Alvaro Cassinelli / Mbed 2 deprecated skinGames_forktest

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed

Fork of scoreLight_Advanced by Alvaro Cassinelli

hardwareIO/hardwareIO.h@10:6f8e48dca1bd, 2012-04-11 (annotated)

Committer:
mbedalvaro
Date:
Wed Apr 11 14:51:08 2012 +0000
Revision:
10:6f8e48dca1bd
Parent:
0:345b3bc7a0ea
Child:
14:0fc33a3a7b4b
a tester avec le vrai hardware!! (plein de modif sur l'acquisition de l'intensite... unsigned short instead of float)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 0:345b3bc7a0ea 1
mbedalvaro 0:345b3bc7a0ea 2 #ifndef hardwareIO_h
mbedalvaro 0:345b3bc7a0ea 3 #define hardwareIO_h
mbedalvaro 0:345b3bc7a0ea 4
mbedalvaro 0:345b3bc7a0ea 5 #include "mbed.h"
mbedalvaro 0:345b3bc7a0ea 6 #include "lockin.h"
mbedalvaro 0:345b3bc7a0ea 7
mbedalvaro 0:345b3bc7a0ea 8
mbedalvaro 0:345b3bc7a0ea 9 // 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 0:345b3bc7a0ea 10 #define SCK_PIN p7 //SPI Clock
mbedalvaro 0:345b3bc7a0ea 11 #define MISO_PIN p6 //SPI input (data comming from DAC, here not connected)
mbedalvaro 0:345b3bc7a0ea 12 #define MOSI_PIN p5 //SPI output (data going to DAC)
mbedalvaro 0:345b3bc7a0ea 13
mbedalvaro 0:345b3bc7a0ea 14 //**** CHIP SELECT pins for MP4922 DAC (mirrors and red laser)
mbedalvaro 0:345b3bc7a0ea 15 // 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).
mbedalvaro 0:345b3bc7a0ea 16 #define CS_DAC_MIRRORS p8 //Chip Select of the first DAC (mirrors)
mbedalvaro 0:345b3bc7a0ea 17
mbedalvaro 0:345b3bc7a0ea 18 //**** LASERS pins:
mbedalvaro 0:345b3bc7a0ea 19 #define LASER_RED_PIN p28
mbedalvaro 0:345b3bc7a0ea 20 #define LASER_GREEN_PIN p29
mbedalvaro 0:345b3bc7a0ea 21 #define LASER_BLUE_PIN p30
mbedalvaro 0:345b3bc7a0ea 22
mbedalvaro 0:345b3bc7a0ea 23 //**** MIRRORS:
mbedalvaro 0:345b3bc7a0ea 24 //The DAC is 12 bytes capable (Max=4096), but we will limit this a little.
mbedalvaro 0:345b3bc7a0ea 25 #define MAX_AD_MIRRORS 4095 // 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 0:345b3bc7a0ea 26 #define MIN_AD_MIRRORS 0
mbedalvaro 0:345b3bc7a0ea 27 // We assume that the center of the mirror is at MAX_AD_MIRRORS/2 = 2000:
mbedalvaro 0:345b3bc7a0ea 28 #define CENTER_AD_MIRROR_X 2047 // This MUST BE the direction of the photodetector.
mbedalvaro 0:345b3bc7a0ea 29 #define CENTER_AD_MIRROR_Y 2047 // This MUST BE the direction of the photodetector.
mbedalvaro 0:345b3bc7a0ea 30
mbedalvaro 0:345b3bc7a0ea 31
mbedalvaro 0:345b3bc7a0ea 32 //**** Look-Up Table:
mbedalvaro 0:345b3bc7a0ea 33 #define uint16 unsigned short
mbedalvaro 0:345b3bc7a0ea 34 #define LUT_RESOLUTION 33 // resolution of the Look-Up Table (power of 2 +1)
mbedalvaro 0:345b3bc7a0ea 35 #define LUT_BITS_SHIFT 7 // bits shift from mirror DAC (12 bits) to LUT ( root_square(LUT_RESOLUTION - 1) )
mbedalvaro 0:345b3bc7a0ea 36 #define LUT_BITS_MASK 127 // bits mask to obtain the position remainder ( 2^LUT_BITS_SHIFT - 1 )
mbedalvaro 0:345b3bc7a0ea 37 // possible configurations:
mbedalvaro 0:345b3bc7a0ea 38 // LUT_RESOLUTION LUT_BITS_SHIFT LUT_BITS_MASK
mbedalvaro 0:345b3bc7a0ea 39 // 9 9 511
mbedalvaro 0:345b3bc7a0ea 40 // 17 8 255
mbedalvaro 0:345b3bc7a0ea 41 // 33 7 127
mbedalvaro 0:345b3bc7a0ea 42 // 65 6 63
mbedalvaro 0:345b3bc7a0ea 43 // ...
