firmware code added
This commit is contained in:
moonanjum26
479
src/firmware/IAD_v2_4_AIO.ino
Normal file
479
src/firmware/IAD_v2_4_AIO.ino
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@@ -0,0 +1,479 @@
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#include <EEPROM.h>
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#define Xdir 13
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#define Ydir 12
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#define Zdir 11
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#define Ybump 32
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#define Xbump 36
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#define AFbump 28
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#define bumpGnd 42
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/***************************************************************************************
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This is what matters when you change the Step size : change the FoV accordingly
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Rest of everything is calculated in terms of steps only
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So the GUI needs to take care of step size to um conversion
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***************************************************************************************/
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// FoV size. This is in steps. Calcuated as FoV (steps) = FoV (um) / stepSize
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// The step size as on 27 June is 198 nm / step
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long xFoV = 1843, yFoV = 2323;
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long XMaxStep=260000L, YMaxStep=130000L, ZMaxStep=30000L;
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long limitTOZfocus = 31000L,limitToXZero=-250000,limitToYZero=4000;
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// steps to go before stopping
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int trayOutNoiseMargin = 50;
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long XcurrStep=0L, YcurrStep=0L, ZcurrStep=0L;
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long Ax=0L,Ay=0L,Az=0L,Bx=0L,By=0L,Bz=0L,Cx=0L,Cy=0L,Cz=0L;
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long nextZstep = 0, XdeltaZperFoV=0, YdeltaZperFoV=0;
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int needtocheckXmovement=0,needtocheckYmovement=0,needtocheckZmovement=0;
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void setup() {
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Serial.begin(57600);
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// pulse : X,Y,Z :: TX 1,2,3
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Serial1.begin(38400); Serial2.begin(38400); Serial3.begin(38400);
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pinMode(Zdir,OUTPUT); pinMode(Ydir,OUTPUT); pinMode(Xdir,OUTPUT);
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pinMode(Xbump,INPUT); pinMode(Ybump,INPUT); pinMode(AFbump,INPUT); // The bump switchs
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pinMode(bumpGnd,OUTPUT); digitalWrite(bumpGnd,LOW); // this sets the gnd for the bump switches
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}
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void loop() {
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int choice = Serial.read();
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switch(choice){
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case('T') : digitalWrite(Zdir,LOW); delayMicroseconds(10); doZSteps(1); ZcurrStep=ZcurrStep-1; // T == Z up by 5 counts
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break;
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case('G') : digitalWrite(Zdir,HIGH); delayMicroseconds(10); doZSteps(1); ZcurrStep=ZcurrStep+1; // G == Z down
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break;
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case('A') : needtocheckXmovement=1; digitalWrite(Xdir,LOW); delayMicroseconds(10); doXSteps(xFoV/5); XcurrStep=XcurrStep+xFoV; // A == X up by 1 FoV
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break;
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case('D') : needtocheckXmovement=0; digitalWrite(Xdir,HIGH); delayMicroseconds(10); doXSteps(xFoV/5); XcurrStep=XcurrStep-xFoV; // D == X down by 1 FoV
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break;
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case('W') : needtocheckYmovement=0; digitalWrite(Ydir,LOW); delayMicroseconds(10); doYSteps(yFoV/5); YcurrStep=YcurrStep+yFoV; // W == Y up
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break;
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case('S') : needtocheckYmovement=1; digitalWrite(Ydir,HIGH); delayMicroseconds(10); doYSteps(yFoV/5); YcurrStep=YcurrStep-yFoV; // S == Y down
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break;
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case('J') : XcurrStep = 0; // J == X reset
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break;
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case('K') : YcurrStep = 0; // K == Y reset
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break;
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case('L') : ZcurrStep = 0; // L == Z reset
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break;
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case('B') : gotoXSetStep(getStep());
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break;
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case('N') : gotoYSetStep(getStep());
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break;
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case('M') : gotoZSetStep(getStep());
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break;
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case('I') : Serial1.flush(); Serial.print('X'); Serial.print("#"); Serial.print(XcurrStep); Serial.print("#");
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break;
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case('O') : Serial2.flush(); Serial.print('Y'); Serial.print("#"); Serial.print(YcurrStep); Serial.print("#");
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break;
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case('P') : Serial3.flush(); Serial.print('Z');Serial.print("#"); Serial.print(ZcurrStep); Serial.print("#");
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break;
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// Set A,B,C - Codes are E,R,Y respectively
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case('E') : Ax=XcurrStep; Ay=YcurrStep; Az=ZcurrStep;
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break;
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case('R') : Bx=XcurrStep; By=YcurrStep; Bz=ZcurrStep;
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break;
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case('Y') : Cx=XcurrStep; Cy=YcurrStep; Cz=ZcurrStep;
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break;
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case('U') :
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break;
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case('Z') : do4ptArea();
