Alvaro Cassinelli / Mbed 2 deprecated linearMirrorMotion

simple example program to control one mirror from serial data

Dependencies:   mbed

laserProjectorHardware/laserProjectorHardware.cpp@3:3fe7d6b5cf24, 2012-10-04 (annotated)

Committer:
mbedalvaro
Date:
Thu Oct 04 05:16:25 2012 +0000
Revision:
3:3fe7d6b5cf24
simplest control X Y mirrors;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 3:3fe7d6b5cf24 1 #include "laserProjectorHardware.h"
mbedalvaro 3:3fe7d6b5cf24 2
mbedalvaro 3:3fe7d6b5cf24 3 HardwareIO IO; // preintantiation of cross-file global object IO
mbedalvaro 3:3fe7d6b5cf24 4
mbedalvaro 3:3fe7d6b5cf24 5 // -------------------------------------- (0) SETUP ALL IO (call this in the setup() function in main program)
mbedalvaro 3:3fe7d6b5cf24 6
mbedalvaro 3:3fe7d6b5cf24 7 Serial pc(USBTX, USBRX); // tx, rx
mbedalvaro 3:3fe7d6b5cf24 8
mbedalvaro 3:3fe7d6b5cf24 9 SPI spiDAC(MOSI_PIN, MISO_PIN, SCK_PIN); // mosi, miso, sclk
mbedalvaro 3:3fe7d6b5cf24 10 DigitalOut csDAC(CS_DAC_MIRRORS);
mbedalvaro 3:3fe7d6b5cf24 11
mbedalvaro 3:3fe7d6b5cf24 12 DigitalOut Laser_Red(LASER_RED_PIN); // NOTE: this is NOT the lock in sensing laser (actually, not used yet)
mbedalvaro 3:3fe7d6b5cf24 13 DigitalOut Laser_Green(LASER_GREEN_PIN);
mbedalvaro 3:3fe7d6b5cf24 14 DigitalOut Laser_Blue(LASER_BLUE_PIN);
mbedalvaro 3:3fe7d6b5cf24 15
mbedalvaro 3:3fe7d6b5cf24 16 void HardwareIO::init(void) {
mbedalvaro 3:3fe7d6b5cf24 17 Laser_Red = 0; // note: this is not the lockin-laser!
mbedalvaro 3:3fe7d6b5cf24 18 Laser_Green = 0;
mbedalvaro 3:3fe7d6b5cf24 19 Laser_Blue = 0;
mbedalvaro 3:3fe7d6b5cf24 20
mbedalvaro 3:3fe7d6b5cf24 21 //Serial Communication setup:
mbedalvaro 3:3fe7d6b5cf24 22 pc.baud(115200);//
mbedalvaro 3:3fe7d6b5cf24 23 // pc.baud(921600);//115200);//
mbedalvaro 3:3fe7d6b5cf24 24
mbedalvaro 3:3fe7d6b5cf24 25 // Setup the spi for 8 bit data, high steady state clock,
mbedalvaro 3:3fe7d6b5cf24 26 // second edge capture, with a 10MHz clock rate
mbedalvaro 3:3fe7d6b5cf24 27 csDAC = 1;
mbedalvaro 3:3fe7d6b5cf24 28 spiDAC.format(16,0);
mbedalvaro 3:3fe7d6b5cf24 29 spiDAC.frequency(16000000);
mbedalvaro 3:3fe7d6b5cf24 30
mbedalvaro 3:3fe7d6b5cf24 31 // default initial mirror position:
mbedalvaro 3:3fe7d6b5cf24 32 writeOutX(CENTER_AD_MIRROR_X);
mbedalvaro 3:3fe7d6b5cf24 33 writeOutY(CENTER_AD_MIRROR_Y);
mbedalvaro 3:3fe7d6b5cf24 34
mbedalvaro 3:3fe7d6b5cf24 35 }
mbedalvaro 3:3fe7d6b5cf24 36
mbedalvaro 3:3fe7d6b5cf24 37 //write on the first DAC, output A (mirror X)
