Alvaro Cassinelli / Mbed 2 deprecated laserScannerControl_FRDMK64F

Example controlling galvanomirrors (X and Y) using the spi DAC MCP4922 and the new platform FRDM_K64F

Dependencies:   mbed

laserProjectorHardware/laserProjectorHardware.cpp@1:4be6abc4ed43, 2014-05-25 (annotated)

Committer:
mbedalvaro
Date:
Sun May 25 12:24:21 2014 +0000
Revision:
1:4be6abc4ed43
Parent:
0:26b228dde70c
Child:
2:383b2acec6e4
this works fine, using the laserMouse_Processing controller; Note: for some reason I had to change spiDAC clock to 20MHz...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 0:26b228dde70c 1 #include "laserProjectorHardware.h"
mbedalvaro 0:26b228dde70c 2
mbedalvaro 0:26b228dde70c 3 HardwareIO IO; // preintantiation of cross-file global object IO
mbedalvaro 0:26b228dde70c 4
mbedalvaro 0:26b228dde70c 5 // -------------------------------------- (0) SETUP ALL IO (call this in the setup() function in main program)
mbedalvaro 0:26b228dde70c 6
mbedalvaro 0:26b228dde70c 7 Serial pc(USBTX, USBRX); // tx, rx
mbedalvaro 0:26b228dde70c 8
mbedalvaro 0:26b228dde70c 9 SPI spiDAC(MOSI_PIN, MISO_PIN, SCK_PIN); // mosi, miso, sclk
mbedalvaro 0:26b228dde70c 10 DigitalOut csDAC(CS_DAC_MIRRORS);
mbedalvaro 0:26b228dde70c 11
mbedalvaro 0:26b228dde70c 12 DigitalOut Laser_Red(LASER_RED_PIN); // NOTE: this is NOT the lock in sensing laser (actually, not used yet)
mbedalvaro 0:26b228dde70c 13 DigitalOut Laser_Green(LASER_GREEN_PIN);
mbedalvaro 0:26b228dde70c 14 DigitalOut Laser_Blue(LASER_BLUE_PIN);
mbedalvaro 0:26b228dde70c 15
mbedalvaro 0:26b228dde70c 16 void HardwareIO::init(void) {
mbedalvaro 0:26b228dde70c 17 Laser_Red = 1; // note: this is not the lockin-laser! it is also negated
mbedalvaro 0:26b228dde70c 18 Laser_Green = 0;
mbedalvaro 0:26b228dde70c 19 Laser_Blue = 0;
mbedalvaro 0:26b228dde70c 20
mbedalvaro 0:26b228dde70c 21 //Serial Communication setup:
mbedalvaro 0:26b228dde70c 22 pc.baud(115200);//
mbedalvaro 0:26b228dde70c 23 // pc.baud(921600);//115200);//
mbedalvaro 0:26b228dde70c 24
mbedalvaro 0:26b228dde70c 25 // Setup the spi for 8 bit data, high steady state clock,
mbedalvaro 1:4be6abc4ed43 26 // second edge capture, with a 20MHz clock rate (max for the MCP4922)
mbedalvaro 0:26b228dde70c 27 csDAC = 1;
mbedalvaro 0:26b228dde70c 28 spiDAC.format(16,0);
mbedalvaro 1:4be6abc4ed43 29 spiDAC.frequency(20000000);
mbedalvaro 0:26b228dde70c 30
mbedalvaro 0:26b228dde70c 31 // default initial mirror position:
mbedalvaro 0:26b228dde70c 32 writeOutX(CENTER_AD_MIRROR_X);
mbedalvaro 0:26b228dde70c 33 writeOutY(CENTER_AD_MIRROR_Y);
mbedalvaro 0:26b228dde70c 34
mbedalvaro 0:26b228dde70c 35 }
mbedalvaro 0:26b228dde70c 36
mbedalvaro 0:26b228dde70c 37 //write on the first DAC, output A (mirror X)
mbedalvaro 0:26b228dde70c 38 void HardwareIO::writeOutX(unsigned short value){
mbedalvaro 0:26b228dde70c 39 if(value > MAX_AD_MIRRORS) value = MAX_AD_MIRRORS;
mbedalvaro 0:26b228dde70c 40 if(value < MIN_AD_MIRRORS) value = MIN_AD_MIRRORS;
mbedalvaro 0:26b228dde70c 41
mbedalvaro 0:26b228dde70c 42 value |= 0xF000;
mbedalvaro 0:26b228dde70c 43 value &= 0xFFFF;
mbedalvaro 0:26b228dde70c 44
mbedalvaro 0:26b228dde70c 45 csDAC = 0;
mbedalvaro 0:26b228dde70c 46 spiDAC.write(value);
mbedalvaro 0:26b228dde70c 47 csDAC = 1;
mbedalvaro 0:26b228dde70c 48 }
mbedalvaro 0:26b228dde70c 49
mbedalvaro 0:26b228dde70c 50 //write on the first DAC, output B (mirror Y)
mbedalvaro 0:26b228dde70c 51 void HardwareIO::writeOutY(unsigned short value){
mbedalvaro 0:26b228dde70c 52 if(value > MAX_AD_MIRRORS) value = MAX_AD_MIRRORS;
mbedalvaro 0:26b228dde70c 53 if(value < MIN_AD_MIRRORS) value = MIN_AD_MIRRORS;
mbedalvaro 0:26b228dde70c 54
mbedalvaro 0:26b228dde70c 55 value |= 0x7000;
mbedalvaro 0:26b228dde70c 56 value &= 0x7FFF;
mbedalvaro 0:26b228dde70c 57
mbedalvaro 0:26b228dde70c 58 csDAC = 0;
mbedalvaro 0:26b228dde70c 59 spiDAC.write(value);
mbedalvaro 0:26b228dde70c 60 csDAC = 1;
mbedalvaro 0:26b228dde70c 61 }
