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@3:89f592efbe84, 2014-06-04 (annotated)

Committer:
mbedalvaro
Date:
Wed Jun 04 09:47:04 2014 +0000
Revision:
3:89f592efbe84
Parent:
2:383b2acec6e4
Child:
4:1428775752f7
seems working. I had to change the modulating pin D8 to D5, because as PWM output the pin D8 seems not to reach 0...

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 3:89f592efbe84 11
mbedalvaro 3:89f592efbe84 12 PwmOut Laser_Lockin(LASER_LOCKIN_PIN);
mbedalvaro 3:89f592efbe84 13 DigitalOut Laser_Red(LASER_RED_PIN);
mbedalvaro 0:26b228dde70c 14 DigitalOut Laser_Green(LASER_GREEN_PIN);
mbedalvaro 0:26b228dde70c 15 DigitalOut Laser_Blue(LASER_BLUE_PIN);
mbedalvaro 0:26b228dde70c 16
mbedalvaro 0:26b228dde70c 17 void HardwareIO::init(void) {
mbedalvaro 3:89f592efbe84 18
mbedalvaro 3:89f592efbe84 19 setLockinFreq(LOCKIN_FREQUENCY);
mbedalvaro 3:89f592efbe84 20 setLockinPower(1);
mbedalvaro 3:89f592efbe84 21
mbedalvaro 3:89f592efbe84 22 setRedPower(0);
mbedalvaro 3:89f592efbe84 23 setGreenPower(0);
mbedalvaro 3:89f592efbe84 24 setBluePower(0);
mbedalvaro 0:26b228dde70c 25
mbedalvaro 0:26b228dde70c 26 //Serial Communication setup:
mbedalvaro 0:26b228dde70c 27 pc.baud(115200);//
mbedalvaro 0:26b228dde70c 28 // pc.baud(921600);//115200);//
mbedalvaro 0:26b228dde70c 29
mbedalvaro 0:26b228dde70c 30 // Setup the spi for 8 bit data, high steady state clock,
mbedalvaro 1:4be6abc4ed43 31 // second edge capture, with a 20MHz clock rate (max for the MCP4922)
mbedalvaro 0:26b228dde70c 32 csDAC = 1;
mbedalvaro 0:26b228dde70c 33 spiDAC.format(16,0);
mbedalvaro 1:4be6abc4ed43 34 spiDAC.frequency(20000000);
mbedalvaro 0:26b228dde70c 35
mbedalvaro 0:26b228dde70c 36 // default initial mirror position:
mbedalvaro 0:26b228dde70c 37 writeOutX(CENTER_AD_MIRROR_X);
mbedalvaro 0:26b228dde70c 38 writeOutY(CENTER_AD_MIRROR_Y);
mbedalvaro 0:26b228dde70c 39
mbedalvaro 0:26b228dde70c 40 }
mbedalvaro 0:26b228dde70c 41
mbedalvaro 0:26b228dde70c 42 //write on the first DAC, output A (mirror X)
mbedalvaro 0:26b228dde70c 43 void HardwareIO::writeOutX(unsigned short value){
mbedalvaro 0:26b228dde70c 44 if(value > MAX_AD_MIRRORS) value = MAX_AD_MIRRORS;
mbedalvaro 0:26b228dde70c 45 if(value < MIN_AD_MIRRORS) value = MIN_AD_MIRRORS;
mbedalvaro 0:26b228dde70c 46
mbedalvaro 0:26b228dde70c 47 value |= 0xF000;
mbedalvaro 0:26b228dde70c 48 value &= 0xFFFF;
mbedalvaro 0:26b228dde70c 49
mbedalvaro 0:26b228dde70c 50 csDAC = 0;
mbedalvaro 0:26b228dde70c 51 spiDAC.write(value);
mbedalvaro 0:26b228dde70c 52 csDAC = 1;
mbedalvaro 0:26b228dde70c 53 }
mbedalvaro 0:26b228dde70c 54
mbedalvaro 0:26b228dde70c 55 //write on the first DAC, output B (mirror Y)
mbedalvaro 0:26b228dde70c 56 void HardwareIO::writeOutY(unsigned short value){
