Samuel Belden | How to Make Almost Anything

Crystallographic conventions are used to describe the orientation of a poled piezoceramic and to characterize the performance parameters of the various piezoceramic meterials. The specific type of performance we are concerned with in a STM is:

da,b where:

d=Displacement, or the ratio of mechanical strain developed to electrical field applied, expressed as 10-12 meters/V, or angstroms/volt.

a=Electrode orientation

b=Direction of induced strain

For a, the only value, for our application is:

3=the dimension from the positive to the negative electrode. In a tube piezoceramic, this is normally the thickness of the tube, as the electrodes normally coat the interior and exterior of the tube.

For b, the only value for our application is:

1=The direction of induced strain (movement) along the tube's length.

d3,1 is the "piezoelectric coefficient" which, when you plug it into the Delta_L formula (below), tells you how much the tube will shorten (due to the negative sign) when a positive voltage is applied. D3,1 = -1.73 angstroms/volt for PZT-5A type ceramic at 293 degrees Kelvin. It characterizes tube length changes with voltage.

This is an important parameter, and it does vary with temperature. The higher the temperature, the more the expansion or contraction. It doesn't vary much for PZT-5A, though: About 11% from 0-100 deg. Celsius, vs. over 30% for PZT-5H.

D3,1 is an approximation.

In the case of my STM, I will be utilizing cheaper piezoelectric disks instead of the more expensive piezoelectric tubes. They are much cheaper, but don't has as much precision as the tubes, and tend to be more vibration sensitive. Speaker piezoelectric disks were bought and an exacto knife was used to but them into 4 quadrants for the x, y, and z movements.

Noise Damping Theory
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Noise tends to be the primary issue with building homemade STMs, as evidenced by many other makers' problems and advice. There is a multitude of vibrational frequencies that can disrupt the device (from lower frequencies such as building and ground vibrations to higher frequencies from nearby movement and even accoustic vibrations from sound waves such as people talking). These all need to be protected against. The primary sources of noise in the STM are normal vibrations, accoustic vibrations and electromagnetic interference. These are taken care of in my STM through the following means:

1) Vibration Isolation and Dampening (using spring and pendulum system as well as some Viton o-ring inserts)

2) Eddy Current Dampening (using eddy current induced by the vibrations in an aluminum disk and some Neo magnets to prevent movement)

3) Accoustic Dampening (using a frame that fits over the scanner with speaker foam padded on the inside)

4) Electromagnetic Shielding (using some thick sheets of aluminum foil placed behind the speaker foam on the above frame)

The vibration isolation and dampening is taken care of by hanging the entire scan head on some very large springs (approximately 26.3" extended - see bill of materials at the end). The scan head itself is actually quite rigid, so low frequency oscillations only cause the whole STM head to oscillate, not affecting the tip to sample distance and the scan. High frequency oscillations are the issue here. The springs create a pendulum with a resonant frequency of roughly 0.6 Hz (to isolate from horizontal vibrations) and a harmonic oscillator with a resonant frequency of almost exactly 1 Hz (to isolate from vertical vibrations). The entire setup, as well as the spacings between the metal disks, are mounted on Viton O-ring, which proves to be an extremely effective vibration dampener. Finally, there are a series of strong Neodymium magnets mounted under the aluminum disk to provide some extra eddy current dampening effects to dampen vibrations. Everything is connected using extremely fine 40 AWG wire to minimize vibrations transmission throughout the setup.

The accoustic dampening and electromagnetic shielding are carried out by some speaker foam and thick aluminum foil that I'd like to place in a frame around the entire STM. As a preliminary step, I will simply place an aluminum pot, with foam padding on the inside, over the entire scan head setup.

Above: The (unfinished) solidworks design of the scan head and vibration dampening system. The springs aren't modeled yet.

Mechanical Design: Scan Head
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The scan head is composed of two 2" by 2" blocks of machined aluminum, with drilled sockets for the fine thread coarse approach screws and the piezo scanner. The fine thread screws and bushings fit into the top block and are kinematically locked to the bottom aluminum block via the V-groove and two holes. This helps to prevent vibrations of the scan head. The fine thread screws are used for the coarse approach to the sample surface, with 80 threads/inch. This gives roughly 250 um/revolution. The fine screw head on one side will be attached to a 28byj-48 stepper motor geared down to about 2048 steps per revolution. That, along with the lever arm reduction of around 20 (because I am only driving one screw on one side), gives me 250um/2048/20 = 6nm steps!

Generally, one wants to scan the surface at around the 1nm range. The stepper motor will be used in a woodpecker approach. It will first fully extend the z-piezo to search for the surface (which is easy to recognize becuase the current increases by a factor 0f 10 for every angstrom below 1nm). If it doesn't find the surface, it will retract, step the stepper motor by 1 step, and then extend the z-piezo again to search for the surface. In this way, I can limit the electrode tip from crashing into the surface.

The piezo is a 6.3 kHz piezoelectric disk meant to be used for speaker drivers, but is cut into 4 seperate segments here. By applying a (very, very specific voltage) to different combinations of the 4 quadrants on the piezo disk, I can scan over the surface in x, y, and z axis.

Finally, the PCB attached to the scan head is a preAmplifer PCB. It is a precision op-amp configured as a transImpedance Amplifier with a 100 million gain. This needs to be well isolated and also have very, very little input bias current, as that would get summed up with the tunnelling current. The preAmp amplifes the tunneling current (~1n-100A), and converts it to a voltage an ADC and a micro can read. The PCB pictured here is an early verison from OSHPark. The updated version can be seen in the electronics seciton below.

Show STM Controller Code



/*

This program uses an intervalTimer to call an ISR at a time interval defined
by "dt" (see #define statements below). The ISR increments the scan, reads the 
ADC, performs PI calculations, sigma-delta calculations, updates the X, Y, and 
Z DACs and stores acquired data in buffers. Data is sent over USB when the 
scanner finishes scanning and re-scanning a line.

Set the CPU speed to 180 MHz optimized (overclock) or faster.
Cut the small trace on the bottom of the Teensy board to separate Vin from VUSB,
since the Teensy is being powered from an external 5V supply.

STM analog PCB to Teensy 3.6 connections:

All GNDs -> Teensy GND
+5V -> Vin
~CS_DAC -> pin 20
~LDAC -> pin 17
~CS_ADC -> pin 21
CNV -> pin 4
BUSY -> pin 3
MISO_ADC -> pin 12
MOSI_DAC -> pin 11
Serial indicator LED -> pin 0
Tunneling indicator LED -> pin 1
SCK_ADC and SCK_DAC -> pin 13.

*/
/**************************************************************************/


// Pin definitions:
#define CS_DAC 20                          // DAC chip select pin
#define LDAC 17                            // Load DAC pin, not currently used
#define CS_ADC 21                          // ADC chip select pin
#define CNV 4                              // ADC CNV pin - initiates a conversion
#define BUSY 3                             // ADC BUSY pin
#define SERIAL_LED 0                       // Indicates serial data transmission
#define TUNNEL_LED 1                       // Indicates tunneling


// DAC channel addresses:
#define DAC_CH_X 2
#define DAC_CH_Y 1
#define DAC_CH_Z 0
#define DAC_CH_BIAS 3


// DAC and ADC resolution:
#define DAC_BITS 16                        // Actual DAC resolution
#define POSITION_BITS 20                   // Sigma-delta resolution
#define ADC_BITS 16


// Default scan settings:
#define SCAN_SIZE 100000 // ~160 nm        // Scan size in LSBs
#define IMAGE_PIXELS 512                   // Scan size in pixels
#define LINE_RATE 1                        // Number of scan lines/second
#define SETPOINT 328 // 1 nA               // Tunneling current setpoint in LSBs
#define BIAS 328 // 100 mV                 // Sample bias in LSBs
#define KP 0                               // Proportional gain
#define KI 300000                          // Integral gain


// Constants:
#define INVERT_Z true                      // Inverts the Z output signal from the DAC
#define ENGAGE_SCANNER_STEP_SIZE 50        // Number of LSBs to step the scanner by during engage
#define ENGAGE_MOTOR_STEP_SIZE 1           // Number of steps to move the motor by during engage
#define dt 40                              // Time step for scanning and PI control in microseconds
#define DATA_BUFFER_LENGTH 16386           // Number of bytes in each ping-pong buffer for data storage. Need 2 bytes for line number + 16 bytes/pixel.
#define SCAN_COUNTER_LIMIT 0x40000000      // Scan counter counts from -SCAN_COUNTER_LIMIT to SCAN_COUNTER_LIMIT-1


/**************************************************************************/

#include 
#include "logTable.h"
#include 
#include 


/**************************************************************************/
/*
    Variable declarations
*/
/**************************************************************************/


// Scan parameters:
float lineRate = LINE_RATE; // Scan lines per second
unsigned int pixelsPerLine = IMAGE_PIXELS * 2;
unsigned int samplesPerPixel;
int scanSize = SCAN_SIZE; // Size of the scan in LSBs
int bias = BIAS; // Sample bias in LSBs
boolean scanningEnabled = false;
boolean engaged = false;


// Scan counters. Counts from -SCAN_COUNTER_LIMIT to SCAN_COUNTER_LIMIT - 1
// regardless of scan size, then counts back down when the scan direction reverses.
volatile int xCount = -SCAN_COUNTER_LIMIT; // X-axis scan counter
volatile int yCount = -SCAN_COUNTER_LIMIT; // Y-axis scan counter
volatile int dx = 0, dy = 0; // Scan counter increments


