Alvaro Cassinelli / Mbed 2 deprecated laserUI

Laser Sensing Display for UI interfaces in the real world

Dependencies:   mbed

Fork of skinGames_forktest by Alvaro Cassinelli

hardwareIO/hardwareIO.h@34:1244fa3f2559, 2012-11-07 (annotated)

Committer:
mbedalvaro
Date:
Wed Nov 07 14:41:55 2012 +0000
Revision:
34:1244fa3f2559
Parent:
31:5f039cbddee8
Child:
35:35af5086ab4f
added hardware button & potentiometer to select the thresholding mode and parameters. Problems with the ADC conversion though...

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