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break;
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case('X') :
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break;
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case('C') : // linear scan
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doAtoB();
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break;
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case('V') : debug();
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break;
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case('Q') : gohome();
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break;
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case('F') : doFullArea();
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break;
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case('H') : gotoZSetStep(0);
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// Signal that ready to AF now
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Serial.print("H#");
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break;
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case('1') : tray_out();
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break;
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case('2') : tray_in();
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break;
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case('0') : EEPROM.write(0,0);
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break;
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case('7') : Serial.print('7'); Serial.print("#");
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break;
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case('3') : digitalWrite(Zdir,HIGH); delayMicroseconds(10); Serial3.print("X"); ZcurrStep=ZcurrStep+1;
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break;
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case('5') : digitalWrite(Zdir,LOW); delayMicroseconds(10); Serial3.print("X"); ZcurrStep=ZcurrStep-1;
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break;
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case('.'): // this is the travel sync option. First go 20 k steps and note time
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Serial.print('0'); Serial.print("#"); gotoXSetStep(XcurrStep+20000); Serial.print('1'); Serial.print("#");
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Serial.print('2'); Serial.print("#"); gotoXSetStep(XcurrStep-20000); Serial.print('3'); Serial.print("#");
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Serial.print('4'); Serial.print("#"); gotoYSetStep(YcurrStep+20000); Serial.print('5'); Serial.print("#");
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Serial.print('6'); Serial.print("#"); gotoYSetStep(YcurrStep-20000); Serial.print('7'); Serial.print("#");
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default : break;
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}
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}
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void doXSteps(long num) { while (num > 0 ) {
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if( (needtocheckXmovement==1) && (digitalRead(Xbump) == LOW)) { XcurrStep=0; return;} // DO NOT MOVE IF ALREADY AT LIMIT
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Serial1.print("U"); num--; } }
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void doYSteps(long num) { while (num > 0 ) {
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if( (needtocheckYmovement==1) && (digitalRead(Ybump) == LOW)) { YcurrStep=0; return;} // DO NOT MOVE IF ALREADY AT LIMIT
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Serial2.print("U"); num--; } }
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void doZSteps(long num) { while (num > 0 ) {
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if( (needtocheckZmovement==1) && (digitalRead(AFbump) == LOW)) { ZcurrStep=0; return;} // DO NOT MOVE IF ALREADY AT LIMIT
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Serial3.print("@"); num--; } }
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long getStep()
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{
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long index = 0, inpStep[7]={0,0,0,0,0,0,0}, invalidInput = 0;
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long setStep = 0L;
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for(index=0; index<8; index++ )
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{
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while ( Serial.available() < 1 );
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inpStep[index] = Serial.read() - 48;
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}
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// DISCARD first byte : MATLAB sends the terminator character there. We need it since if we turn it off, MATALB won't read the Tx from this arduino
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// ALSO igmore the second byte : that's the sign symbol
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setStep = (inpStep[2]*100000) + (inpStep[3]*10000) + (inpStep[4]*1000) + (inpStep[5]*100) + (inpStep[6]*10) + (inpStep[7]*1) + 0L ;
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// check what sign was sent. If it was anything other than a '-' then dont worry
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if (inpStep[1] + 48 == '-' ) { setStep = setStep*(-1); }
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return setStep;
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}
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void gotoXSetStep(long XsetStep)
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{
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if(XsetStep > XMaxStep) {XsetStep=XMaxStep;}
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long stepstodo = abs(XsetStep - XcurrStep) / 5;
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if (XsetStep > XcurrStep)
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{ needtocheckXmovement=1 ;
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digitalWrite(Xdir,LOW); delayMicroseconds(10); XcurrStep=XsetStep; doXSteps( stepstodo ); }
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if (XsetStep < XcurrStep)
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{ needtocheckXmovement=0 ;
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digitalWrite(Xdir,HIGH); delayMicroseconds(10); XcurrStep=XsetStep; doXSteps( stepstodo ); }
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}
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void gotoYSetStep(long YsetStep)
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{
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if(YsetStep > YMaxStep) {YsetStep = YMaxStep;}
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long stepstodo = abs(YsetStep - YcurrStep) / 5;
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if (YsetStep > YcurrStep)
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{ needtocheckYmovement=0 ;
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digitalWrite(Ydir,LOW); delayMicroseconds(10); YcurrStep=YsetStep; doYSteps( stepstodo ); }
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if (YsetStep < YcurrStep)
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{