// Sample, pixel and line counters:
volatile unsigned int sampleCounter = 0, pixelCounter = 0, lineCounter = 0;
volatile int zAvg = 0, eAvg = 0; // Accumulates Z and error samples for later averaging


// Ping-pong buffers:
byte data1[DATA_BUFFER_LENGTH], data2[DATA_BUFFER_LENGTH]; // Data buffers
volatile boolean fillData1 = true; // Indicates which buffer to fill
volatile boolean sendData = false; // Indicates that data is ready to be sent over USB
boolean serialEnabled = false; // Enables serial transfer of data


// Position variables:
const int MAX_Z = (1 << (POSITION_BITS - 1)) - 1; // Maximum Z value
int xo = 0, yo = 0; // Scan offsets
volatile int x = 0, y = 0, z = 0; // Scanner coordinates in LSBs


// PI variables:
boolean pidEnabled = true; // Setting this to false desiables PI control
int setpoint = SETPOINT, setpointLog; // setpointLog = log(|setpoint|)
int Kp = KP, Ki = KI; // Proportional and integral gains
volatile int16_t input; // ADC input data
volatile int error = 0; // PID error signal
volatile int64_t iTerm = 0; // Integral term
const int64_t MAX_ITERM = MAX_Z * 0x100000000; // Maximum integral term. Used to prevent windup.


// Sigma-delta variables:
int sigmaX = 0, sigmaY = 0, sigmaZ = 0; // Sigma-delta integrators
const unsigned int shift = POSITION_BITS - DAC_BITS; // Number of bits to increase DAC resolution by using sigma-delta algorithm


// Timers:
IntervalTimer scanTimer;


// Data converters:
DAC8814 dac(CS_DAC, LDAC); // 16-bit quad DAC
LTC2326_16 adc(CS_ADC, CNV, BUSY); // 16-bit ADC
const int MAX_DAC_OUT = (1 << (DAC_BITS - 1)) - 1; // DAC upper bound
const int MIN_DAC_OUT = -(1 << (DAC_BITS - 1)); // DAC lower bound
boolean saturationCompensation = true; // The LTC2326-16 seems to output 0 when its input saturates. This is a temporary fix.


/**************************************************************************/
/*
    Setup
*/
/**************************************************************************/

void setup()
{
  pinMode(SERIAL_LED, OUTPUT);
  pinMode(TUNNEL_LED, OUTPUT);
  digitalWrite(SERIAL_LED, LOW);
  digitalWrite(TUNNEL_LED, LOW);

  // Set the sample bias:
  dac.begin();
  dac.setOutput((uint16_t)(bias + MAX_DAC_OUT + 1), DAC_CH_BIAS);
  
  setpointLog = logTable[abs(SETPOINT)]; // Take the log of the setpoint
  updateStepSizes(); // Compute the scan counter step sizes  
  adc.convert(); // Start an ADC conversion

  // Start the scan/PI/sigma-delta timer:
  scanTimer.priority(0);
  scanTimer.begin(incrementScan, dt);
}


/**************************************************************************/
/*
    Loop
*/
/**************************************************************************/

void loop()
{
  checkSerial(); // Check for incoming serial commands. See "SerialCommands" tab.
  
  // Illuminate tunelling LED if the tunneling current is > setpoint/2:
  if(abs(input) > setpoint >> 1) digitalWriteFast(TUNNEL_LED, HIGH);
  else digitalWriteFast(TUNNEL_LED, LOW);
  
  // Send data over USB if a line has been scanned and re-scanned:
  if(sendData)
  {    
    if(!fillData1) // Print data1
    {
      data1[0] = (byte)((lineCounter >> 8) & 0xFF); // High byte
      data1[1] = (byte)(lineCounter & 0xFF); // Low byte
      
      if(serialEnabled)
      {
        Serial.println("DATA");
        Serial.write(data1, DATA_BUFFER_LENGTH);
      }
      
      // Uncomment this block to print human-readable data to the serial port:
      /*
      for(unsigned int i = 0; i < pixelsPerLine * 2; i++) // Loop over pixels
      {
        Serial.print((int)((int)data1[4*i+2] << 24 | (int)data1[4*i+3] << 16 |(int)data1[4*i+4] << 8 |(int)data1[4*i+5]));
        Serial.print(" ");
      }
      */
    }
    else
    {
      data2[0] = (byte)((lineCounter >> 8) & 0xFF); // High byte
      data2[1] = (byte)(lineCounter & 0xFF); // Low byte
      
      if(serialEnabled)
      {
        Serial.println("DATA");
        Serial.write(data2, DATA_BUFFER_LENGTH);
      }
      
      // Uncomment this block to print human-readable data to the serial port:
      /*
      for(unsigned int i = 0; i < pixelsPerLine * 2; i++) // Loop over pixels
      {
        Serial.print((int)((int)data2[4*i+2] << 24 | (int)data2[4*i+3] << 16 |(int)data2[4*i+4] << 8 |(int)data2[4*i+5]));
        Serial.print(" ");
      }
      */     
    }
    Serial.println();
    
    sendData = false;
  }
}


/**************************************************************************/
/*
    Increment the scan, perform PI calculations, sigma-delta calculations,
    update the x, y and z DACs, store data in buffers.
*/
/**************************************************************************/

void incrementScan(void) // This interrupt runs in about ~18 us at 96 MHz
{  
  static int xout, yout, zout;
  static int64_t pTerm;
  
  //////////////////////////////////////////////////////////////////////
  // Increment the scan:
  //////////////////////////////////////////////////////////////////////
  
  if(scanningEnabled)
  {
    if(xCount <= -SCAN_COUNTER_LIMIT || xCount >= SCAN_COUNTER_LIMIT - 1 - dx) dx = -dx; // Reverse at the end of a line
    xCount += dx;
    x = (int)(((int64_t)xCount * (int64_t)scanSize) >> 31) + xo;
    if(yCount <= -SCAN_COUNTER_LIMIT || yCount >= SCAN_COUNTER_LIMIT - 1 - dy) dy = -dy; // Reverse and the end of a scan
    yCount += dy;
    y = (int)(((int64_t)yCount * (int64_t)scanSize) >> 31) + yo;
    if(yCount <= -SCAN_COUNTER_LIMIT) lineCounter = 0; // Just in case the scan and acquisition become desynchronized...
  }
  
  //////////////////////////////////////////////////////////////////////
  // Perform PI calculations:
  //////////////////////////////////////////////////////////////////////
  
  adc.begin(); // Set up the SPI port to communicate with the ADC
  input = adc.read(); // Read the ADC data over SPI
  if(saturationCompensation & (input == 0) & (z != -MAX_Z)) input = 32767; // Compensate for the LTC2326-16 saturation issue
  error = logTable[abs((int16_t)input)] - setpointLog; // Negative error = tip too far from sample
  
  if(pidEnabled)
  {
    pTerm = (int64_t)Kp * (int64_t)error;
    iTerm += (int64_t)Ki * (int64_t)error;
    if(iTerm > MAX_ITERM) iTerm = MAX_ITERM; // Constrain the integral term to prevent windup
    else if (iTerm < -MAX_ITERM) iTerm = -MAX_ITERM;
    z = (int)(((pTerm + iTerm) >> 32) & 0xFFFFFFFF);
    z = saturate(z, MAX_Z, -MAX_Z);
  }
  adc.convert(); // Initiate a new conversion. Data will be ready by the next time this interrupt runs.  
  
  
  //////////////////////////////////////////////////////////////////////
  // Perform sigma-delta calculations and update scanner DACs:
  //////////////////////////////////////////////////////////////////////
  
  dac.begin();
  xout = sigmaDelta(x, &sigmaX, shift);
  xout = saturate(xout, MAX_DAC_OUT, MIN_DAC_OUT);
  dac.setOutput((uint16_t)(xout + MAX_DAC_OUT + 1), DAC_CH_X);
  yout = sigmaDelta(y, &sigmaY, shift);
  yout = saturate(yout, MAX_DAC_OUT, MIN_DAC_OUT);
  dac.setOutput((uint16_t)(yout + MAX_DAC_OUT + 1), DAC_CH_Y);
  zout = sigmaDelta(z, &sigmaZ, shift);
  if(INVERT_Z) zout = -zout;
  zout = saturate(zout, MAX_DAC_OUT, MIN_DAC_OUT);
  dac.setOutput((uint16_t)(zout + MAX_DAC_OUT + 1), DAC_CH_Z);
  
