laserProjectorHardware.h

00001 
00002 #ifndef hardwareIO_h
00003 #define hardwareIO_h
00004 
00005 #include "mbed.h"
00006 
00007 
00008 //SPI library (for ADC chip) uses the following pins, but we don't have to set them and inputs or outputs 
00009 // (this is done when the library is initialized, which is done by pre-instantiation:
00010 #define SCK_PIN   p7 //SPI Clock
00011 #define MISO_PIN  p6 //SPI input (data comming from DAC, here not connected) 
00012 #define MOSI_PIN  p5 //SPI output (data going to DAC)
00013 
00014 //**** CHIP SELECT pins for MP4922 DAC (mirrors and red laser)
00015 // 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). 
00016 #define CS_DAC_MIRRORS   p8 //Chip Select of the first DAC (mirrors)
00017 
00018 //**** LASERS pins:
00019 #define LASER_RED_PIN   p28 // NOT YET USED (TTL control). NOTE: this is NOT the locking sensing laser!
00020 #define LASER_GREEN_PIN p29 // USED (TTL control)
00021 #define LASER_BLUE_PIN  p30 // USED (TTL control)
00022 
00023 //**** MIRRORS: 
00024 //The DAC is 12 bytes capable (Max=4096), but we will limit this a little. 
00025 #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.
00026 #define MIN_AD_MIRRORS 0  // note: 0 is 0 volts for the SPI voltage. 
00027 // We assume that the center of the mirror is at MAX_AD_MIRRORS/2 = 2000:
00028 #define CENTER_AD_MIRROR_X 2047 // This MUST BE the direction of the photodetector. 
00029 #define CENTER_AD_MIRROR_Y 2047 // This MUST BE the direction of the photodetector.
00030 
00031 
00032 extern  DigitalOut Laser_Red, Laser_Green, Laser_Blue;
00033 
00034 // ==================================================================================================================================================================
00035 
00036 class HardwareIO {
00037 public:
00038 
00039 
00040     void init(void);
00041 
00042     void showLimitsMirrors( int times );
00043 
00044     // SPI control for DAC for mirrors and red laser power (low level): 
00045     void writeOutX(unsigned short value);
00046     void writeOutY(unsigned short value);
00047     void writeOutXY(unsigned short valueX, unsigned short valueY) {writeOutX(valueX); writeOutY(valueY);};
00048  
00049      
00050     //Displaying lasers: 
00051     // Again: for the moment laser are TTL but these could be analog. Now, it is just: powerValue > 0 ==> 'true'; else 'false'
00052     // Red laser:
00053     void setRedPower(int powerRed);
00054     // Green laser: 
00055     void setGreenPower(int powerGreen);
00056     // Blue laser: 
00057     void setBluePower(int powerBlue);
00058     // Setting all colors at once: 
00059     void setRGBPower(unsigned char color); // we will use the 3 LSB bits to set each color
00060     
00061 
00062     
00063 private:
00064 
00065 };
00066 
00067 
00068 extern HardwareIO IO; // allows the object IO to be used in other .cpp files (IO is pre-instantiated in hardwareIO.cpp)
00069 // 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)
00070 extern Serial pc; // allows pc to be manipulated by other .cpp files, even if pc is defined in the hardwareIO.cpp
00071 
00072 
00073 #endif