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needtocheckYmovement=1 ;
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digitalWrite(Ydir,HIGH); delayMicroseconds(10); YcurrStep=YsetStep; doYSteps( stepstodo ); }
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}
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void gotoZSetStep(long ZsetStep)
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{
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//if(ZsetStep > ZMaxStep) {ZsetStep = ZMaxStep;}
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long stepstodo = abs(ZsetStep - ZcurrStep) / 5;
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if (ZsetStep > ZcurrStep)
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{ needtocheckZmovement=0 ;
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digitalWrite(Zdir,HIGH); delayMicroseconds(10); ZcurrStep=ZsetStep; doZSteps( stepstodo ); }
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if (ZsetStep < ZcurrStep)
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{
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needtocheckZmovement=1 ;
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digitalWrite(Zdir,LOW); delayMicroseconds(10); ZcurrStep=ZsetStep; doZSteps( stepstodo ); }
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}
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void tray_out ()
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{/*
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// if already tray out then skip this
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//if (EEPROM.read(0) == 1) { return; }
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// var to even out electric noise
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int Xnoise=0, Ynoise=0, Znoise=0;
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// x & y out
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digitalWrite(Xdir,HIGH); digitalWrite(Ydir,HIGH); digitalWrite(Zdir,HIGH); delayMicroseconds(20);
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while ( Znoise < trayOutNoiseMargin )
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{
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Serial1.print("U");
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if (digitalRead(AFbump) == HIGH) { Znoise++; }
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}
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digitalWrite(Zdir,LOW);
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for (int i=0; i<2000;i++)
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{ Serial1.print("U"); }
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while ( Xnoise < trayOutNoiseMargin )
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{
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Serial2.print("U");
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if (digitalRead(Xbump) == HIGH) { Xnoise++; }
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}
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for (int i=0; i<5000;i++)
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{ Serial2.print("U"); }
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while ( Ynoise < trayOutNoiseMargin )
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{
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Serial3.print("U");
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if (digitalRead(Ybump) == LOW) { Ynoise++; }
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}
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// if all done, store this in EEPROM
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//EEPROM.write(0,1);
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*/
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Serial.println("Tray out");
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}
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void tray_in()
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{
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// assuming that it is called only after tray_out
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// gotoXSetStep(125000);
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//gotoYSetStep(-40000);
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// gotoZSetStep(-3000);
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// now that we're at position, reset counts
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//XcurrStep=0L; YcurrStep=0L; ZcurrStep=0L;
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// and the tray in var
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// EEPROM.write(0,0);
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}
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void doFullArea()
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{
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// calculate num of x & y FoV. And the tilts
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long XstepCount = 252525 ; long numXsteps = (XstepCount / xFoV) ; long YstepCount = 126260 ; long numYsteps = (YstepCount / yFoV) ;
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/* The equations are
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* Az = {Tx(Ax-Bx)} + {Ty(Ay-By)} + {Bz}
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* and
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* Az = {Tx(Ax-Cx)} + {Ty(Ay-Cy)} + {Cz}
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*
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* we can find Tx and Ty after some algebra
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* After Tx and Ty, we can find Oz too
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*/
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long a = (round)( (Ax-Bx) / (float)xFoV); long b = (round)((Ay-By)/(float)yFoV); long c = (Az-Bz);
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long d = (round)((Ax-Cx)/(float)xFoV); long e = (round)((Ay-Cy)/(float)yFoV); long f =(Az-Cz);
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long Oz = 0L;
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XdeltaZperFoV = (round) ((c*e)-(b*f)) / (float) ((a*e)-(b*d)) ;
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YdeltaZperFoV = (round) (c-(a*XdeltaZperFoV)) / (float) b ;
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Oz = Az - (XdeltaZperFoV *(Ax/xFoV)) - (YdeltaZperFoV * (Ay/yFoV));
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// Tilts calculated. Now go ahead with WSI **************************************************************
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// set the initial delta z to the x one. Later, in the loop, it will be changed continously
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long deltaZperFoV = XdeltaZperFoV;
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//this var keeps track of xdir while scanning . +1 is inc., -1 is dec
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long XtravelDir = 1;
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// go to the origin
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gotoXSetStep(0); gotoYSetStep(0); gotoZSetStep(Oz);
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delay(300);
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// Send sync signal to the imager. By now we're starting FoV and this will be immediately imaged.