  //////////////////////////////////////////////////////////////////////
  // Store data in buffer arrays and update counters:
  //////////////////////////////////////////////////////////////////////
  
  if(scanningEnabled)
  {
    zAvg += z; // Accumulate data for averaging
    eAvg += error;
    sampleCounter++;
    
    if(sampleCounter >= samplesPerPixel) // If enough samples have been acquired for one pixel
    {
      unsigned int indexZ = (pixelCounter << 2) + 2; // Index for Z data point in data buffer
      unsigned int indexE = indexZ + (pixelsPerLine << 2);  // Index for error data point in data buffer
      
      zAvg = zAvg / (int)samplesPerPixel; // Compute the average of acquired samples
      eAvg = eAvg / (int)samplesPerPixel;
            
      if(fillData1)
      {
        data1[indexZ]     = (byte)((zAvg >> 24) & 0xFF); // High byte Z
        data1[indexZ + 1] = (byte)((zAvg >> 16) & 0xFF);
        data1[indexZ + 2] = (byte)((zAvg >> 8) & 0xFF);
        data1[indexZ + 3] = (byte)(zAvg & 0xFF);         // Low byte Z
        data1[indexE]     = (byte)((eAvg >> 24) & 0xFF); // High byte E
        data1[indexE + 1] = (byte)((eAvg >> 16) & 0xFF);
        data1[indexE + 2] = (byte)((eAvg >> 8) & 0xFF);
        data1[indexE + 3] = (byte)(eAvg & 0xFF);         // Low byte E
      }
      else
      {
        data2[indexZ]     = (byte)((zAvg >> 24) & 0xFF); // High byte Z
        data2[indexZ + 1] = (byte)((zAvg >> 16) & 0xFF);
        data2[indexZ + 2] = (byte)((zAvg >> 8) & 0xFF);
        data2[indexZ + 3] = (byte)(zAvg & 0xFF);         // Low byte Z
        data2[indexE]     = (byte)((eAvg >> 24) & 0xFF); // High byte E
        data2[indexE + 1] = (byte)((eAvg >> 16) & 0xFF);
        data2[indexE + 2] = (byte)((eAvg >> 8) & 0xFF);
        data2[indexE + 3] = (byte)(eAvg & 0xFF);         // Low byte E
      }
      pixelCounter++;      
      sampleCounter = 0;
      zAvg = 0;
      eAvg = 0;
      
      if(pixelCounter >= pixelsPerLine)
      {
        pixelCounter = 0;
        fillData1 = !fillData1;
        sendData = true;
        lineCounter++;
        if(lineCounter >= pixelsPerLine)
          {
            lineCounter = 0;
          }
      }
    }
  }
}


/**************************************************************************/
/*
  Sigma delta. Used to produce a PWM output between LSBs of a DAC to 
  effectively increase its resolution. The DAC output must be low-pass 
  filtered to smooth out the PWM.
  
  Based on Tim Wescott's example here:
  http://www.embedded.com/design/configurable-systems/4006431/Sigma-delta-techniques-extend-DAC-resolution
*/
/**************************************************************************/

int sigmaDelta(int in, int *sigma, unsigned int shift)
{
  int out;
  
  *sigma += in; // Add desired input to sigma-delta integrator
  out = *sigma >> shift; // Truncate to the number of actual DAC bits
  *sigma -= out << shift; // Shift the DAC output value and subtract it from the integrator
  return out;
}
  
/**************************************************************************/
/*
  Saturate a value if it falls outside of max or min
*/
/**************************************************************************/

int saturate(int val, int max, int min)
{
  if(val > max) val = max;
  else if (val < min) val = min;
  return val;
}


/**************************************************************************/
/*
  This function updates scan stepsizes without changing the scan direction.
*/
/**************************************************************************/

void updateStepSizes()
{
  unsigned int new_samplesPerPixel = (unsigned int)(1000000.0f / (lineRate * (float)dt * (float)pixelsPerLine));
  int new_dx = (SCAN_COUNTER_LIMIT - 1)/ ((int)new_samplesPerPixel * (int)pixelsPerLine) * 4;
  int new_dy = new_dx / (int)pixelsPerLine;
  
  noInterrupts();
  samplesPerPixel = new_samplesPerPixel;
  if(dx > 0) dx = new_dx;
  else dx = -new_dx;
  if(dy > 0) dy = new_dy;
  else dy = -new_dy;
  interrupts();
}


/**************************************************************************/
/*
    Move the scanner to the scan start position.
*/
/**************************************************************************/

void resetScan()
{
  int xStart = -(scanSize >> 1) + xo;
  int yStart = -(scanSize >> 1) + yo;
  
  scanningEnabled = false; // disable scanning
  
  // Reset counters etc:
  noInterrupts();
  xCount = -SCAN_COUNTER_LIMIT;
  yCount = -SCAN_COUNTER_LIMIT;
  dx = 0;
  dy = 0;
  updateStepSizes(); // Re-calculate step sizes
  sampleCounter = 0;
  pixelCounter = 0;
  lineCounter = 0;
  zAvg = 0;
  eAvg = 0;
  fillData1 = true;
  interrupts();
  
  // Move to start position:
  moveTip(xStart, yStart);
}


/**************************************************************************/
/*
    Move from (x,y) to (xf,yf). The tip moves at the current scanning speed.
*/
/**************************************************************************/

void moveTip(int xf, int yf)
{
  int stepSize = abs((int)(((int64_t)dx * (int64_t)scanSize) >> 31));
  
  scanningEnabled = false;
  
  while (x > xf) {
    x -= stepSize;
    waitTimeStep(); // Wait for incrementScan() to update the DAC
  }
  while (x < xf) {
    x += stepSize;
    waitTimeStep();
  }
  while (y > yf) {
    y -= stepSize;
    waitTimeStep();
  }
  while (y < yf) {
    y += stepSize;
    waitTimeStep();
  }
}


/**************************************************************************/
/*
    Wait for on time interval dt.
*/
/**************************************************************************/

void waitTimeStep()
{
  unsigned int t = micros();
  while (micros() - t <= dt)
  {
    // Wait...
  }
}


/**************************************************************************/
/*
    Currently, this function only starts the scan and enables the Z feedback
    loop. For use with manual coarse approach. Will be replaced later with 
    a motorized approach function.
*/
/**************************************************************************/

boolean engage()
{
  scanningEnabled = true;
  engaged = true;
  pidEnabled = true;
  return true;
}


/**************************************************************************/
/*
    Retracts the scanner without using the approach motor. This function 
    only moves the scanner Z-axis, not the approach motor.
*/
/**************************************************************************/

void retract()
{

  scanningEnabled = false;
  pidEnabled = false;
  engaged = false;
  z = MAX_Z; // Fully retract the Z-piezo
  digitalWrite(TUNNEL_LED, LOW);
}


/**************************************************************************/
/*
    Engage the scanner without using the approach motor. This function 
    only moves the scanner Z-axis, not the approach motor. Returns true
    if the surface was detected, false otherwise. This function is not
    currently used.
*/
/**************************************************************************

boolean engageScanner()
{  
  if(!engaged)
  {
    pidEnabled = false;
    scanningEnabled = false;
    saturationCompensation = false;
  
    while (error < 0 && z > -MAX_Z)
    {
      z -= ENGAGE_SCANNER_STEP_SIZE;
      waitTimeStep();
    }
    
    // If scanner is not fully extended after approach, it has found the surface. Enable PID:
    if (z > -MAX_Z)
    {
      pidEnabled = true;
      engaged = true;
      saturationCompensation = true;
      digitalWrite(TUNNEL_LED, HIGH);
    }
    else // Fully retract the Z-piezo:
    {
      retract();
    }
  }
  return engaged;
}


/**************************************************************************/
/*
    Move the approach motor by the specified amount.
*/
/**************************************************************************

void stepMotor(int stepSize, int dir)
{
  
}

/**************************************************************************/
/*
  This function sweeps the bias voltage from its current value to minus its 
  current value while reading the current at every point.
*/
/**************************************************************************

void IVCurve()
{
  
}


/**************************************************************************/
/*
  This function retracts the Z-piezo by a specified distance while reading 
  the current at every point.
*/
/**************************************************************************

void IVCurve()
{
  
}


/***************************************************************/

Show Serial Commands





void checkSerial()
{
  
  String serialString;
  
  if(Serial.available() > 0)
  {
    for(int i = 0; i < 2; i++)  // Accepts 2 char commands
    {
      delay(1); // This seems to be necessary, not sure why
      char inChar = Serial.read();
      serialString += inChar;
    }
  }
  serialCommand(serialString);
  serialString = "";
}

/**************************************************************************/

void serialCommand(String str)
{
  
  String command = "00";
  
  if (str.length() > 0)
  {     
      // Get the first 2 characters of str and store them in command:
      for(int i = 0; i < 2; i++)
      {
        command[i] = str[i];
      }
      
      
      if(command == "SE") // Enable serial communications
      {
        Serial.begin(115200);
        Serial.println("SE");
        serialEnabled = true;
        digitalWriteFast(SERIAL_LED, HIGH);
      }
      
      
      else if(command == "SD") // Disable serial communications
      {
        serialEnabled = false;
        Serial.flush();
        Serial.end();
        digitalWriteFast(SERIAL_LED, LOW);
      } 
      
      
      else if(command == "SS") // Scan size in LSBs
      {
        boolean scanningEnabledOnCommand = scanningEnabled;
        int new_scanSize = Serial.parseInt();
        int xNew, yNew;
        
