Hardware control: mirrors
Revision 2:b8673fcb3800, committed 2012-09-07
- Comitter:
- mbedalvaro
- Date:
- Fri Sep 07 06:41:01 2012 +0000
- Parent:
- 1:b1f5ed22087a
- Commit message:
- this is a simple library to control a simple laser projector: control three lasers (TTL) and two galvano mirrors, through a pair of DAC
Changed in this revision
--- a/hardwareIO.cpp Fri Sep 07 06:35:22 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,135 +0,0 @@ -#include "hardwareIO.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; -}
--- a/hardwareIO.h Fri Sep 07 06:35:22 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,73 +0,0 @@ - -#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
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/laserProjectorHardware.cpp Fri Sep 07 06:41:01 2012 +0000 @@ -0,0 +1,135 @@ +#include "hardwareIO.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; +}
--- /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