mbedalvaro 0:26b228dde70c 57 if(value > MAX_AD_MIRRORS) value = MAX_AD_MIRRORS;
mbedalvaro 0:26b228dde70c 58 if(value < MIN_AD_MIRRORS) value = MIN_AD_MIRRORS;
mbedalvaro 0:26b228dde70c 59
mbedalvaro 0:26b228dde70c 60 value |= 0x7000;
mbedalvaro 0:26b228dde70c 61 value &= 0x7FFF;
mbedalvaro 0:26b228dde70c 62
mbedalvaro 0:26b228dde70c 63 csDAC = 0;
mbedalvaro 0:26b228dde70c 64 spiDAC.write(value);
mbedalvaro 0:26b228dde70c 65 csDAC = 1;
mbedalvaro 0:26b228dde70c 66 }
mbedalvaro 0:26b228dde70c 67
mbedalvaro 3:89f592efbe84 68 void HardwareIO::setLockinFreq(int valueHz) {
mbedalvaro 3:89f592efbe84 69 Laser_Lockin.period_ms(int(1000.0/valueHz));
mbedalvaro 3:89f592efbe84 70 }
mbedalvaro 3:89f592efbe84 71
mbedalvaro 3:89f592efbe84 72 void HardwareIO::setLockinPower(int value) { //note: 0 means off, and 1 or >0 means 50%
mbedalvaro 3:89f592efbe84 73 if (value>0) Laser_Lockin.write(0.5);
mbedalvaro 3:89f592efbe84 74 else Laser_Lockin.write(0);
mbedalvaro 3:89f592efbe84 75 }
mbedalvaro 3:89f592efbe84 76
mbedalvaro 0:26b228dde70c 77 void HardwareIO::setRedPower(int powerValue){
mbedalvaro 0:26b228dde70c 78 if(powerValue > 0){
mbedalvaro 3:89f592efbe84 79 Laser_Red = 1;
mbedalvaro 0:26b228dde70c 80 }
mbedalvaro 0:26b228dde70c 81 else{
mbedalvaro 3:89f592efbe84 82 Laser_Red = 0;
mbedalvaro 0:26b228dde70c 83 }
mbedalvaro 0:26b228dde70c 84 }
mbedalvaro 0:26b228dde70c 85 void HardwareIO::setGreenPower(int powerValue){
mbedalvaro 0:26b228dde70c 86 if(powerValue > 0){
mbedalvaro 0:26b228dde70c 87 Laser_Green = 1;
mbedalvaro 0:26b228dde70c 88 }
mbedalvaro 0:26b228dde70c 89 else{
mbedalvaro 0:26b228dde70c 90 Laser_Green = 0;
mbedalvaro 0:26b228dde70c 91 }
mbedalvaro 0:26b228dde70c 92 }
mbedalvaro 0:26b228dde70c 93 void HardwareIO::setBluePower(int powerValue){
mbedalvaro 0:26b228dde70c 94 if(powerValue > 0){
mbedalvaro 0:26b228dde70c 95 Laser_Blue = 1;
mbedalvaro 0:26b228dde70c 96 }
mbedalvaro 0:26b228dde70c 97 else{
mbedalvaro 0:26b228dde70c 98 Laser_Blue = 0;
mbedalvaro 0:26b228dde70c 99 }
mbedalvaro 0:26b228dde70c 100 }
mbedalvaro 0:26b228dde70c 101 void HardwareIO::setRGBPower(unsigned char color) {
mbedalvaro 0:26b228dde70c 102 //lockin.setLaserPower(color&0x04>0? false : true);
mbedalvaro 3:89f592efbe84 103 Laser_Red=(color&0x04)>>2;
mbedalvaro 0:26b228dde70c 104 Laser_Green=(color&0x02)>>1;
mbedalvaro 0:26b228dde70c 105 Laser_Blue =color&0x01;
mbedalvaro 0:26b228dde70c 106 }
mbedalvaro 0:26b228dde70c 107
mbedalvaro 2:383b2acec6e4 108 void HardwareIO::drawCircle(int X, int Y, int R, int numPoints) {
mbedalvaro 2:383b2acec6e4 109 float alpha=2*3.141592/numPoints;
mbedalvaro 2:383b2acec6e4 110 float theta=0;
mbedalvaro 2:383b2acec6e4 111 for (int i=0; i<numPoints; i++) {