        // Calculate position to move to:
        xNew = (int)(((float)(x - xo) * (float)new_scanSize) / (float)scanSize) + xo;
        yNew = (int)(((float)(y - yo) * (float)new_scanSize) / (float)scanSize) + yo;
        
        scanningEnabled = false; // Pause the scan
        
        if(new_scanSize > scanSize) // Update scanSize, then move
        {
          scanSize = new_scanSize;
          moveTip(xNew, yNew);
        }
        else // Move, then update scanSize
        {
          moveTip(xNew, yNew);
          scanSize = new_scanSize;
        }
        if(scanningEnabledOnCommand) scanningEnabled = true; // Resume scanning
      }
      
      
      else if(command == "IP") // Image pixels
      {        
        boolean scanningEnabledOnCommand = scanningEnabled;
        pixelsPerLine = Serial.parseInt() * 2;
        resetScan();
        if(scanningEnabledOnCommand) scanningEnabled = true;
      }
      
      
      else if(command == "LR") // Line rate in Hz
      {
        boolean scanningEnabledOnCommand = scanningEnabled;
        lineRate = (float)Serial.parseInt() / 100.0f; // Line rate is multiplied by 100 for the transmission
        while(pixelCounter != 0); // Wait for the scanner to finish scanning a line
        scanningEnabled = false; // Pause the scan
        updateStepSizes();
        if(scanningEnabledOnCommand) scanningEnabled = true; // Resume scan
      }
     
      
      else if(command == "XO") // X-offset
      {
        boolean scanningEnabledOnCommand = scanningEnabled;
        int previous_xo = xo;
        int new_xo = Serial.parseInt();
        scanningEnabled = false; // Pause the scan
        xo = new_xo;
        moveTip(x - previous_xo + xo, y); // Move over by (xo, yo)
        if(scanningEnabledOnCommand) scanningEnabled = true; // Resume scan
      } 
      
      
      else if(command == "YO") // Y-offset
      {
        boolean scanningEnabledOnCommand = scanningEnabled;
        int previous_yo = yo;
        int new_yo = Serial.parseInt();
        scanningEnabled = false;
        yo = new_yo;
        moveTip(x, y - previous_yo + yo);
        if(scanningEnabledOnCommand) scanningEnabled = true;
      } 
      
      
      else if(command == "SP") // Setpoint in LSBs
      {
        setpoint = Serial.parseInt();
        setpointLog = logTable[abs(setpoint)];       
      } 
      
      
      else if(command == "SB") // Sample bias in LSBs
      {
        bias = Serial.parseInt();
        noInterrupts();
        dac.setOutput((uint16_t)(bias + 32768), DAC_CH_BIAS); // Set the sample bias
        interrupts();          
      }
      
      
      else if(command == "KP") // P gain
      {
        Kp = Serial.parseInt();          
      } 
      
      
      else if(command == "KI") // I gain
      {
        Ki = Serial.parseInt() * dt;        
      }
      
      
      else if(command == "EN") // Enable scanning
      {
        resetScan();
        scanningEnabled = true; 
      } 
      
      
      else if(command == "DL") // Disable scanning
      {
        scanningEnabled = false;          
      } 
      
      
      else if(command == "TE") // Tip engage
      {        
        engage();          
      } 
      
      
      else if(command == "TR") // Tip retract
      {        
        retract();          
      }
  }
}

/**************************************************************************/

Show Log Table



/*


Table generated using the following MATLAB code:

    x=0:32768;
    lt = round(log(x+1)*(2^19-1)/log(2^15+1))';
    fid = fopen('lt.txt', 'a');
    fprintf(fid, [repmat('%d, ', 1, size(lt, 2) - 1), '%d,\r\n'], lt.');
    fclose(fid);


logTable takes an input from 0 - 32768 (the absolute value of the input 
from the 16-bit ADC) and outputs a value from 0 - 524287.