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Serial.print("S#");
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// go go go
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for (long trackY = 0; trackY <= numYsteps; trackY++)
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{
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for (long trackX = 0; trackX < numXsteps; trackX++)
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{
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gotoXSetStep(XcurrStep + (XtravelDir * xFoV));
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/* Four cases now --- (a) we're at 1st fov : dont move Z !
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* --- (b)we're on first strip but more than 1st fov : keep adding X tilt
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* --- (c) we're at end of strip and just moved to next strip : only add the Y tilt
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* --- (d) we're in 2nd or higher strip : keep adding only X tilt (Y tilt already added at (c))
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*/
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if((trackX==0)&&(trackY==0)) { nextZstep = ZcurrStep; }
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if((trackX>0)&&(trackY==0)) { nextZstep = ZcurrStep +(XtravelDir * deltaZperFoV); }
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if((trackX==0)&&(trackY>0)) { nextZstep = ZcurrStep + YdeltaZperFoV;}
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if((trackX>0)&&(trackY>0)) { nextZstep = ZcurrStep +(XtravelDir * deltaZperFoV); }
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gotoZSetStep(nextZstep);
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}
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// shift in the Y dir
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gotoYSetStep(YcurrStep + yFoV);
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// now go in the opposite direction
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XtravelDir = XtravelDir * -1;
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}
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// All done. Now go back to ORIGIN
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gotoXSetStep(0); gotoYSetStep(0); gotoZSetStep(0);
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delay(300);
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}
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//88888888888888888888888888888888888888888888888888888888888888888
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// THIS IS THE GOHOME() FUNCTION
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//88888888888888888888888888888888888888888888888888888888888888888
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void gohome()
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{
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// turn on all lights
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gotoYSetStep(-300000); gotoXSetStep(400000);
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Serial1.flush(); Serial.print('X'); Serial.print("#"); Serial.print(XcurrStep); Serial.print("#");
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// Y already at origin. Need to bring X and Z there
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gotoXSetStep(limitToXZero); gotoYSetStep(limitToYZero);
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gotoZSetStep(-100000); gotoZSetStep(limitTOZfocus);
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// SET THIS AS ORIGIN
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XcurrStep=0L; YcurrStep=0L; ZcurrStep=0L;
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// all done now. Send sync signal
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Serial.print("S#");
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}
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void debug()
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{
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// calc steps in X
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long XstepCount = abs(Bx - Ax) ; long numXsteps = (XstepCount / xFoV) ;
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// calc steps in Y
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long YstepCount = abs(Cy - By) ; long numYsteps = (YstepCount / yFoV) ;
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// calc the z changes
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long XZdeltaCount = Bz - Az ; long XdeltaZperFoV = XZdeltaCount / (numXsteps-1);
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long YZdeltaCount = Cz - Bz ; long YdeltaZperFoV = YZdeltaCount / (numYsteps-1);
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// set the initial delta z to the x one. Later, in the loop, it will be changed continously
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long deltaZperFoV = XdeltaZperFoV;
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Serial.print(" Ax: ");Serial.print(Ax);Serial.print(" Ay: ");Serial.print(Ay);Serial.print(" Az: ");Serial.print(Az);
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Serial.print(" Bx: ");Serial.print(Bx);Serial.print(" By: ");Serial.print(By);Serial.print(" Bz: ");Serial.print(Bz);
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Serial.print(" Cx: ");Serial.print(Cx);Serial.print(" Cy: ");Serial.print(Cy);Serial.print(" Cz: ");Serial.print(Cz);
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Serial.print(" XdeltaZperFoV: ");Serial.print(XdeltaZperFoV);
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Serial.print(" YdeltaZperFoV: ");Serial.print(YdeltaZperFoV);
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Serial.print("#");
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}
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void do4ptArea()
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{
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// calc steps in X
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long XstepCount = abs(Bx - Ax) ; long numXsteps = (XstepCount / xFoV) ;
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// calc steps in Y
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long YstepCount = abs(Cy - By) ; long numYsteps = (YstepCount / yFoV) ;
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// calc the z changes
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long XZdeltaCount = Bz - Az ; long XdeltaZperFoV = XZdeltaCount / (numXsteps-1);
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long YZdeltaCount = Cz - Bz ; long YdeltaZperFoV = YZdeltaCount / (numYsteps-1);
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// set the initial delta z to the x one. Later, in the loop, it will be changed continously
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long deltaZperFoV = XdeltaZperFoV;
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//this var keeps track of xdir while scanning . +1 is inc., -1 is dec
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long XtravelDir = 1;
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// go to the origin
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gotoXSetStep(Ax); gotoYSetStep(Ay); gotoZSetStep(Az);
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delay(300);
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// Send sync signal to the imager
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Serial.print("S#");
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// go go go
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for (long trackY = 0; trackY <= numYsteps; trackY++)
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{
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for (long trackX = 0; trackX < numXsteps; trackX++)
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{
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gotoXSetStep(XcurrStep + (XtravelDir * xFoV));
|
||||
|
||||
/* Four cases now --- (a) we're at 1st fov : dont move Z !