mbedalvaro 10:6f8e48dca1bd 44 #define NB_SCANS 8 // number of scans performed to generate the LUT table (actually, each site CUMULATES NB_SCANS values)
mbedalvaro 10:6f8e48dca1bd 45
mbedalvaro 0:345b3bc7a0ea 46 #define LUT_FILENAME "/local/LUT.txt"
mbedalvaro 0:345b3bc7a0ea 47 //#define LUT_H_FILENAME "/local/LUT_pos.txt" //define if human readable file is required
mbedalvaro 0:345b3bc7a0ea 48
mbedalvaro 10:6f8e48dca1bd 49 // Current Look-up table approximation:
mbedalvaro 0:345b3bc7a0ea 50 #define LUT_BILINEAR
mbedalvaro 0:345b3bc7a0ea 51
mbedalvaro 10:6f8e48dca1bd 52 //Current method for lockin data acquisition and correction
mbedalvaro 10:6f8e48dca1bd 53 #define lockin_read() lockin.getMedianValue() // lockin.getSmoothValue(); //return the average of the value stored on the buffer
mbedalvaro 10:6f8e48dca1bd 54 // lockin.getLastValue(); //return the last conversion of the ADC
mbedalvaro 10:6f8e48dca1bd 55 // lockin.getMedianValue(); //return the median value of the buffer
mbedalvaro 10:6f8e48dca1bd 56
mbedalvaro 0:345b3bc7a0ea 57
mbedalvaro 0:345b3bc7a0ea 58 // **** REFERENCE SIGNAL:
mbedalvaro 0:345b3bc7a0ea 59 /*
mbedalvaro 0:345b3bc7a0ea 60 #define testPin_OC1A 11 // this is, output compare pin OC1A //connected to CK2 = lockIn clock
mbedalvaro 0:345b3bc7a0ea 61 #define testPin_OC1B 12 // this is, output compare pin OC1B //connected to CK1 = laser clock
mbedalvaro 0:345b3bc7a0ea 62 #define testPin_OC1C 13
mbedalvaro 0:345b3bc7a0ea 63 */
mbedalvaro 0:345b3bc7a0ea 64
mbedalvaro 0:345b3bc7a0ea 65 // ==================================================================================================================================================================
mbedalvaro 0:345b3bc7a0ea 66
mbedalvaro 0:345b3bc7a0ea 67 class HardwareIO {
mbedalvaro 0:345b3bc7a0ea 68 public:
mbedalvaro 0:345b3bc7a0ea 69
mbedalvaro 0:345b3bc7a0ea 70
mbedalvaro 0:345b3bc7a0ea 71 void init(void);
mbedalvaro 0:345b3bc7a0ea 72
mbedalvaro 0:345b3bc7a0ea 73 //Lock-in acquisition methods:
mbedalvaro 10:6f8e48dca1bd 74 // float LockInRead_Volts();
mbedalvaro 10:6f8e48dca1bd 75 // int LockInRead_AD();
mbedalvaro 10:6f8e48dca1bd 76 // float LockInAD_to_Volts(int);
mbedalvaro 0:345b3bc7a0ea 77
mbedalvaro 0:345b3bc7a0ea 78 //Look-Up Table:
mbedalvaro 10:6f8e48dca1bd 79 uint16 lut[LUT_RESOLUTION][LUT_RESOLUTION]; //Look-Up Table (uint16 is "unsigned short")
mbedalvaro 0:345b3bc7a0ea 80 void scanLUT(); //create and save the Look-Up Table
mbedalvaro 0:345b3bc7a0ea 81 void setLUT(); //set the Look-Up Table: either from scanning, or from the file LUT.TXT (if it is present)
mbedalvaro 10:6f8e48dca1bd 82 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 0:345b3bc7a0ea 83
mbedalvaro 10:6f8e48dca1bd 84 void scan_serial(unsigned short pointsPerLine = 400);
mbedalvaro 0:345b3bc7a0ea 85
mbedalvaro 0:345b3bc7a0ea 86 // SPI control for DAC for mirrors and red laser power (low level):
mbedalvaro 10:6f8e48dca1bd 87 void writeOutX(unsigned short value);
mbedalvaro 10:6f8e48dca1bd 88 void writeOutY(unsigned short value);
mbedalvaro 0:345b3bc7a0ea 89