*/
/**************************************************************************/

const int logTable[32769] = {
  0,
  34952,
  55398,
  69905,
  81157,
  90351,
  98124,
  104857,
  110796,
  116109,
  120915,
  125303,
  129339,
  133076,
  136555,
  139809,
  142866,
  145749,
  148475,
  151062,
  153522,
  155868,
  158109,
  160255,
  162314,
  164291,
  166195,
  168028,
  169798,
  171507,
  173161,
  174762,
  176313,
  177819,
  179281,
  180701,
  182083,
  183427,
  184737,
  186014,
  187259,
  188474,
  189661,
  190820,
  191953,
  193062,
  194146,
  195208,
  196247,
  197266,
  198265,
  199244,
  200204,
  201147,
  202072,
  202981,
  203873,
  204750,
  205612,
  206460,
  207293,
  208113,
  208920,
  209714,
  210496,
  211266,
  212024,
  212771,
  213507,
  214233,
  214948,
  215653,
  216349,
  217035,
  217712,
  218380,
  219039,
  219690,
  220332,
  220966,
  221593,
  222211,
  222823,
  223427,
  224023,
  224613,
  225196,
  225772,
  226342,
  226906,
  227463,
  228014,
  228559,
  229098,
  229632,
  230160,
  230683,
  231200,
  231712,
  232218,
  232720,
  233217,
  233709,
  234196,
  234679,
  235157,
  235630,
  236099,
  236564,
  237025,
  237481,
  237933,
  238381,
  238826,
  239266,
  239703,
  240135,
  240565,
  240990,
  241412,
  241831,
  242246,
  242657,
  243066,
  243471,
  243872,
  244271,
  244667,
  245059,
  245448,
  245835,
  246218,
  246599,
  246977,
  247351,
  247724,
  248093,
  248460,
  248824,
  249185,
  249544,
  249901,
  250254,
  250606,
  250955,
  251301,
  251646,
  251987,
  252327,
  252664,
  252999,
  253332,
  253663,
  253991,
  254318,
  254642,
  254964,
  255284,
  255603,
  255919,
  256233,
  256545,
  256855,
  257164,
  257470,
  257775,
  258078,
  258379,
  258678,
  258976,
  259271,
  259566,
  259858,
  260148,
  260437,
  260725,
  261010,
  261295,
  261577,
  261858,
  262137,
  262415,
  262691,
  262966,
  263240,
  263511,
  263782,
  264051,
  264318,
  264584,
  264849,
  265112,
  265374,
  265635,
  265894,
  266152,
  266409,
  266664,
  266918,
  267171,
  267422,
  267673,
  267922,
  268169,
  268416,
  268661,
  268906,
  269149,
  269390,
  269631,
  269871,
  270109,
  270346,
  270583,
  270818,
  271052,
  271285,
  271516,
  271747,
  271977,
  272206,
  272433,
  272660,
  272886,
  273110,
  273334,
  273556,
  273778,
  273999,
  274218,
  274437,
  274655,
  274872,
  275088,
  275303,
  275517,
  275730,
  275943,
  276154,
  276365,
  276574,
  276783,
  276991,
  277198,
  277404,
  277610,
  277814,
  278018,
  278221,
  278423,
  278624,
  278825,
  279024,
  279223,
  279422,
  279619,
  279816,
  280011,
  280206,
  280401,
  280594,
  280787,
  280979,
  281171,
  281361,
  281551,
  281740,
  281929,
  282117,
  282304,
  282490,
  282676,
  282861,
  283045,
  283229,
  283412,
  283594,
  283776,
  283957,
  284138,
  284317,
  284497,
  284675,
  284853,
  285030,
  285207,
  285383,
  285558,
  285733,
  285907,
  286081,
  286254,
  286426,
  286598,
  286769,
  286940,
  287110,
  287279,
  287448,
  287617,
  287784,
  287952,
  288118,
  288285,
  288450,
  288615,
  288780,
  288944,
  289107,
  289270,
  289433,
  289594,
  289756,
  289917,
  290077,
  290237,
  290396,
  290555,
  290713,
  290871,
  291028,
  291185,
  291342,
  291497,
  291653,
  291808,
  291962,
  292116,
  292270,
  292423,
  292575,
  292727,
  292879,
  293030,
  293181,
  293331,
  293481,
  293631,
  293780,
  293928,
  294076,
  294224,
  294371,
  294518,
  294664,
  294810,
  294956,
  295101,
  295246,
  295390,
  295534,
  295677,
  295820,
  295963,
  296105,
  296247,
  296388,
  296529,
  296670,
  296810,
  296950,
  297090,
  297229,
  297368,
  297506,
  297644,
  297781,
  297919,
  298055,
  298192,
  298328,
  298464,
  298599,
  298734,
  298869,
  299003,
  299137,
  299271,
  299404,
  299537,
  299669,
  299801,
  299933,
  300065,
  300196,
  300327,
  300457,
  300587,
  300717,
  300847,
  300976,
  301104,
  301233,
  301361,
  301489,
  301616,
  301744,
  301870,
  301997,
  302123,
  302249,
  302375,
  302500,
  302625,
  302750,
  302874,
  302998,
  303122,
  303245,
  303368,
  303491,
  303614,
  303736,
  303858,
  303980,
  304101,
  304222,
  304343,
  304463,
  304583,
  304703,
  304823,
  304942,
  305061,
  305180,
  305299,
  305417,
  305535,
  305653,
  305770,
  305887,
  306004,
  306121,
  306237,
  306353,
  306469,
  306584,
  306700,
  306815,
  306929,
  307044,
  307158,
  307272,
  307386,
  307499,
  307612,
  307725,
  307838,
  307950,
  308062,
  308174,
  308286,
  308398,
  308509,
  308620,
  308730,
  308841,
  308951,
  309061,
  309171,
  309280,
  309390,
  309499,
  309607,
  309716,
  309824,
  309932,
  310040,
  310148,
  310255,
  310362,
  310469,
  310576,
  310683,
  310789,
  310895,
  311001,
  311106,
  311212,
  311317,
  311422,
  311527,
  311631,
  311735,
  311839,
  311943,
  312047,
  312150,
  312254,
  312357,
  312459,
  312562,
  312664,
  312767,
  312869,
  312970,
  313072,
  313173,
  313274,
  313375,
  313476,
  313577,
  313677,
  313777,
  313877,
  313977,
  314076,
  314176,
  314275,
  314374,
  314473,
  314571,
  314670,
  314768,
  314866,
  314964,
  315061,
  315159,
  315256,
  315353,
  315450,
  315547,
  315643,
  315739,
  315836,
  315932,
  316027,
  316123,
  316218,
  316314,
  316409,
  316504,
  316598,
  316693,
  316787,
  316881,
  316975,
  317069,
  317163,
  317256,
  317349,
  317443,
  317536,
  317628,
  317721,
  317813,
  317906,
  317998,
  318090,
  318181,
  318273,
  318364,
  318456,
  318547,
  318638,
  318729,
  318819,
  318910,
  319000,
  319090,
  319180,
  319270,
  319359,
  319449,
  319538,
  319627,
  319716,
  319805,
  319894,
  319983,
  320071,
  320159,
  320247,
  320335,
  320423,
  320511,
  320598,
  320685,
  320773,
  320860,
  320946,
  321033,
  321120,
  321206,
  321292,
  321378,
  321464,
  321550,
  321636,
  321722,
  321807,
  321892,
  321977,
  322062,
  322147,
  322232,
  322316,
  322401,
  322485,
  322569,
  322653,
  322737,
  322821,
  322904,
  322988,
  323071,
  323154,
  323237,
  323320,
  323403,
  323485,
  323568,
  323650,
  323732,
  323814,
  323896,
  323978,
  324060,
  324141,
  324222,
  324304,
  324385,
  324466,
  324547,
  324628,
  324708,
  324789,
  324869,
  324949,
  325029,
  325109,
  325189,
  325269,
  325348,
  325428,
  325507,
  325586,
  325666,
  325745,
  325823,
  325902,
  325981,
  326059,
  326138,
  326216,
  326294,
  326372,
  326450,
  326528,
  326605,
  326683,
  326760,
  326837,
  326915,
  326992,
  327069,
  327145,
  327222,
  327299,
  327375,
  327451,
  327528,
  327604,
  327680,
  327756,
  327831,
  327907,
  327983,
  328058,
  328133,
  328209,
  328284,
  328359,
  328434,
  328508,
  328583,
  328657,
  328732,
  328806,
  328880,
  328955,
  329029,
  329102,
  329176,
  329250,
  329323,
  329397,
  329470,
  329543,
  329617,
  329690,
  329763,
  329835,
  329908,
  329981,
  330053,
  330126,
  330198,
  330270,
  330342,
  330414,
  330486,
  330558,
  330629,
  330701,
  330773,
  330844,
  330915,
  330986,
  331057,
  331128,
  331199,
  331270,
  331341,
  331411,
  331482,
  331552,
  331622,
  331693,
  331763,
  331833,
  331903,
  331972,
  332042,
  332112,
  332181,
  332251,
  332320,
  332389,
  332458,
  332527,
  332596,
  332665,
  332734,
  332802,
  332871,
  332939,
  333008,
  333076,
  333144,
  333212,
  333280,
  333348,
  333416,
  333484,
  333552,
  333619,
  333687,
  333754,
  333821,
  333888,
  333955,
  334022,
  334089,
  334156,
  334223,
  334290,
  334356,
  334423,
  334489,
  334555,
  334622,
  334688,
  334754,
  334820,
  334886,
  334951,
  335017,
  335083,
  335148,
  335214,
  335279,
  335344,
  335410,
  335475,
  335540,
  335605,
  335669,
  335734,
  335799,
  335864,
  335928,
  335992,
  336057,
  336121,
  336185,
  336249,
  336313,
  336377,
  336441,
  336505,
  336569,
  336632,
  336696,
  336759,
  336823,
  336886,
  336949,
  337013,
  337076,
  337139,
  337201,
  337264,
  337327,
  337390,
  337452,
  337515,
  337577,
  337640,
  337702,
  337764,
  337826,
  337888,
  337950,
  338012,
  338074,
  338136,
  338198,
  338259,
  338321,
  338382,
  338444,
  338505,
  338566,
  338627,
  338688,
  338749,
  338810,
  338871,
  338932,
  338993,
  339053,
  339114,
  339174,
  339235,
  339295,
  339355,
  339416,
  339476,
  339536,
  339596,
  339656,
  339716,
  339775,
  339835,
  339895,
  339954,
  340014,
  340073,
  340133,
  340192,
  340251,
  340310,
  340369,
  340428,
  340487,
  340546,
  340605,
  340664,
  340722,
  340781,
  340840,
  340898,
  340956,
  341015,
  341073,
  341131,
  341189,
  341247,
  341305,
  341363,
  341421,
  341479,
  341537,
  341594,
  341652,
  341709,
  341767,
  341824,
  341882,
  341939,
  341996,
  342053,
  342110,
  342167,
  342224,
  342281,
  342338,
  342395,
  342451,
  342508,
  342565,
  342621,
  342678,
  342734,
  342790,
  342846,
  342903,
  342959,
  343015,
  343071,
  343127,
  343183,
  343238,
  343294,
  343350,
  343406,
  343461,
  343517,
  343572,
  343627,
  343683,
  343738,
  343793,
  343848,
  343903,
  343958,
  344013,
  344068,
  344123,
  344178,
  344233,
  344287,
  344342,
  344396,
  344451,
  344505,
  344560,
  344614,
  344668,
  344722,
  344777,
  344831,
  344885,
  344939,
  344993,
  345046,
  345100,
  345154,
  345208,
  345261,
  345315,
  345368,
  345422,
  345475,
  345528,
  345582,
  345635,
  345688,
  345741,
  345794,
  345847,
  345900,
  345953,
  346006,
  346059,
  346111,
  346164,
  346217,
  346269,
  346322,
  346374,
  346427,
  346479,
  346531,
  346583,
  346636,
  346688,
  346740,
  346792,
  346844,
  346896,
  346948,
  346999,
  347051,
  347103,
  347154,
  347206,
  347258,
  347309,
  347360,
  347412,
  347463,
  347514,
  347566,
  347617,
  347668,
  347719,
  347770,
  347821,
  347872,
  347923,
  347974,
  348024,
  348075,
  348126,
  348176,
  348227,
  348277,
  348328,
  348378,
  348428,
  348479,
  348529,
  348579,
  348629,
  348679,
  348730,
  348780,
  348829,
  348879,
  348929,
  348979,
  349029,
  349078,
  349128,
  349178,
  349227,
  349277,
  349326,
  349376,
  349425,
  349474,
  349524,
  349573,
  349622,
  349671,
  349720,
  349769,
  349818,
  349867,
  349916,
  349965,
  350014,
  350062,
  350111,
  350160,
  350208,
  350257,
  350305,
  350354,
  350402,
  350451,
  350499,
  350547,
  350596,
  350644,
  350692,
  350740,
  350788,
  350836,
  350884,
  350932,
  350980,
  351028,
  351075,
  351123,
  351171,
  351218,
  351266,
  351314,
  351361,
  351408,
  351456,
  351503,
  351551,
  351598,
  351645,
  351692,
  351739,
  351787,
  351834,
  351881,
  351928,
  351975,
  352021,
  352068,
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};

Show PC Software Code





using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Windows;
using System.Windows.Forms;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Drawing.Imaging;
using System.Windows.Forms.DataVisualization.Charting;
using System.IO.Ports;
using System.IO;

namespace STM
{
    public partial class Form1 : Form
    {

        public class SPM
        {
            public static byte xyBits; // Horizontal scanner resolution
            public static byte zBits;
            public static byte eBits;
            public static byte biasBits;
            public static byte setpointBits;
            public static decimal biasLSBsize; // mV
            public static decimal xyLSBsize; // nm per LSB
            public static decimal zLSBsize; // nm per LSB
            public static decimal setpointLSBsize; // nm per LSB
            public static decimal transimpedance; // mV/nA
            public static Boolean enabled = true;
            public static Boolean engaged = false;
        }

        public class ImgData
        {
            public static Bitmap imgA = null; // Left image - topography
            public static Bitmap imgB = null; // Right image - error signal
            public static int imgSize = 512; // Pixels
            public static int zScale = 100000; // LSBs
            public static int iScale = 1000; // LSBs
            public static int[,] dataZTrace = new int[imgSize, imgSize]; // Raw data from the STM
            public static int[,] dataZRetrace = new int[imgSize, imgSize];
            public static int[,] dataETrace = new int[imgSize, imgSize];
            public static int[,] dataERetrace = new int[imgSize, imgSize];
            public static String saveDir; // Directory to save the images to
            public static uint saveNumber = 1; // Frame number to save
        }
              
  
        public Form1()
        {
            InitializeComponent();
            this.Load += new EventHandler(Form1_Load);
            this.FormClosing += new FormClosingEventHandler(Form1_FormClosing);
        }


        private void Form1_Load(object sender, EventArgs e)
        {
            // Create images:
            ImgData.imgA = new Bitmap(
                (UInt16)numericUpDown_imgSize.Value, 
                (UInt16)numericUpDown_imgSize.Value, 
                System.Drawing.Imaging.PixelFormat.Format24bppRgb);
            pictureBox1.Image = ImgData.imgA;
            pictureBox1.Refresh();
            ImgData.imgB = new Bitmap(
                (UInt16)numericUpDown_imgSize.Value,
                (UInt16)numericUpDown_imgSize.Value,
                System.Drawing.Imaging.PixelFormat.Format24bppRgb);
            pictureBox2.Image = ImgData.imgB;
            pictureBox2.Refresh();

