Alvaro Cassinelli / Mbed 2 deprecated laserScannerControl_FRDMK64F

Example controlling galvanomirrors (X and Y) using the spi DAC MCP4922 and the new platform FRDM_K64F

Dependencies:   mbed

main.cpp@3:89f592efbe84, 2014-06-04 (annotated)

Committer:
mbedalvaro
Date:
Wed Jun 04 09:47:04 2014 +0000
Revision:
3:89f592efbe84
Parent:
2:383b2acec6e4
Child:
4:1428775752f7
seems working. I had to change the modulating pin D8 to D5, because as PWM output the pin D8 seems not to reach 0...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbedalvaro 0:26b228dde70c 1 #include "mbed.h"
mbedalvaro 0:26b228dde70c 2 #include "laserProjectorHardware.h"
mbedalvaro 0:26b228dde70c 3
mbedalvaro 0:26b228dde70c 4 DigitalOut myled(LED3);
mbedalvaro 0:26b228dde70c 5
mbedalvaro 0:26b228dde70c 6 void processSerial();
mbedalvaro 0:26b228dde70c 7
mbedalvaro 0:26b228dde70c 8 unsigned int X, Y; // position of the mirrors (note: in fact, azimuth and elevation)
mbedalvaro 0:26b228dde70c 9 bool newPositionReady=false;
mbedalvaro 0:26b228dde70c 10
mbedalvaro 2:383b2acec6e4 11 unsigned long counter=0;
mbedalvaro 2:383b2acec6e4 12
mbedalvaro 0:26b228dde70c 13 int main() {
mbedalvaro 0:26b228dde70c 14
mbedalvaro 0:26b228dde70c 15 // SETUP: --------------------------------------------------------------------------------------------
mbedalvaro 0:26b228dde70c 16 IO.init(); // note: serial speed can be changed by checking in the hardwareIO.cpp initialization
mbedalvaro 0:26b228dde70c 17
mbedalvaro 0:26b228dde70c 18 wait_ms(100);
mbedalvaro 0:26b228dde70c 19
mbedalvaro 0:26b228dde70c 20 Y = CENTER_AD_MIRROR_X;
mbedalvaro 0:26b228dde70c 21 X = CENTER_AD_MIRROR_Y;
mbedalvaro 0:26b228dde70c 22 IO.writeOutXY(X,Y);
mbedalvaro 0:26b228dde70c 23
mbedalvaro 0:26b228dde70c 24 // MAIN LOOP: --------------------------------------------------------------------------------------------
mbedalvaro 1:4be6abc4ed43 25 while(1) {
mbedalvaro 1:4be6abc4ed43 26
mbedalvaro 1:4be6abc4ed43 27 // myled=0;IO.setRedPower(1);
mbedalvaro 1:4be6abc4ed43 28 // wait_ms(1000);
mbedalvaro 1:4be6abc4ed43 29 // myled=1;IO.setRedPower(0);
mbedalvaro 1:4be6abc4ed43 30 // wait_ms(1000);
mbedalvaro 1:4be6abc4ed43 31
mbedalvaro 2:383b2acec6e4 32 // Y = CENTER_AD_MIRROR_X+1000*cos(1.0*counter/10);
mbedalvaro 2:383b2acec6e4 33 // X = CENTER_AD_MIRROR_Y+800*sin(1.0*counter/15);
mbedalvaro 2:383b2acec6e4 34 // IO.writeOutXY(X,Y);
mbedalvaro 2:383b2acec6e4 35 // counter++;
mbedalvaro 2:383b2acec6e4 36
mbedalvaro 2:383b2acec6e4 37
mbedalvaro 2:383b2acec6e4 38 //IO.drawCircle(X, Y, 1000, 200);
mbedalvaro 2:383b2acec6e4 39
mbedalvaro 0:26b228dde70c 40 processSerial();
mbedalvaro 0:26b228dde70c 41 if (newPositionReady) {
mbedalvaro 2:383b2acec6e4 42 IO.writeOutXY(X,Y);
mbedalvaro 2:383b2acec6e4 43 //IO.drawCircle(X, Y, 1000, 20);
mbedalvaro 0:26b228dde70c 44 newPositionReady=false;