mbedalvaro 2:383b2acec6e4 112 writeOutX(X+1.0*R*cos(theta));
mbedalvaro 2:383b2acec6e4 113 writeOutY(Y+1.0*R*sin(theta));
mbedalvaro 2:383b2acec6e4 114 theta+=alpha;
mbedalvaro 2:383b2acec6e4 115 }
mbedalvaro 2:383b2acec6e4 116 }
mbedalvaro 2:383b2acec6e4 117
mbedalvaro 2:383b2acec6e4 118 void HardwareIO::showLimitsMirrors(int seconds) {
mbedalvaro 0:26b228dde70c 119 unsigned short pointsPerLine=150;
mbedalvaro 0:26b228dde70c 120 int shiftX = (MAX_AD_MIRRORS - MIN_AD_MIRRORS) / pointsPerLine;
mbedalvaro 0:26b228dde70c 121 int shiftY = (MAX_AD_MIRRORS - MIN_AD_MIRRORS) / pointsPerLine;
mbedalvaro 0:26b228dde70c 122
mbedalvaro 0:26b228dde70c 123 Laser_Green=1;
mbedalvaro 2:383b2acec6e4 124 Laser_Red=1;
mbedalvaro 0:26b228dde70c 125
mbedalvaro 0:26b228dde70c 126 //for (int repeat=0; repeat<times; repeat++) {
mbedalvaro 0:26b228dde70c 127
mbedalvaro 0:26b228dde70c 128 Timer t;
mbedalvaro 0:26b228dde70c 129 t.start();
mbedalvaro 2:383b2acec6e4 130 while(t.read_ms()<seconds*1000) {
mbedalvaro 0:26b228dde70c 131
mbedalvaro 0:26b228dde70c 132 writeOutX(MIN_AD_MIRRORS);writeOutY(MIN_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 133
mbedalvaro 0:26b228dde70c 134 for(int j=0; j<pointsPerLine; j++){
mbedalvaro 2:383b2acec6e4 135 wait_us(50);//delay between each points
mbedalvaro 0:26b228dde70c 136 writeOutY(j*shiftY + MIN_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 137 }
mbedalvaro 0:26b228dde70c 138
mbedalvaro 0:26b228dde70c 139 writeOutX(MIN_AD_MIRRORS);writeOutY(MAX_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 140 for(int j=0; j<pointsPerLine; j++) {
mbedalvaro 2:383b2acec6e4 141 wait_us(50);//delay between each points
mbedalvaro 0:26b228dde70c 142 writeOutX(j*shiftX + MIN_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 143 }
mbedalvaro 0:26b228dde70c 144
mbedalvaro 0:26b228dde70c 145 writeOutX(MAX_AD_MIRRORS);writeOutY(MAX_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 146 for(int j=0; j<pointsPerLine; j++) {
mbedalvaro 2:383b2acec6e4 147 wait_us(50);//delay between each points
mbedalvaro 0:26b228dde70c 148 writeOutY(-j*shiftX + MAX_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 149 }
mbedalvaro 0:26b228dde70c 150
mbedalvaro 0:26b228dde70c 151 writeOutX(MAX_AD_MIRRORS);writeOutY(MIN_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 152 for(int j=0; j<pointsPerLine; j++) {
mbedalvaro 2:383b2acec6e4 153 wait_us(50);//delay between each points
mbedalvaro 0:26b228dde70c 154 writeOutX(-j*shiftX + MAX_AD_MIRRORS);
mbedalvaro 0:26b228dde70c 155 }
mbedalvaro 0:26b228dde70c 156
mbedalvaro 0:26b228dde70c 157 }
mbedalvaro 0:26b228dde70c 158 t.stop();
mbedalvaro 0:26b228dde70c 159 Laser_Green=0;
mbedalvaro 0:26b228dde70c 160 }