unsigned short value); |
mbedalvaro | 1:b1f5ed22087a | 47 | void writeOutXY(unsigned short valueX, unsigned short valueY) {writeOutX(valueX); writeOutY(valueY);}; |
mbedalvaro | 1:b1f5ed22087a | 48 | |
mbedalvaro | 1:b1f5ed22087a | 49 | |
mbedalvaro | 1:b1f5ed22087a | 50 | //Displaying lasers: |
mbedalvaro | 1:b1f5ed22087a | 51 | // Again: for the moment laser are TTL but these could be analog. Now, it is just: powerValue > 0 ==> 'true'; else 'false' |
mbedalvaro | 0:3fe2fe307968 | 52 | // Red laser: |
mbedalvaro | 0:3fe2fe307968 | 53 | void setRedPower(int powerRed); |
mbedalvaro | 0:3fe2fe307968 | 54 | // Green laser: |
mbedalvaro | 0:3fe2fe307968 | 55 | void setGreenPower(int powerGreen); |
mbedalvaro | 0:3fe2fe307968 | 56 | // Blue laser: |
mbedalvaro | 0:3fe2fe307968 | 57 | void setBluePower(int powerBlue); |
mbedalvaro | 1:b1f5ed22087a | 58 | // Setting all colors at once: |
mbedalvaro | 0:3fe2fe307968 | 59 | void setRGBPower(unsigned char color); // we will use the 3 LSB bits to set each color |
mbedalvaro | 0:3fe2fe307968 | 60 | |
mbedalvaro | 0:3fe2fe307968 | 61 | |
mbedalvaro | 0:3fe2fe307968 | 62 | |
mbedalvaro | 0:3fe2fe307968 | 63 | private: |
mbedalvaro | 0:3fe2fe307968 | 64 | |
mbedalvaro | 0:3fe2fe307968 | 65 | }; |
mbedalvaro | 0:3fe2fe307968 | 66 | |
mbedalvaro | 0:3fe2fe307968 | 67 | |
mbedalvaro | 0:3fe2fe307968 | 68 | extern HardwareIO IO; // allows the object IO to be used in other .cpp files (IO is pre-instantiated in hardwareIO.cpp) |
mbedalvaro | 0:3fe2fe307968 | 69 | // 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) |
mbedalvaro | 0:3fe2fe307968 | 70 | extern Serial pc; // allows pc to be manipulated by other .cpp files, even if pc is defined in the hardwareIO.cpp |
mbedalvaro | 0:3fe2fe307968 | 71 | |
mbedalvaro | 0:3fe2fe307968 | 72 | |
mbedalvaro | 0:3fe2fe307968 | 73 | #endif |