Alvaro Cassinelli / Mbed 2 deprecated skinGames_forktest

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Dependencies:   mbed

Fork of scoreLight_Advanced by Alvaro Cassinelli

hardwareIO/hardwareIO.h@44:46e25fa1669b, 2014-03-31 (annotated)

Committer:
mbedalvaro
Date:
Mon Mar 31 10:57:35 2014 +0000
Revision:
44:46e25fa1669b
Parent:
42:c4e9c1116af4
Child:
48:7633d8e7b0d3
This new version works pretty well, even if the following blob is not as nice as in elasticLoop_OSC. New: fraction rendering / first point wait solved (more regular rendering) / better delay calibration.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 34:1244fa3f2559 1
mbedalvaro 34:1244fa3f2559 2 #ifndef hardwareIO_h
mbedalvaro 34:1244fa3f2559 3 #define hardwareIO_h
mbedalvaro 34:1244fa3f2559 4
mbedalvaro 34:1244fa3f2559 5 #include "mbed.h"
mbedalvaro 34:1244fa3f2559 6 #include "lockin.h"
mbedalvaro 42:c4e9c1116af4 7 #include "CRotaryEncoder.h"
mbedalvaro 34:1244fa3f2559 8
mbedalvaro 34:1244fa3f2559 9
mbedalvaro 42:c4e9c1116af4 10 // potentiometer to change sensitivity by hand, or other things... ACTUALLY THIS IS NOT WORKING because I cannot switch back and forth from
mbedalvaro 42:c4e9c1116af4 11 // burst mode of analog conversion and "normal" one. Better use a rotary encoder!!
mbedalvaro 34:1244fa3f2559 12 #define POT_ANALOG_INPUT p15 // note: analog inputs in the mbed are from 15 to 20
mbedalvaro 34:1244fa3f2559 13
mbedalvaro 42:c4e9c1116af4 14 // Momentary switches triggering INTERRUPT functions:
mbedalvaro 34:1244fa3f2559 15 // (Any of the numbered mbed pins can be used as an InterruptIn, except p19 and p20)
mbedalvaro 34:1244fa3f2559 16 // NOTE: do not use pins from p21 to p26 because they are all set as pwm output (see lockin.h)
mbedalvaro 34:1244fa3f2559 17 #define LED_SWITCH_ONE p9 // digital output pin
mbedalvaro 34:1244fa3f2559 18 #define SWITCH_ONE p10 // interrupt pin
mbedalvaro 34:1244fa3f2559 19 #define SWITCH_TWO p11 // interrupt pin
mbedalvaro 34:1244fa3f2559 20
mbedalvaro 42:c4e9c1116af4 21 // Two state switch:
mbedalvaro 44:46e25fa1669b 22 #define TWO_STATE_SWITCH p12
mbedalvaro 34:1244fa3f2559 23
mbedalvaro 34:1244fa3f2559 24 // NOTE: the SPI library 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.
mbedalvaro 34:1244fa3f2559 25 #define SCK_PIN p7 //SPI Clock
mbedalvaro 34:1244fa3f2559 26 #define MISO_PIN p6 //SPI input (data comming from DAC, here not connected)
mbedalvaro 34:1244fa3f2559 27 #define MOSI_PIN p5 //SPI output (data going to DAC)
mbedalvaro 34:1244fa3f2559 28
mbedalvaro 34:1244fa3f2559 29 //**** CHIP SELECT pins for MP4922 DAC (mirrors and red laser)
mbedalvaro 44:46e25fa1669b 30 #define CS_DAC_MIRRORS p8
mbedalvaro 34:1244fa3f2559 31
mbedalvaro 34:1244fa3f2559 32 //**** LASERS pins:
mbedalvaro 34:1244fa3f2559 33 #define LASER_RED_PIN p28 // NOT YET USED!! (NOTE: this is NOT the locking sensing laser (also called red, but could be infrared...)
mbedalvaro 34:1244fa3f2559 34 #define LASER_GREEN_PIN p29 // USED (TTL control)
mbedalvaro 34:1244fa3f2559 35 #define LASER_BLUE_PIN p30 // USED (TTL control)
mbedalvaro 34:1244fa3f2559 36
mbedalvaro 34:1244fa3f2559 37 //**** MIRRORS:
mbedalvaro 34:1244fa3f2559 38 //The DAC is 12 bytes capable (Max=4096), but we will limit this a little.
mbedalvaro 34:1244fa3f2559 39 #define MAX_AD_MIRRORS 3845 // 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.