mbedalvaro 0:345b3bc7a0ea 90 // mirror degree-to-AD units conversion factors:
mbedalvaro 0:345b3bc7a0ea 91 //float AD_to_Deg_MIRROR_X;//=1.0*(MAX_DEG_MIRROR_X-MIN_DEG_MIRROR_X)/(MAX_AD_MIRRORS-MIN_AD_MIRRORS);
mbedalvaro 0:345b3bc7a0ea 92 //float AD_to_Deg_MIRROR_Y;//=1.0*(MAX_DEG_MIRROR_Y-MIN_DEG_MIRROR_Y)/(MAX_AD_MIRRORS-MIN_AD_MIRRORS);
mbedalvaro 0:345b3bc7a0ea 93
mbedalvaro 0:345b3bc7a0ea 94 /*
mbedalvaro 0:345b3bc7a0ea 95 // Mirror position:
mbedalvaro 0:345b3bc7a0ea 96 void setMirrorX_Deg(float _Az);
mbedalvaro 0:345b3bc7a0ea 97 void setMirrorY_Deg(float _El);
mbedalvaro 0:345b3bc7a0ea 98 void setMirrorX_AD(int _AzAD);
mbedalvaro 0:345b3bc7a0ea 99 void setMirrorY_AD(int _ElAD);
mbedalvaro 0:345b3bc7a0ea 100 void setMirrorsXY_AD(int _xAD, int _yAD);
mbedalvaro 0:345b3bc7a0ea 101 void setMirrorsCenter();
mbedalvaro 0:345b3bc7a0ea 102 void getAnglesFromAD(float &Az, float &El, int _xAD, int _yAD);
mbedalvaro 0:345b3bc7a0ea 103 //void setZoneDelimiters(...) // this could be here, instead on the LivingSpot class
mbedalvaro 0:345b3bc7a0ea 104 */
mbedalvaro 0:345b3bc7a0ea 105
mbedalvaro 0:345b3bc7a0ea 106
mbedalvaro 0:345b3bc7a0ea 107 //Laser Power, for the moment laser are TTL but we can use int:
mbedalvaro 0:345b3bc7a0ea 108 //if powerValue > 0 ==> 'true'; else 'false'
mbedalvaro 0:345b3bc7a0ea 109 // Red laser:
mbedalvaro 0:345b3bc7a0ea 110 void setRedPower(int powerRed);
mbedalvaro 0:345b3bc7a0ea 111 // Green laser:
mbedalvaro 0:345b3bc7a0ea 112 void setGreenPower(int powerGreen);
mbedalvaro 0:345b3bc7a0ea 113 // Blue laser:
mbedalvaro 0:345b3bc7a0ea 114 void setBluePower(int powerBlue);
mbedalvaro 0:345b3bc7a0ea 115
mbedalvaro 0:345b3bc7a0ea 116 void setRGBPower(char color); // we will use the 3 LSB bits to set each color
mbedalvaro 0:345b3bc7a0ea 117
mbedalvaro 0:345b3bc7a0ea 118 //void setupPWM();
mbedalvaro 0:345b3bc7a0ea 119 /* IN ADVANCED HARDWARE:
mbedalvaro 0:345b3bc7a0ea 120 // init PWM for reference generation:
mbedalvaro 0:345b3bc7a0ea 121 void initPWM();
mbedalvaro 0:345b3bc7a0ea 122 // reference signal:
mbedalvaro 0:345b3bc7a0ea 123 void setRefFreq(int);
mbedalvaro 0:345b3bc7a0ea 124 void incRefFreq(int inc=1);
mbedalvaro 0:345b3bc7a0ea 125 void decRefFreq(int dec=1);
mbedalvaro 0:345b3bc7a0ea 126 */
mbedalvaro 0:345b3bc7a0ea 127
mbedalvaro 0:345b3bc7a0ea 128 //float refFreq; // could be private
mbedalvaro 0:345b3bc7a0ea 129
mbedalvaro 0:345b3bc7a0ea 130
mbedalvaro 0:345b3bc7a0ea 131 private:
mbedalvaro 0:345b3bc7a0ea 132
mbedalvaro 0:345b3bc7a0ea 133 };
mbedalvaro 0:345b3bc7a0ea 134
mbedalvaro 0:345b3bc7a0ea 135
mbedalvaro 0:345b3bc7a0ea 136 extern HardwareIO IO; // allows the object IO to be used in other .cpp files (IO is pre-instantiated in hardwareIO.cpp)
mbedalvaro 0:345b3bc7a0ea 137 // 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 0:345b3bc7a0ea 138 extern Serial pc; // allows pc to be manipulated by other .cpp files, even if pc is defined in the hardwareIO.cpp
mbedalvaro 0:345b3bc7a0ea 139
mbedalvaro 0:345b3bc7a0ea 140
mbedalvaro 0:345b3bc7a0ea 141 #endif