laserProjectorHardware.cpp

00001 #include "laserProjectorHardware.h"
00002 
00003 HardwareIO IO; // preintantiation of cross-file global object IO
00004 
00005 // --------------------------------------  (0) SETUP ALL IO (call this in the setup() function in main program)
00006 
00007 Serial pc(USBTX, USBRX); // tx, rx
00008 
00009  SPI spiDAC(MOSI_PIN, MISO_PIN, SCK_PIN); // mosi, miso, sclk
00010  DigitalOut csDAC(CS_DAC_MIRRORS);
00011        
00012  DigitalOut Laser_Red(LASER_RED_PIN); // NOTE: this is NOT the lock in sensing laser (actually, not used yet)
00013  DigitalOut Laser_Green(LASER_GREEN_PIN);
00014  DigitalOut Laser_Blue(LASER_BLUE_PIN);
00015 
00016 void HardwareIO::init(void) {
00017     Laser_Red = 0; // note: this is not the lockin-laser!
00018     Laser_Green = 0;
00019     Laser_Blue = 0;
00020     
00021     //Serial Communication setup:
00022     pc.baud(115200);//
00023    //  pc.baud(921600);//115200);//
00024     
00025     // Setup the spi for 8 bit data, high steady state clock,
00026     // second edge capture, with a 10MHz clock rate
00027     csDAC = 1;
00028     spiDAC.format(16,0);
00029     spiDAC.frequency(16000000);
00030    
00031    // default initial mirror position: 
00032     writeOutX(CENTER_AD_MIRROR_X);
00033     writeOutY(CENTER_AD_MIRROR_Y);
00034     
00035 }
00036 
00037 //write on the first DAC, output A (mirror X)
00038 void HardwareIO::writeOutX(unsigned short value){
00039  if(value > MAX_AD_MIRRORS) value = MAX_AD_MIRRORS;
00040  if(value < MIN_AD_MIRRORS) value = MIN_AD_MIRRORS;
00041  
00042  value |= 0x7000;
00043  value &= 0x7FFF;
00044  
00045  csDAC = 0;
00046  spiDAC.write(value);
00047  csDAC = 1;
00048 }
00049 
00050 //write on the first DAC, output B (mirror Y)
00051 void HardwareIO::writeOutY(unsigned short value){
00052  if(value > MAX_AD_MIRRORS) value = MAX_AD_MIRRORS;
00053  if(value < MIN_AD_MIRRORS) value = MIN_AD_MIRRORS;
00054  
00055  value |= 0xF000;
00056  value &= 0xFFFF;
00057  
00058  csDAC = 0;
00059  spiDAC.write(value);
00060  csDAC = 1;
00061 }
00062 
00063 void HardwareIO::setRedPower(int powerValue){
00064     if(powerValue > 0){
00065         Laser_Red = 1;
00066     }
00067     else{
00068         Laser_Red = 0;
00069     }
00070 }
00071 void HardwareIO::setGreenPower(int powerValue){
00072     if(powerValue > 0){
00073         Laser_Green = 1;
00074     }
00075     else{
00076         Laser_Green = 0;
00077     }
00078 }
00079 void HardwareIO::setBluePower(int powerValue){
00080     if(powerValue > 0){
00081         Laser_Blue = 1;
00082     }
00083     else{
00084         Laser_Blue = 0;
00085     }
00086 }
00087 void HardwareIO::setRGBPower(unsigned char color) {
00088     //lockin.setLaserPower(color&0x04>0? false : true);
00089     Laser_Red=color&0x04>>2;
00090     Laser_Green=(color&0x02)>>1;
00091     Laser_Blue =color&0x01;
00092 }
00093 
00094 void HardwareIO::showLimitsMirrors(int times) {
00095       unsigned short pointsPerLine=150;
00096       int shiftX = (MAX_AD_MIRRORS - MIN_AD_MIRRORS) / pointsPerLine;
00097       int shiftY = (MAX_AD_MIRRORS - MIN_AD_MIRRORS) / pointsPerLine;
00098    
00099       Laser_Green=1;
00100    
00101      //for (int repeat=0; repeat<times; repeat++) {
00102      
00103      Timer t;
00104      t.start();
00105      while(t.read_ms()<times*1000) {
00106        
00107       writeOutX(MIN_AD_MIRRORS);writeOutY(MIN_AD_MIRRORS);
00108    
00109       for(int j=0; j<pointsPerLine; j++){   
00110        wait_us(200);//delay between each points
00111        writeOutY(j*shiftY + MIN_AD_MIRRORS);
00112        }
00113       
00114       writeOutX(MIN_AD_MIRRORS);writeOutY(MAX_AD_MIRRORS);
00115       for(int j=0; j<pointsPerLine; j++) {
00116          wait_us(200);//delay between each points
00117          writeOutX(j*shiftX + MIN_AD_MIRRORS);
00118          }
00119       
00120       writeOutX(MAX_AD_MIRRORS);writeOutY(MAX_AD_MIRRORS);
00121       for(int j=0; j<pointsPerLine; j++) {
00122          wait_us(200);//delay between each points
00123          writeOutY(-j*shiftX + MAX_AD_MIRRORS);
00124          }
00125       
00126        writeOutX(MAX_AD_MIRRORS);writeOutY(MIN_AD_MIRRORS);
00127       for(int j=0; j<pointsPerLine; j++) {
00128          wait_us(200);//delay between each points
00129          writeOutX(-j*shiftX + MAX_AD_MIRRORS);
00130          }
00131       
00132       }
00133       t.stop();
00134       Laser_Green=0;
00135 }