mbedalvaro 34:1244fa3f2559 40 #define MIN_AD_MIRRORS 250 // note: 0 is 0 volts for the SPI voltage.
mbedalvaro 34:1244fa3f2559 41 // We assume that the center of the mirror is at MAX_AD_MIRRORS/2 = 2000:
mbedalvaro 34:1244fa3f2559 42 #define CENTER_AD_MIRROR_X 2047 // This MUST BE the direction of the photodetector.
mbedalvaro 34:1244fa3f2559 43 #define CENTER_AD_MIRROR_Y 2047 // This MUST BE the direction of the photodetector.
mbedalvaro 34:1244fa3f2559 44
mbedalvaro 34:1244fa3f2559 45
mbedalvaro 34:1244fa3f2559 46 //**** Look-Up Table:
mbedalvaro 34:1244fa3f2559 47 #define uint16 unsigned short
mbedalvaro 34:1244fa3f2559 48 #define LUT_RESOLUTION 33 // resolution of the Look-Up Table (power of 2 +1)
mbedalvaro 34:1244fa3f2559 49 #define LUT_BITS_SHIFT 7 // bits shift from mirror DAC (12 bits) to LUT ( root_square(LUT_RESOLUTION - 1) )
mbedalvaro 34:1244fa3f2559 50 #define LUT_BITS_MASK 127 // bits mask to obtain the position remainder ( 2^LUT_BITS_SHIFT - 1 )
mbedalvaro 34:1244fa3f2559 51 // possible configurations:
mbedalvaro 34:1244fa3f2559 52 // LUT_RESOLUTION LUT_BITS_SHIFT LUT_BITS_MASK
mbedalvaro 34:1244fa3f2559 53 // 9 9 511
mbedalvaro 34:1244fa3f2559 54 // 17 8 255
mbedalvaro 34:1244fa3f2559 55 // 33 7 127
mbedalvaro 34:1244fa3f2559 56 // 65 6 63
mbedalvaro 34:1244fa3f2559 57 // ...
mbedalvaro 34:1244fa3f2559 58 #define NB_SCANS 8 // number of scans performed to generate the LUT table (actually, each site CUMULATES NB_SCANS values)
mbedalvaro 34:1244fa3f2559 59 // IMPORTANT: NB_SCANS*4095 should not exceed the capacity of uint16, this is 2^16-1=65535.
mbedalvaro 34:1244fa3f2559 60 // In other terms, NB_SCANS should be < 65535/4095=16
mbedalvaro 34:1244fa3f2559 61
mbedalvaro 34:1244fa3f2559 62 #define LUT_FILENAME "/local/LUT.txt"
mbedalvaro 34:1244fa3f2559 63
mbedalvaro 34:1244fa3f2559 64 // For checking (define if human readable file is required - note: it is not used by the program, just as output for human reading)
mbedalvaro 34:1244fa3f2559 65 #define LUT_H_FILENAME "/local/LUT_pos.txt"
mbedalvaro 34:1244fa3f2559 66
mbedalvaro 34:1244fa3f2559 67 // Current Look-up table approximation (only one at a time!):
mbedalvaro 34:1244fa3f2559 68 //#define LUT_BILINEAR
mbedalvaro 34:1244fa3f2559 69 //#define LUT_DIRECT
mbedalvaro 34:1244fa3f2559 70 //#define LUT_LINEAR
mbedalvaro 34:1244fa3f2559 71 #define NO_LUT
mbedalvaro 34:1244fa3f2559 72
mbedalvaro 34:1244fa3f2559 73 //Current method for lockin data acquisition and correction
mbedalvaro 34:1244fa3f2559 74 #define lockin_read() lockin.getMedianValue() // lockin.getSmoothValue(); //return the average of the value stored on the buffer
mbedalvaro 34:1244fa3f2559 75 // lockin.getLastValue(); //return the last conversion of the ADC
mbedalvaro 34:1244fa3f2559 76 // lockin.getMedianValue(); //return the median value of the buffer
mbedalvaro 34:1244fa3f2559 77
mbedalvaro 34:1244fa3f2559 78
mbedalvaro 34:1244fa3f2559 79
mbedalvaro 34:1244fa3f2559 80 // **** REFERENCE SIGNAL:
mbedalvaro 34:1244fa3f2559 81 /*
mbedalvaro 34:1244fa3f2559 82 #define testPin_OC1A 11 // this is, output compare pin OC1A //connected to CK2 = lockIn clock
mbedalvaro 34:1244fa3f2559 83 #define testPin_OC1B 12 // this is, output compare pin OC1B //connected to CK1 = laser clock