            // Load user settings:
            SPM.xyBits = Properties.Settings.Default.xyBits;
            SPM.zBits = Properties.Settings.Default.zBits;
            SPM.eBits = Properties.Settings.Default.eBits;
            SPM.biasBits = Properties.Settings.Default.biasBits;
            SPM.setpointBits = Properties.Settings.Default.setpointBits;
            SPM.xyLSBsize = Properties.Settings.Default.xyLSBsize;
            SPM.zLSBsize = Properties.Settings.Default.zLSBsize;
            SPM.biasLSBsize = Properties.Settings.Default.biasLSBsize;
            SPM.setpointLSBsize = Properties.Settings.Default.setpointLSBsize;
            SPM.transimpedance = Properties.Settings.Default.transimpedance;
            ImgData.saveDir = Properties.Settings.Default.saveDirectory;

            numericUpDown_scanSize.Maximum = SPM.xyLSBsize * (1 << SPM.xyBits);
            numericUpDown_scanSize.Minimum = SPM.xyLSBsize * 10;

            // Prepare trace/retrace plot:
            chart1.Series["Series1"].ChartType = SeriesChartType.FastLine;
            chart1.Series["Series1"].Color = System.Drawing.Color.Red;
            chart1.Series["Series2"].ChartType = SeriesChartType.FastLine;
            chart1.Series["Series2"].Color = System.Drawing.Color.Blue;
            chart1.ChartAreas[0].AxisX.Maximum = (UInt16)numericUpDown_imgSize.Value;
            chart1.ChartAreas[0].AxisX.Minimum = 0;
            chart1.ChartAreas[0].AxisY.Maximum = (UInt32)numericUpDown_scale.Value;
            chart1.ChartAreas[0].AxisY.Minimum = -(UInt32)numericUpDown_scale.Value;
            DoubleBuffered = true;

            string[] serialPorts;
            serialPorts = System.IO.Ports.SerialPort.GetPortNames();
            comboBox_COMPort.Items.AddRange(serialPorts);
            serialPort1.DataReceived += new SerialDataReceivedEventHandler(DataReceivedHandler);
        }


        void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {
            // Close serial port:
            if (serialPort1.IsOpen)
            {
                serialPort1.Write("SD"); // Send a command to the SPM to disable serial communications
                serialPort1.DataReceived -= DataReceivedHandler;
                serialPort1.DiscardInBuffer();
                serialPort1.DiscardOutBuffer();
                serialPort1.Close();
            }

            // Save user settings:
            Properties.Settings.Default.xyBits = SPM.xyBits;
            Properties.Settings.Default.zBits = SPM.zBits;
            Properties.Settings.Default.eBits = SPM.eBits;
            Properties.Settings.Default.biasBits = SPM.biasBits;
            Properties.Settings.Default.setpointBits = SPM.setpointBits;
            Properties.Settings.Default.xyLSBsize = SPM.xyLSBsize;
            Properties.Settings.Default.zLSBsize = SPM.zLSBsize;
            Properties.Settings.Default.biasLSBsize = SPM.biasLSBsize;
            Properties.Settings.Default.setpointLSBsize = SPM.setpointLSBsize;
            Properties.Settings.Default.transimpedance = SPM.transimpedance;
            Properties.Settings.Default.saveDirectory = ImgData.saveDir;
            Properties.Settings.Default.Save();

            Application.ExitThread();
            Application.Exit();
        }


        /***********************************************************************************/
        /*
            Process a line of data sent from the SPM:
        */
        /***********************************************************************************/

        private void DataReceivedHandler(object sender, SerialDataReceivedEventArgs e)
        {
            int line; // Scan line number sent from the SPM
            int dir = 0; // 0 = scanning down, 1 = scanning up
            int imgBytes = 3; // Image bytes. There are 3 bytes per pixel in the display images (R, G, B).
            int dataBytes = 4; // Number of bytes per data point sent from the SPM
            int numPixels = ImgData.imgSize; // Make a copy of the image size in pixels in case it is modified
            Rectangle dimension = new Rectangle(0, 0, numPixels, numPixels);
            int[] lineValuesZ = new int[numPixels]; // Buffer for processing Z data
            int[] lineValuesE = new int[numPixels]; // Buffer for processing error signal data
            byte[] pixelValuesDispZ = new byte[numPixels * imgBytes]; //for 8-bit "RGB" display image
            byte[] pixelValuesDispI = new byte[numPixels * imgBytes]; //for 8-bit "RGB" display image
            int maxZ = (1 << (SPM.zBits - 1)); // Maximum Z counts
            int maxE = (1 << (SPM.eBits - 1)); // Maximum error signal counts
            int length = 16386; // Length of byte array sent from the SPM
            int offset = 2; // Number of bytes at start of byte array that are not data points (there are 2 bytes for line number)
            byte[] serialDataByteArray = new byte[length]; // Buffer to read the serial data into
            

            for (int i = 0; i < length; i++)
            {
                serialDataByteArray[i] = (byte)255;
            }

                if (serialPort1.IsOpen)
                {
                    try
                    {
                        // Check if we've received the header message denoting the start of a scanned line:
                        String serialData = serialPort1.ReadLine();
                        if (serialData.Equals("DATA\r"))
                        {
                            System.Threading.Thread.Sleep(10);
                            /*while(serialPort1.BytesToRead < length)
                            {
                                // Wait for all the data to be received...
                            }*/
                            serialPort1.Read(serialDataByteArray, 0, length); // Read data from serial port
                            // Extract the line number:
                            line = (int)(((int)serialDataByteArray[0] << 8) | (int)serialDataByteArray[1]);
                            if (line >= numPixels)
                            {
                                line = (int)(numPixels * 2 - 1 - line);
                                dir = 1;
                            }

                            for (int i = 0; i < numPixels; i++)
                            {
                                byte[] zt = new byte[dataBytes]; // Bytes for Z-trace data
                                byte[] zr = new byte[dataBytes]; // Bytes for Z-retrace data
                                byte[] et = new byte[dataBytes]; // Bytes for error-trace data
                                byte[] er = new byte[dataBytes]; // Bytes for error-retrace data

                                // Extract the individual bytes from the serial data:
                                for (int j = 0; j < dataBytes; j++)
                                {
                                    zt[j] = ((byte)serialDataByteArray[dataBytes * i + j + offset]);
                                    zr[j] = ((byte)serialDataByteArray[dataBytes * (i + numPixels) + j + offset]);
                                    et[j] = ((byte)serialDataByteArray[dataBytes * (i + numPixels * 2) + j + offset]);
                                    er[j] = ((byte)serialDataByteArray[dataBytes * (i + numPixels * 3) + j + offset]);
                                }

                                // Combine data bytes into 32-bit integers and add them to the main data arrays:
                                ImgData.dataZTrace[line, i] = 
                                    (int)((int)zt[0] << 24 | (int)zt[1] << 16 | (int)zt[2] << 8 | (int)zt[3]);
                                ImgData.dataZRetrace[line, numPixels - 1 - i] = 
                                    (int)((int)zr[0] << 24 | (int)zr[1] << 16 | (int)zr[2] << 8 | (int)zr[3]);
                                ImgData.dataETrace[line, i] = 
                                    (int)((int)et[0] << 24 | (int)et[1] << 16 | (int)et[2] << 8 | (int)et[3]);
                                ImgData.dataERetrace[line, numPixels - 1 - i] = 
                                    (int)((int)er[0] << 24 | (int)er[1] << 16 | (int)er[2] << 8 | (int)er[3]);

                                // Add the new data points to data processing buffers: 
                                lineValuesZ[i] = ImgData.dataZTrace[line, i];
                                lineValuesE[i] = ImgData.dataETrace[line, i];
                            }

                            // Compute the average value of the new data:
                            int lineMeanZ = (int)lineValuesZ.Average();
                            int lineMeanE = (int)lineValuesE.Average();

                            // Modify the chart:
                            chart1.Invoke(new MethodInvoker(delegate
                            {
                                // Clear chart:
                                foreach (var series in chart1.Series)
                                {
                                   chart1.Invoke(new MethodInvoker(delegate { series.Points.Clear(); }));
                                }
                                // Plot new data points:
                                for (int i = 0; i < ImgData.imgSize; i++)
                                {
                                    chart1.Series["Series1"].Points.AddXY(
                                        i, (ImgData.dataZTrace[line, i] - lineMeanZ) * SPM.zLSBsize);
                                    chart1.Series["Series2"].Points.AddXY(
                                        i, (ImgData.dataZRetrace[line, i] - lineMeanZ) * SPM.zLSBsize); //dataRetrace is mirrored
                                }
                            }));

                            // Modify the Z signal indicator bar:
                            progressBarZ.Invoke(new MethodInvoker(delegate
                            {
                                // Value of indicator bar is the average of the scanned line:
                                if (lineMeanZ + maxZ < progressBarZ.Maximum)
                                {
                                    progressBarZ.Value = lineMeanZ + maxZ;
                                }
                            }));