mbedalvaro 0:26b228dde70c 45 }
mbedalvaro 0:26b228dde70c 46 }
mbedalvaro 0:26b228dde70c 47 }
mbedalvaro 0:26b228dde70c 48
mbedalvaro 0:26b228dde70c 49 // --------------------------------------------------------------------------------------------
mbedalvaro 0:26b228dde70c 50 // String to store ALPHANUMERIC DATA (i.e., integers, floating point numbers, unsigned ints, etc represented as DEC) sent wirelessly:
mbedalvaro 0:26b228dde70c 51 char stringData[24]; // note: an integer is two bytes long, represented with a maximum of 5 digits, but we may send floats or unsigned int...
mbedalvaro 0:26b228dde70c 52 int indexStringData=0;//position of the byte in the string
mbedalvaro 0:26b228dde70c 53
mbedalvaro 0:26b228dde70c 54 void processSerial() {
mbedalvaro 1:4be6abc4ed43 55
mbedalvaro 1:4be6abc4ed43 56 while(pc.readable()>0) {
mbedalvaro 1:4be6abc4ed43 57
mbedalvaro 0:26b228dde70c 58
mbedalvaro 0:26b228dde70c 59 char val =pc.getc();
mbedalvaro 0:26b228dde70c 60
mbedalvaro 0:26b228dde70c 61 // Save ASCII numeric characters (ASCII 0 - 9) on stringData:
mbedalvaro 0:26b228dde70c 62 if ((val >= '0') && (val <= '9')){ // this is 45 to 57 (included)
mbedalvaro 0:26b228dde70c 63 stringData[indexStringData] = val;
mbedalvaro 0:26b228dde70c 64 indexStringData++;
mbedalvaro 1:4be6abc4ed43 65
mbedalvaro 0:26b228dde70c 66 }
mbedalvaro 0:26b228dde70c 67
mbedalvaro 0:26b228dde70c 68 // X value?
mbedalvaro 0:26b228dde70c 69 else if (val=='X') {
mbedalvaro 0:26b228dde70c 70 stringData[indexStringData] = 0 ;
mbedalvaro 0:26b228dde70c 71 X=atoi(stringData);
mbedalvaro 0:26b228dde70c 72 indexStringData=0;
mbedalvaro 0:26b228dde70c 73 }
mbedalvaro 0:26b228dde70c 74
mbedalvaro 0:26b228dde70c 75 // Y value?
mbedalvaro 0:26b228dde70c 76 else if (val=='Y') {
mbedalvaro 0:26b228dde70c 77 stringData[indexStringData] = 0 ;
mbedalvaro 1:4be6abc4ed43 78 Y=atoi(stringData);
mbedalvaro 0:26b228dde70c 79 indexStringData=0;
mbedalvaro 0:26b228dde70c 80 newPositionReady=true;
mbedalvaro 0:26b228dde70c 81 }
mbedalvaro 1:4be6abc4ed43 82
mbedalvaro 1:4be6abc4ed43 83 else if (val=='L') {
mbedalvaro 1:4be6abc4ed43 84 stringData[indexStringData] = 0 ;
mbedalvaro 3:89f592efbe84 85 //if(atoi(stringData)>0) IO.setRedPower(1); else IO.setRedPower(0);
mbedalvaro 3:89f592efbe84 86 if(atoi(stringData)>0) IO.setLockinPower(1); else IO.setLockinPower(0); // for the time being, we only use the lockin laser
mbedalvaro 1:4be6abc4ed43 87 indexStringData=0;
mbedalvaro 1:4be6abc4ed43 88 }
mbedalvaro 0:26b228dde70c 89
mbedalvaro 2:383b2acec6e4 90 else if (val=='S') {
mbedalvaro 2:383b2acec6e4 91 stringData[indexStringData] = 0 ;
mbedalvaro 2:383b2acec6e4 92 IO.showLimitsMirrors(int(atoi(stringData)));
mbedalvaro 2:383b2acec6e4 93 indexStringData=0;
mbedalvaro 2:383b2acec6e4 94 }
mbedalvaro 2:383b2acec6e4 95
mbedalvaro 0:26b228dde70c 96 }
mbedalvaro 0:26b228dde70c 97 }