Revision 3:3fe7d6b5cf24, committed 2012-10-04

Comitter:

mbedalvaro

Date:

Thu Oct 04 05:16:25 2012 +0000

Parent:

2:0548c7bf9fba

Commit message:

simplest control X Y mirrors;

Changed in this revision

--- a/laserProjectorHardware.lib	Thu Oct 04 05:14:14 2012 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/mbedalvaro/code/laserProjectorHardware/#a77af54f9acd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/laserProjectorHardware/laserProjectorHardware.cpp	Thu Oct 04 05:16:25 2012 +0000
@@ -0,0 +1,135 @@
+#include "laserProjectorHardware.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/laserProjectorHardware.h	Thu Oct 04 05:16:25 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 4095 // 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 0  // 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