                            // Process the new data for display:
                            for (int i = 0; i < numPixels; i++)
                            {
                                // Subtract mean:
                                lineValuesZ[i] = lineValuesZ[i] - lineMeanZ;
                                // Adjust contrast:
                                lineValuesZ[i] = lineValuesZ[i] * (maxZ / ImgData.zScale);
                                lineValuesE[i] = lineValuesE[i] * (maxE / ImgData.iScale);
                                // Saturate if too large:
                                lineValuesZ[i] = lineValuesZ[i] > maxZ - 1 ? maxZ - 1 : lineValuesZ[i];
                                lineValuesE[i] = lineValuesE[i] > maxE - 1 ? maxE - 1 : lineValuesE[i];
                                lineValuesZ[i] = lineValuesZ[i] < -maxZ ? -maxZ : lineValuesZ[i];
                                lineValuesE[i] = lineValuesE[i] < -maxE ? -maxE : lineValuesE[i];
                                // Extract the upper byte of the new data to be added to the 8-bit display image:
                                byte msbZ = (byte)(((lineValuesZ[i] + maxZ) >> (SPM.zBits - 8)) & 0xFFu);
                                byte msbI = (byte)(((lineValuesE[i] + maxE) >> (SPM.eBits - 8)) & 0xFFu);
                                // Add these bytes to arrays that will be added to the display images:
                                for (int l = 0; l < 3; l++)
                                {
                                    pixelValuesDispZ[i * imgBytes + l] = msbZ;
                                    pixelValuesDispI[i * imgBytes + l] = msbI;
                                }
                            }

                            // Add the scanned line Z data to the 1st display image:
                            BitmapData displayImageData1 = 
                                ImgData.imgA.LockBits(dimension, ImageLockMode.ReadWrite, ImgData.imgA.PixelFormat);
                            IntPtr pixelStartAddressDisp = displayImageData1.Scan0;
                            System.Runtime.InteropServices.Marshal.Copy(
                                pixelValuesDispZ, 
                                0, 
                                pixelStartAddressDisp + line * numPixels * imgBytes, 
                                numPixels * imgBytes);
                            ImgData.imgA.UnlockBits(displayImageData1);

                            // Add the scanned line error signal data to the 2nd display image:
                            BitmapData displayImageData2 = 
                                ImgData.imgB.LockBits(dimension, ImageLockMode.ReadWrite, ImgData.imgB.PixelFormat);
                            pixelStartAddressDisp = displayImageData2.Scan0;
                            System.Runtime.InteropServices.Marshal.Copy(
                                pixelValuesDispI, 
                                0, 
                                pixelStartAddressDisp + line * numPixels * imgBytes, 
                                numPixels * imgBytes);
                            ImgData.imgB.UnlockBits(displayImageData2);

                            // Update the pictureBoxes:
                            if (ImgData.imgA.Width == numPixels)
                            {
                                pictureBox1.Invoke(new MethodInvoker(delegate
                                {
                                    pictureBox1.Image = ImgData.imgA;
                                    pictureBox1.Refresh();
                                    if (pictureBox1.Image != null) pictureBox1.InitialImage.Dispose();
                                }));
                                pictureBox2.Invoke(new MethodInvoker(delegate
                                {
                                    pictureBox2.Image = ImgData.imgB;
                                    pictureBox2.Refresh();
                                    if (pictureBox2.Image != null) pictureBox2.InitialImage.Dispose();
                                }));
                            }

                            // If we've reached the top or bottom scan line, prepare and save a 16-bit image
                            if ((line == 0 && dir == 1) || (line == numPixels - 1 && dir == 0))
                            {
                                // Start a separate thread to prevent hiccups
                                new Thread(() =>
                                {
                                    Thread.CurrentThread.IsBackground = true;

                                    // Create 16-bit data arrays:
                                    ushort[,] dataZTrace16 = new ushort[numPixels, numPixels];
                                    ushort[,] dataETrace16 = new ushort[numPixels, numPixels];

                                    // File name to save data:
                                    String saveFileName = ImgData.saveDir + textBox_fileName.Text;

                                    // Convert the acquired data to 16-bit and store it in the 16-bit data arrays:
                                    for (int i = 0; i < numPixels; ++i)
                                    {
                                        for (int j = 0; j < numPixels; ++j)
                                        {
                                            dataZTrace16[i, j] = 
                                                (ushort)((ImgData.dataZTrace[i, j] >> (SPM.zBits - 16)) + (1 << 15));
                                            dataETrace16[i, j] = 
                                                (ushort)((ImgData.dataETrace[i, j] >> (SPM.eBits - 16)) + (1 << 15));
                                        }
                                    }
                                    // Add numbers to the end of the filenames for the images if overwriting of previous images
                                    // is not wanted, and save the images:
                                    ushort[][,] data16 = {dataZTrace16, dataETrace16};

                                    if (!checkBox_Overwrite.Checked)
                                    {
                                        saveBitmap(data16, saveFileName + "_" + Convert.ToString(ImgData.saveNumber));
                                        ImgData.saveNumber++;
                                    }
                                    // Otherwise, don't change the filename, and save the images:
                                    else
                                    {
                                        saveBitmap(data16, saveFileName);
                                    }
                                }).Start();
                                     
                            }
                        }
                    }
                    catch (Exception ex)
                    {
                        MessageBox.Show("Error: " + ex);
                    }
                }
        }



        /***********************************************************************************/
        /*
            Save data as 16-bit TIFF stack:
        */
        /***********************************************************************************/

        private void saveBitmap(ushort[][,] data, string filename)
        {
            int imgSize = data[0].GetUpperBound(0) + 1; // Get image size from data[0] array size
            // Metadata info:
            decimal imgSize_nm = numericUpDown_scanSize.Value;
            decimal lineRate = numericUpDown_lineRate.Value;
            decimal bias = numericUpDown_bias.Value;
            decimal setpoint = numericUpDown_setpoint.Value;
            String comment = imgSize_nm + " nm, " + lineRate + " Hz, " + bias + " mV, " + setpoint + " nA, ";
            String date = DateTime.Now.ToString("MM/dd/yyyy h:mm tt");
            //Create bitmaps to save raw data in 16-bit grayscale format:
            int numPages = data.Length; // Create a tiff page for each array passed in data
            WriteableBitmap[] bitmap = new WriteableBitmap[numPages];
            BitmapMetadata[] metadata = new BitmapMetadata[numPages];
            BitmapFrame[] bitmapFrame = new BitmapFrame[numPages];
            TiffBitmapEncoder encoder = new TiffBitmapEncoder(); // Encoder

            encoder.Compression = TiffCompressOption.None; // No compression

            // Loop over tiff frames:
            for (int i = 0; i < numPages; i++)
            {
                bitmap[i] = new WriteableBitmap(imgSize, imgSize, 96, 96, PixelFormats.Gray16, null);
                // Save scan settings and date taken in image metadata: 
                metadata[i] = new BitmapMetadata("tiff");                           
                metadata[i].DateTaken = date;
                metadata[i].Comment = comment;

                // Convert data arrays to bitmaps:
                ushort[] pixels = new ushort[imgSize * imgSize];

                for (int j = 0; j < imgSize; ++j)
                {
                    for (int k = 0; k < imgSize; ++k)
                    {
                        pixels[j * imgSize + k] = data[i][j, k];
                    }
                }

                // Add pixels to bitmap:
                bitmap[i].WritePixels(new System.Windows.Int32Rect(0, 0, imgSize, imgSize), pixels, imgSize * 2, 0);

                // Add frames and metadata:
                bitmapFrame[i] = BitmapFrame.Create(bitmap[i]);
                encoder.Frames.Add(BitmapFrame.Create(
                    bitmapFrame[i], bitmapFrame[i].Thumbnail, metadata[i], bitmapFrame[i].ColorContexts));
            }           

            // Save the image:
            using (var stream = System.IO.File.Create(filename + ".tif"))
                encoder.Save(stream);
        }


        /***********************************************************************************/
        /*
            Form controls:
        */
        /***********************************************************************************/

        private void button_BrowseSaveDirectory_Click(object sender, EventArgs e)
        {
            FolderBrowserDialog folderBrowserDialog1 = new FolderBrowserDialog();

            if (folderBrowserDialog1.ShowDialog() == DialogResult.OK)
            {
                if (folderBrowserDialog1.SelectedPath != "")
                {
                    ImgData.saveDir = folderBrowserDialog1.SelectedPath + "\\";
                }
            }
        }

        private void button_COMPortRefresh_Click(object sender, EventArgs e)
        {
            string[] serialPorts;
            serialPorts = System.IO.Ports.SerialPort.GetPortNames();
            comboBox_COMPort.Items.Clear();
            comboBox_COMPort.Items.AddRange(serialPorts);
        }

        private void comboBox_COMPort_SelectedIndexChanged(object sender, EventArgs e)
        {
            serialPort1.PortName = comboBox_COMPort.Text;
            try
            {
                // Open serial port:
                serialPort1.Open();
                serialPort1.DiscardInBuffer();
                serialPort1.DiscardOutBuffer();

                // Enable serial comms and set scan parameters:
                serialPort1.Write("SE");
                Int16 bias = (Int16)(numericUpDown_bias.Value / SPM.biasLSBsize);
                setBias(bias);
                Int16 setpoint = (Int16)(numericUpDown_setpoint.Value * SPM.transimpedance / SPM.setpointLSBsize);
                setSetpoint(setpoint);
                UInt16 imgSize = (UInt16)numericUpDown_imgSize.Value;
                setImgSize(imgSize);
                int scanSize = (int)(numericUpDown_scanSize.Value / SPM.xyLSBsize);
                setscanSize(scanSize);
                decimal lineRate = (decimal)numericUpDown_lineRate.Value;
                setlineRate(lineRate);
                int Kp = (int)numericUpDownPGain.Value;
                setKp(Kp);
                int Ki = (int)numericUpDownIGain.Value;
                setKi(Ki);