mbedalvaro 3:3fe7d6b5cf24 38 void HardwareIO::writeOutX(unsigned short value){
mbedalvaro 3:3fe7d6b5cf24 39 if(value > MAX_AD_MIRRORS) value = MAX_AD_MIRRORS;
mbedalvaro 3:3fe7d6b5cf24 40 if(value < MIN_AD_MIRRORS) value = MIN_AD_MIRRORS;
mbedalvaro 3:3fe7d6b5cf24 41
mbedalvaro 3:3fe7d6b5cf24 42 value |= 0x7000;
mbedalvaro 3:3fe7d6b5cf24 43 value &= 0x7FFF;
mbedalvaro 3:3fe7d6b5cf24 44
mbedalvaro 3:3fe7d6b5cf24 45 csDAC = 0;
mbedalvaro 3:3fe7d6b5cf24 46 spiDAC.write(value);
mbedalvaro 3:3fe7d6b5cf24 47 csDAC = 1;
mbedalvaro 3:3fe7d6b5cf24 48 }
mbedalvaro 3:3fe7d6b5cf24 49
mbedalvaro 3:3fe7d6b5cf24 50 //write on the first DAC, output B (mirror Y)
mbedalvaro 3:3fe7d6b5cf24 51 void HardwareIO::writeOutY(unsigned short value){
mbedalvaro 3:3fe7d6b5cf24 52 if(value > MAX_AD_MIRRORS) value = MAX_AD_MIRRORS;
mbedalvaro 3:3fe7d6b5cf24 53 if(value < MIN_AD_MIRRORS) value = MIN_AD_MIRRORS;
mbedalvaro 3:3fe7d6b5cf24 54
mbedalvaro 3:3fe7d6b5cf24 55 value |= 0xF000;
mbedalvaro 3:3fe7d6b5cf24 56 value &= 0xFFFF;
mbedalvaro 3:3fe7d6b5cf24 57
mbedalvaro 3:3fe7d6b5cf24 58 csDAC = 0;
mbedalvaro 3:3fe7d6b5cf24 59 spiDAC.write(value);
mbedalvaro 3:3fe7d6b5cf24 60 csDAC = 1;
mbedalvaro 3:3fe7d6b5cf24 61 }
mbedalvaro 3:3fe7d6b5cf24 62
mbedalvaro 3:3fe7d6b5cf24 63 void HardwareIO::setRedPower(int powerValue){
mbedalvaro 3:3fe7d6b5cf24 64 if(powerValue > 0){
mbedalvaro 3:3fe7d6b5cf24 65 Laser_Red = 1;
mbedalvaro 3:3fe7d6b5cf24 66 }
mbedalvaro 3:3fe7d6b5cf24 67 else{
mbedalvaro 3:3fe7d6b5cf24 68 Laser_Red = 0;
mbedalvaro 3:3fe7d6b5cf24 69 }
mbedalvaro 3:3fe7d6b5cf24 70 }
mbedalvaro 3:3fe7d6b5cf24 71 void HardwareIO::setGreenPower(int powerValue){
mbedalvaro 3:3fe7d6b5cf24 72 if(powerValue > 0){
mbedalvaro 3:3fe7d6b5cf24 73 Laser_Green = 1;
mbedalvaro 3:3fe7d6b5cf24 74 }
mbedalvaro 3:3fe7d6b5cf24 75 else{
mbedalvaro 3:3fe7d6b5cf24 76 Laser_Green = 0;
mbedalvaro 3:3fe7d6b5cf24 77 }
mbedalvaro 3:3fe7d6b5cf24 78 }
mbedalvaro 3:3fe7d6b5cf24 79 void HardwareIO::setBluePower(int powerValue){
mbedalvaro 3:3fe7d6b5cf24 80 if(powerValue > 0){
mbedalvaro 3:3fe7d6b5cf24 81 Laser_Blue = 1;
mbedalvaro 3:3fe7d6b5cf24 82 }
mbedalvaro 3:3fe7d6b5cf24 83 else{
mbedalvaro 3:3fe7d6b5cf24 84 Laser_Blue = 0;
mbedalvaro 3:3fe7d6b5cf24 85 }
mbedalvaro 3:3fe7d6b5cf24 86 }
mbedalvaro 3:3fe7d6b5cf24 87 void HardwareIO::setRGBPower(unsigned char color) {
mbedalvaro 3:3fe7d6b5cf24 88 //lockin.setLaserPower(color&0x04>0? false : true);
mbedalvaro 3:3fe7d6b5cf24 89 Laser_Red=color&0x04>>2;