|
||||
* --- (b)we're on first strip but more than 1st fov : keep adding X tilt
|
||||
* --- (c) we're at end of strip and just moved to next strip : only add the Y tilt
|
||||
* --- (d) we're in 2nd or higher strip : keep adding only X tilt (Y tilt already added at (c))
|
||||
*/
|
||||
|
||||
if((trackX==0)&&(trackY==0)) { nextZstep = ZcurrStep; }
|
||||
if((trackX>0)&&(trackY==0)) { nextZstep = ZcurrStep +(XtravelDir * deltaZperFoV); }
|
||||
if((trackX==0)&&(trackY>0)) { nextZstep = ZcurrStep + YdeltaZperFoV;}
|
||||
if((trackX>0)&&(trackY>0)) { nextZstep = ZcurrStep +(XtravelDir * deltaZperFoV); }
|
||||
|
||||
gotoZSetStep(nextZstep);
|
||||
|
||||
}
|
||||
|
||||
// shift in the Y dir
|
||||
gotoYSetStep(YcurrStep + yFoV);
|
||||
|
||||
// now go in the opposite direction
|
||||
XtravelDir = XtravelDir * -1;
|
||||
}
|
||||
|
||||
// All done. Now go back to ORIGIN
|
||||
gotoXSetStep(0); gotoYSetStep(0); gotoZSetStep(0);
|
||||
delay(300);
|
||||
}
|
||||
|
||||
void doAtoB()
|
||||
{
|
||||
long XMovDir = 1;
|
||||
|
||||
// find num of Fov to be traversed and their direction
|
||||
long XstepCount = abs(Bx - Ax) ; long numXFoV = (XstepCount / xFoV) ;
|
||||
|
||||
if (Bx > Ax) { XMovDir = 1; }
|
||||
if (Bx < Ax) { XMovDir = -1; }
|
||||
|
||||
// setup Z data
|
||||
long ZdeltaCount = Bz - Az ;
|
||||
long deltaZperFoV = ZdeltaCount / numXFoV; // This gives the Z change per FoV
|
||||
Serial.println("deltaperZfov is ");
|
||||
Serial.println(deltaZperFoV);
|
||||
// go to the origin
|
||||
gotoXSetStep(Ax); gotoYSetStep(Ay); gotoZSetStep(Az);
|
||||
|
||||
// Send sync signal to the imager
|
||||
Serial.print("S#");
|
||||
delay(300);
|
||||
|
||||
// go go go
|
||||
if( XMovDir == 1) // means we're going in inc X dir
|
||||
{
|
||||
for(long i=0; i<numXFoV; i++)
|
||||
{
|
||||
gotoXSetStep(XcurrStep + xFoV);
|
||||
gotoZSetStep(ZcurrStep + deltaZperFoV);
|
||||
}
|
||||
}
|
||||
|
||||
if( XMovDir == -1) // means we're going in dec X dir
|
||||
{
|
||||
for(long i=0; i<numXFoV; i++)
|
||||
{
|
||||
gotoXSetStep(XcurrStep - xFoV);
|
||||
gotoZSetStep(ZcurrStep + deltaZperFoV);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user