                ImgData.zScale = (int)(numericUpDown_scale.Value / SPM.zLSBsize);
                ImgData.iScale = (int)numericUpDown_eScale.Value;
                chart1.ChartAreas[0].AxisY.Maximum = (double)numericUpDown_scale.Value;
                chart1.ChartAreas[0].AxisY.Minimum = -(double)numericUpDown_scale.Value;
                
                // Create new bitmaps:
                ImgData.imgA = new Bitmap(
                    (UInt16)numericUpDown_imgSize.Value, 
                    (UInt16)numericUpDown_imgSize.Value, 
                    System.Drawing.Imaging.PixelFormat.Format24bppRgb);
                pictureBox1.Image = ImgData.imgA;
                pictureBox1.Refresh();
                ImgData.imgB = new Bitmap(
                    (UInt16)numericUpDown_imgSize.Value,
                    (UInt16)numericUpDown_imgSize.Value,
                    System.Drawing.Imaging.PixelFormat.Format24bppRgb);
                pictureBox2.Image = ImgData.imgB;
                pictureBox2.Refresh();
            }
            catch
            {
                MessageBox.Show("There was an error. Please make sure that the correct port " +
                    "was selected, and the device plugged in.");
            }
        }

        private void button1_Click(object sender, EventArgs e)
        {
            engage();
        }

        private void button_Retract_Click(object sender, EventArgs e)
        {
            retract();
        }

        private void numericUpDown_bias_ValueChanged(object sender, EventArgs e)
        {
            Int16 bias = (Int16)(numericUpDown_bias.Value / SPM.biasLSBsize);
            setBias(bias);
        }

        private void numericUpDown_setpoint_ValueChanged(object sender, EventArgs e)
        {
            Int16 setpoint = (Int16)(numericUpDown_setpoint.Value * SPM.transimpedance / SPM.setpointLSBsize);
            setSetpoint(setpoint);
        }

        private void numericUpDown_imgSize_ValueChanged(object sender, EventArgs e)
        {
            UInt16 imgSize = (UInt16)numericUpDown_imgSize.Value;
            setImgSize(imgSize);

            ImgData.imgA = new Bitmap(imgSize, imgSize, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
            pictureBox1.Invoke(new MethodInvoker(delegate
            {
                pictureBox1.Image = ImgData.imgA;
                pictureBox1.Refresh();
            }));

            ImgData.imgB = new Bitmap(imgSize, imgSize, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
            pictureBox2.Invoke(new MethodInvoker(delegate
            {
                pictureBox2.Image = ImgData.imgB;
                pictureBox2.Refresh();
            }));

            chart1.Invoke(new MethodInvoker(delegate
            {
                chart1.ChartAreas[0].AxisX.Maximum = imgSize;
            }));

            ImgData.dataZTrace = new Int32[imgSize, imgSize];
            ImgData.dataZRetrace = new Int32[imgSize, imgSize];
            ImgData.dataETrace = new Int32[imgSize, imgSize];
            ImgData.dataERetrace = new Int32[imgSize, imgSize];
            ImgData.imgSize = imgSize;
        }

        private void numericUpDown_scanSize_ValueChanged(object sender, EventArgs e)
        {
            int scanSize = (int)(numericUpDown_scanSize.Value / SPM.xyLSBsize);
            setscanSize(scanSize);
        }

        private void numericUpDown_lineRate_ValueChanged(object sender, EventArgs e)
        {
            decimal lineRate = numericUpDown_lineRate.Value;
            setlineRate(lineRate);
        }

        private void numericUpDownPGain_ValueChanged(object sender, EventArgs e)
        {
            int Kp = (int)numericUpDownPGain.Value;
            setKp(Kp);
        }

        private void numericUpDownIGain_ValueChanged(object sender, EventArgs e)
        {
            int Ki = (int)numericUpDownIGain.Value;
            setKi(Ki);
        }

        private void numericUpDown_scale_ValueChanged(object sender, EventArgs e)
        {
            ImgData.zScale = (int)(numericUpDown_scale.Value / SPM.zLSBsize);
            chart1.ChartAreas[0].AxisY.Maximum = (double)numericUpDown_scale.Value;
            chart1.ChartAreas[0].AxisY.Minimum = -(double)numericUpDown_scale.Value;
        }

        private void numericUpDown_eScale_ValueChanged(object sender, EventArgs e)
        {
            ImgData.iScale = (int)numericUpDown_eScale.Value;
        }

        private void pictureBox1_Click(object sender, EventArgs e)
        {
            MouseEventArgs me = (MouseEventArgs)e;
            System.Drawing.Point coordinates = me.Location;

            if (me.Button == System.Windows.Forms.MouseButtons.Right)
            {
                int scanSize = (int)numericUpDown_scanSize.Value;
                int x0 = (coordinates.X - pictureBox1.Width / 2) * scanSize;
                int y0 = (coordinates.Y - pictureBox1.Height / 2) * scanSize;
                setOffset(x0, y0);
            }
        }

        private void textBox1_TextChanged(object sender, EventArgs e)
        {
            ImgData.saveNumber = 0;
        }

        private void button1_Click_1(object sender, EventArgs e)
        {
            Form configForm = new Form2();
            configForm.ShowDialog();
        }


        /***********************************************************************************/
        /*
            Serial commands:
        */
        /***********************************************************************************/

        public void setBias(Int16 bias)
        {
            string command = "SB " + bias;

            if (serialPort1.IsOpen)
            {
                serialPort1.Write(command);
            }
        }

        public void setSetpoint(Int16 setpoint)
        {
            string command = "SP " + setpoint;

            if (serialPort1.IsOpen)
            {
                serialPort1.Write(command);
            }
        }

        public void setImgSize(UInt16 imgSize)
        {
            string command = "IP " + imgSize;

            if (serialPort1.IsOpen)
            {
                serialPort1.Write(command);
            }
        }

        public void setscanSize(int scanSize)
        {
            string command = "SS " + scanSize;

            if (serialPort1.IsOpen)
            {
                serialPort1.Write(command);
            }
        }

        public void setOffset(int x0, int y0)
        {
            string command1 = "XO " + x0;
            string command2 = "YO " + y0;

            if (serialPort1.IsOpen)
            {
                serialPort1.Write(command1);
                System.Threading.Thread.Sleep(10);
                serialPort1.Write(command2);
            }
        }
        
        public void setlineRate(decimal lineRate)
        {
            // Multiply lineRate by 100 for transmission:
            string command = "LR " + (int)(lineRate * 100.0M);

            if (serialPort1.IsOpen)
            {
                serialPort1.Write(command);
            }
        }

        public void setKp(int Kp)
        {
            string command = "KP " + Kp;

            if (serialPort1.IsOpen)
            {
                serialPort1.Write(command);
            }
        }

        public void setKi(int Ki)
        {
            string command = "KI " + Ki;

            if (serialPort1.IsOpen)
            {
                serialPort1.Write(command);
            }
        }

        public void engage()
        {
            string command = "TE";

            if (serialPort1.IsOpen)
            {
                serialPort1.Write(command);
            }
        }

        public void retract()
        {
            string command = "TR";

            if (serialPort1.IsOpen)
            {
                serialPort1.Write(command);
            }
        }

        public void enableScanning()
        {
            string command = "EN";

            if (serialPort1.IsOpen)
            {
                serialPort1.Write(command);
            }
        }

        public void disableScanning()
        {
            string command = "DL";

            if (serialPort1.IsOpen)
            {
                serialPort1.Write(command);
            }
        }
    }
}

Show C code for Making a Simple Tone



#include 
#include 

#define output(directions,pin) (directions |= pin) // set port direction for output
#define set(port,pin) (port |= pin) // set port pin
#define clear(port,pin) (port &= (~pin)) // clear port pin
#define pin_test(pins,pin) (pins & pin) // test for port pin
#define bit_test(byte,bit) (byte & (1 << bit)) // test for bit set

#define cycle_delay() _delay_us(2) // cycle delay
#define current 150 // PWM current
#define off 255 // PWM off

#define MOSFET_pin (1 << PB1)
#define MOSFET_port PORTB
#define MOSFET_direction DDRB


 
void timer0_init()
{

    // set up timer with prescaler = 1024
    //*incr = (Clock Freq) / prescalar / desired freq
    //*incr = (8,000,000) / 256 / 440Hz = 71.02 == A4 note
    TCCR0B |= (1 << CS02);
 
    // initialize counter
    TCNT0 = 0;
}



 
int main(void)
{

     // set clock divider to /1
   //
   CLKPR = (1 << CLKPCE);
   CLKPR = (0 << CLKPS3) | (0 << CLKPS2) | (0 << CLKPS1) | (0 << CLKPS0);


   clear(MOSFET_port, MOSFET_pin);
   output(MOSFET_direction, MOSFET_pin);

    // initialize timer
    timer0_init();
 
    // loop forever
    while(1)
    {
        // check if the timer count reaches 20
        if (TCNT0 >= 71)
        {
            PORTB ^= (1 << PB1);    // toggles the mosfet
            TCNT0 = 0;            // reset counter
        }
    }

}

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