mbedalvaro 0:26b228dde70c 62
mbedalvaro 0:26b228dde70c 63 void HardwareIO::setRedPower(int powerValue){
mbedalvaro 0:26b228dde70c 64 if(powerValue > 0){
mbedalvaro 1:4be6abc4ed43 65 Laser_Red = 0; // att! it's negated for the laser diode module "vector"
mbedalvaro 0:26b228dde70c 66 }
mbedalvaro 0:26b228dde70c 67 else{
mbedalvaro 0:26b228dde70c 68 Laser_Red = 1;
mbedalvaro 0:26b228dde70c 69 }
mbedalvaro 0:26b228dde70c 70 }
mbedalvaro 0:26b228dde70c 71 void HardwareIO::setGreenPower(int powerValue){
mbedalvaro 0:26b228dde70c 72 if(powerValue > 0){
mbedalvaro 0:26b228dde70c 73 Laser_Green = 1;
mbedalvaro 0:26b228dde70c 74 }
mbedalvaro 0:26b228dde70c 75 else{
mbedalvaro 0:26b228dde70c 76 Laser_Green = 0;
mbedalvaro 0:26b228dde70c 77 }
mbedalvaro 0:26b228dde70c 78 }
mbedalvaro 0:26b228dde70c 79 void HardwareIO::setBluePower(int powerValue){
mbedalvaro 0:26b228dde70c 80 if(powerValue > 0){
mbedalvaro 0:26b228dde70c 81 Laser_Blue = 1;
mbedalvaro 0:26b228dde70c 82 }
mbedalvaro 0:26b228dde70c 83 else{
mbedalvaro 0:26b228dde70c 84 Laser_Blue = 0;
mbedalvaro 0:26b228dde70c 85 }
mbedalvaro 0:26b228dde70c 86 }
mbedalvaro 0:26b228dde70c 87 void HardwareIO::setRGBPower(unsigned char color) {
mbedalvaro 0:26b228dde70c 88 //lockin.setLaserPower(color&0x04>0? false : true);
mbedalvaro 0:26b228dde70c 89 Laser_Red=color&0x04>>2;
mbedalvaro 0:26b228dde70c 90 Laser_Green=(color&0x02)>>1;
mbedalvaro 0:26b228dde70c 91 Laser_Blue =color&0x01;
mbedalvaro 0:26b228dde70c 92 }
mbedalvaro 0:26b228dde70c 93
mbedalvaro 0:26b228dde70c 94 void HardwareIO::showLimitsMirrors(int times) {
mbedalvaro 0:26b228dde70c 95 unsigned short pointsPerLine=150;
mbedalvaro 0:26b228dde70c 96 int shiftX = (MAX_AD_MIRRORS - MIN_AD_MIRRORS) / pointsPerLine;
mbedalvaro 0:26b228dde70c 97 int shiftY = (MAX_AD_MIRRORS - MIN_AD_MIRRORS) / pointsPerLine;
mbedalvaro 0:26b228dde70c 98
mbedalvaro 0:26b228dde70c 99 Laser_Green=1;
mbedalvaro 0:26b228dde70c 100
mbedalvaro 0:26b228dde70c 101 //for (int repeat=0; repeat<times; repeat++) {
mbedalvaro 0:26b228dde70c 102
mbedalvaro 0:26b228dde70c 103 Timer t;
mbedalvaro 0:26b228dde70c 104 t.start();
mbedalvaro 0:26b228dde70c 105 while(t.read_ms()<times*1000) {
mbedalvaro 0:26b228dde70c 106
mbedalvaro 0:26b228dde70c 107 writeOutX(MIN_AD_MIRRORS);writeOutY(MIN_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 108
mbedalvaro 0:26b228dde70c 109 for(int j=0; j<pointsPerLine; j++){
mbedalvaro 0:26b228dde70c 110 wait_us(200);//delay between each points
mbedalvaro 0:26b228dde70c 111 writeOutY(j*shiftY + MIN_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 112 }
mbedalvaro 0:26b228dde70c 113
mbedalvaro 0:26b228dde70c 114 writeOutX(MIN_AD_MIRRORS);writeOutY(MAX_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 115 for(int j=0; j<pointsPerLine; j++) {
mbedalvaro 0:26b228dde70c 116 wait_us(200);//delay between each points
mbedalvaro 0:26b228dde70c 117 writeOutX(j*shiftX + MIN_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 118 }
mbedalvaro 0:26b228dde70c 119
mbedalvaro 0:26b228dde70c 120 writeOutX(MAX_AD_MIRRORS);writeOutY(MAX_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 121 for(int j=0; j<pointsPerLine; j++) {
mbedalvaro 0:26b228dde70c 122 wait_us(200);//delay between each points
mbedalvaro 0:26b228dde70c 123 writeOutY(-j*shiftX + MAX_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 124 }
mbedalvaro 0:26b228dde70c 125
mbedalvaro 0:26b228dde70c 126 writeOutX(MAX_AD_MIRRORS);writeOutY(MIN_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 127 for(int j=0; j<pointsPerLine; j++) {
mbedalvaro 0:26b228dde70c 128 wait_us(200);//delay between each points
mbedalvaro 0:26b228dde70c 129 writeOutX(-j*shiftX + MAX_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 130 }
mbedalvaro 0:26b228dde70c 131
mbedalvaro 0:26b228dde70c 132 }
mbedalvaro 0:26b228dde70c 133 t.stop();
mbedalvaro 0:26b228dde70c 134 Laser_Green=0;
mbedalvaro 0:26b228dde70c 135 }