mbedalvaro 34:1244fa3f2559 84 #define testPin_OC1C 13
mbedalvaro 34:1244fa3f2559 85 */
mbedalvaro 34:1244fa3f2559 86
mbedalvaro 34:1244fa3f2559 87 // ==================================================================================================================================================================
mbedalvaro 34:1244fa3f2559 88
mbedalvaro 34:1244fa3f2559 89 class HardwareIO {
mbedalvaro 34:1244fa3f2559 90 public:
mbedalvaro 34:1244fa3f2559 91
mbedalvaro 34:1244fa3f2559 92
mbedalvaro 34:1244fa3f2559 93 void init(void);
mbedalvaro 34:1244fa3f2559 94
mbedalvaro 34:1244fa3f2559 95 //Lock-in acquisition methods:
mbedalvaro 34:1244fa3f2559 96 // float LockInRead_Volts();
mbedalvaro 34:1244fa3f2559 97 // int LockInRead_AD();
mbedalvaro 34:1244fa3f2559 98 // float LockInAD_to_Volts(int);
mbedalvaro 34:1244fa3f2559 99
mbedalvaro 34:1244fa3f2559 100 //Look-Up Table:
mbedalvaro 34:1244fa3f2559 101 unsigned short lut[LUT_RESOLUTION][LUT_RESOLUTION]; //Look-Up Table (uint16 is "unsigned short")
mbedalvaro 34:1244fa3f2559 102 void scanLUT(); //create and save the Look-Up Table
mbedalvaro 34:1244fa3f2559 103 void setLUT(); //set the Look-Up Table: either from scanning, or from the file LUT.TXT (if it is present)
mbedalvaro 34:1244fa3f2559 104 float lockInCorrectedValue(unsigned short x, unsigned short y); //return the lockin value corrected with the Look-UpTable (this is, a RATIO of reflectivities, and <1)
mbedalvaro 34:1244fa3f2559 105
mbedalvaro 34:1244fa3f2559 106 void scan_serial(unsigned short pointsPerLine = 400);
mbedalvaro 34:1244fa3f2559 107
mbedalvaro 34:1244fa3f2559 108 void showLimitsMirrors( int times );
mbedalvaro 34:1244fa3f2559 109
mbedalvaro 34:1244fa3f2559 110 // SPI control for DAC for mirrors and red laser power (low level):
mbedalvaro 34:1244fa3f2559 111 void writeOutX(unsigned short value);
mbedalvaro 34:1244fa3f2559 112 void writeOutY(unsigned short value);
mbedalvaro 34:1244fa3f2559 113
mbedalvaro 34:1244fa3f2559 114 // mirror degree-to-AD units conversion factors:
mbedalvaro 34:1244fa3f2559 115 //float AD_to_Deg_MIRROR_X;//=1.0*(MAX_DEG_MIRROR_X-MIN_DEG_MIRROR_X)/(MAX_AD_MIRRORS-MIN_AD_MIRRORS);
mbedalvaro 34:1244fa3f2559 116 //float AD_to_Deg_MIRROR_Y;//=1.0*(MAX_DEG_MIRROR_Y-MIN_DEG_MIRROR_Y)/(MAX_AD_MIRRORS-MIN_AD_MIRRORS);
mbedalvaro 34:1244fa3f2559 117
mbedalvaro 34:1244fa3f2559 118 /*
mbedalvaro 34:1244fa3f2559 119 // Mirror position:
mbedalvaro 34:1244fa3f2559 120 void setMirrorX_Deg(float _Az);
mbedalvaro 34:1244fa3f2559 121 void setMirrorY_Deg(float _El);
mbedalvaro 34:1244fa3f2559 122 void setMirrorX_AD(int _AzAD);
mbedalvaro 34:1244fa3f2559 123 void setMirrorY_AD(int _ElAD);
mbedalvaro 34:1244fa3f2559 124 void setMirrorsXY_AD(int _xAD, int _yAD);
mbedalvaro 34:1244fa3f2559 125 void setMirrorsCenter();
mbedalvaro 34:1244fa3f2559 126 void getAnglesFromAD(float &Az, float &El, int _xAD, int _yAD);
mbedalvaro 34:1244fa3f2559 127 //void setZoneDelimiters(...) // this could be here, instead on the LivingSpot class
mbedalvaro 34:1244fa3f2559 128 */
mbedalvaro 34:1244fa3f2559 129
mbedalvaro 34:1244fa3f2559 130
mbedalvaro 34:1244fa3f2559 131 //Laser Power, for the moment laser are TTL but we can use int:
mbedalvaro 34:1244fa3f2559 132 //if powerValue > 0 ==> 'true'; else 'false'
mbedalvaro 34:1244fa3f2559 133 void setLaserLockinPower(int powerLockingLaser);
mbedalvaro 34:1244fa3f2559 134 // Red laser (not used)
mbedalvaro 34:1244fa3f2559 135 void setRedPower(int powerRed);
mbedalvaro 34:1244fa3f2559 136 // Green laser:
mbedalvaro 34:1244fa3f2559 137 void setGreenPower(int powerGreen);
mbedalvaro 34:1244fa3f2559 138 // Blue laser:
mbedalvaro 34:1244fa3f2559 139 void setBluePower(int powerBlue);
mbedalvaro 34:1244fa3f2559 140
mbedalvaro 34:1244fa3f2559 141 void setRGBPower(unsigned char color); // we will use the 3 LSB bits to set each color, note that here the "red" is the LOCKIN LASER
mbedalvaro 34:1244fa3f2559 142
mbedalvaro 34:1244fa3f2559 143 //void setupPWM();
mbedalvaro 34:1244fa3f2559 144 /* IN ADVANCED HARDWARE:
mbedalvaro 34:1244fa3f2559 145 // init PWM for reference generation:
mbedalvaro 34:1244fa3f2559 146 void initPWM();
mbedalvaro 34:1244fa3f2559 147 // reference signal:
mbedalvaro 34:1244fa3f2559 148 void setRefFreq(int);
mbedalvaro 34:1244fa3f2559 149 void incRefFreq(int inc=1);
mbedalvaro 34:1244fa3f2559 150 void decRefFreq(int dec=1);
mbedalvaro 34:1244fa3f2559 151 */
mbedalvaro 34:1244fa3f2559 152
mbedalvaro 34:1244fa3f2559 153 //float refFreq; // could be private
mbedalvaro 42:c4e9c1116af4 154
mbedalvaro 42:c4e9c1116af4 155 // Interrupt "momentary" switches:
mbedalvaro 42:c4e9c1116af4 156 bool switchOneState, switchTwoState;
mbedalvaro 34:1244fa3f2559 157 bool switchOneChange, switchTwoChange;
mbedalvaro 34:1244fa3f2559 158 void switchOneInterrupt();
mbedalvaro 34:1244fa3f2559 159 void switchTwoInterrupt();
mbedalvaro 34:1244fa3f2559 160 bool switchOneCheck(bool& state);
mbedalvaro 34:1244fa3f2559 161 bool switchTwoCheck(bool& state);
mbedalvaro 35:35af5086ab4f 162 void setSwitchOneState(bool newstate);
mbedalvaro 42:c4e9c1116af4 163
mbedalvaro 42:c4e9c1116af4 164 // two state switch:
mbedalvaro 42:c4e9c1116af4 165 bool twoStateSwitchState;
mbedalvaro 42:c4e9c1116af4 166 bool twoStateSwitchChange;
mbedalvaro 42:c4e9c1116af4 167 bool twoStateSwitchCheck(bool& stateswitch);
mbedalvaro 34:1244fa3f2559 168
mbedalvaro 42:c4e9c1116af4 169 // Potentiometer (does not work!!)
mbedalvaro 34:1244fa3f2559 170 unsigned char updatePotValue(); // the value will be ajusted in the range 0-255
mbedalvaro 34:1244fa3f2559 171 unsigned char potValue;
mbedalvaro 34:1244fa3f2559 172
mbedalvaro 34:1244fa3f2559 173 private:
mbedalvaro 34:1244fa3f2559 174 //DigitalOut Laser_Red, Laser_Green, Laser_Blue;
mbedalvaro 34:1244fa3f2559 175
mbedalvaro 34:1244fa3f2559 176 };
mbedalvaro 34:1244fa3f2559 177
mbedalvaro 34:1244fa3f2559 178
mbedalvaro 34:1244fa3f2559 179 extern HardwareIO IO; // allows the object IO to be used in other .cpp files (IO is pre-instantiated in hardwareIO.cpp)
mbedalvaro 34:1244fa3f2559 180 // 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)
mbedalvaro 34:1244fa3f2559 181 extern Serial pc; // allows pc to be manipulated by other .cpp files, even if pc is defined in the hardwareIO.cpp
mbedalvaro 34:1244fa3f2559 182
mbedalvaro 34:1244fa3f2559 183
mbedalvaro 34:1244fa3f2559 184 #endif