mbedalvaro 3:3fe7d6b5cf24 90 Laser_Green=(color&0x02)>>1;
mbedalvaro 3:3fe7d6b5cf24 91 Laser_Blue =color&0x01;
mbedalvaro 3:3fe7d6b5cf24 92 }
mbedalvaro 3:3fe7d6b5cf24 93
mbedalvaro 3:3fe7d6b5cf24 94 void HardwareIO::showLimitsMirrors(int times) {
mbedalvaro 3:3fe7d6b5cf24 95 unsigned short pointsPerLine=150;
mbedalvaro 3:3fe7d6b5cf24 96 int shiftX = (MAX_AD_MIRRORS - MIN_AD_MIRRORS) / pointsPerLine;
mbedalvaro 3:3fe7d6b5cf24 97 int shiftY = (MAX_AD_MIRRORS - MIN_AD_MIRRORS) / pointsPerLine;
mbedalvaro 3:3fe7d6b5cf24 98
mbedalvaro 3:3fe7d6b5cf24 99 Laser_Green=1;
mbedalvaro 3:3fe7d6b5cf24 100
mbedalvaro 3:3fe7d6b5cf24 101 //for (int repeat=0; repeat<times; repeat++) {
mbedalvaro 3:3fe7d6b5cf24 102
mbedalvaro 3:3fe7d6b5cf24 103 Timer t;
mbedalvaro 3:3fe7d6b5cf24 104 t.start();
mbedalvaro 3:3fe7d6b5cf24 105 while(t.read_ms()<times*1000) {
mbedalvaro 3:3fe7d6b5cf24 106
mbedalvaro 3:3fe7d6b5cf24 107 writeOutX(MIN_AD_MIRRORS);writeOutY(MIN_AD_MIRRORS);
mbedalvaro 3:3fe7d6b5cf24 108
mbedalvaro 3:3fe7d6b5cf24 109 for(int j=0; j<pointsPerLine; j++){
mbedalvaro 3:3fe7d6b5cf24 110 wait_us(200);//delay between each points
mbedalvaro 3:3fe7d6b5cf24 111 writeOutY(j*shiftY + MIN_AD_MIRRORS);
mbedalvaro 3:3fe7d6b5cf24 112 }
mbedalvaro 3:3fe7d6b5cf24 113
mbedalvaro 3:3fe7d6b5cf24 114 writeOutX(MIN_AD_MIRRORS);writeOutY(MAX_AD_MIRRORS);
mbedalvaro 3:3fe7d6b5cf24 115 for(int j=0; j<pointsPerLine; j++) {
mbedalvaro 3:3fe7d6b5cf24 116 wait_us(200);//delay between each points
mbedalvaro 3:3fe7d6b5cf24 117 writeOutX(j*shiftX + MIN_AD_MIRRORS);
mbedalvaro 3:3fe7d6b5cf24 118 }
mbedalvaro 3:3fe7d6b5cf24 119
mbedalvaro 3:3fe7d6b5cf24 120 writeOutX(MAX_AD_MIRRORS);writeOutY(MAX_AD_MIRRORS);
mbedalvaro 3:3fe7d6b5cf24 121 for(int j=0; j<pointsPerLine; j++) {
mbedalvaro 3:3fe7d6b5cf24 122 wait_us(200);//delay between each points
mbedalvaro 3:3fe7d6b5cf24 123 writeOutY(-j*shiftX + MAX_AD_MIRRORS);
mbedalvaro 3:3fe7d6b5cf24 124 }
mbedalvaro 3:3fe7d6b5cf24 125
mbedalvaro 3:3fe7d6b5cf24 126 writeOutX(MAX_AD_MIRRORS);writeOutY(MIN_AD_MIRRORS);
mbedalvaro 3:3fe7d6b5cf24 127 for(int j=0; j<pointsPerLine; j++) {
mbedalvaro 3:3fe7d6b5cf24 128 wait_us(200);//delay between each points
mbedalvaro 3:3fe7d6b5cf24 129 writeOutX(-j*shiftX + MAX_AD_MIRRORS);
mbedalvaro 3:3fe7d6b5cf24 130 }
mbedalvaro 3:3fe7d6b5cf24 131
mbedalvaro 3:3fe7d6b5cf24 132 }
mbedalvaro 3:3fe7d6b5cf24 133 t.stop();
mbedalvaro 3:3fe7d6b5cf24 134 Laser_Green=0;
mbedalvaro 3:3fe7d6b5cf24 135 }