Final Project

Building a Desktop STM (Scanning Tunneling Microscope)

Above: The overarching schematic of an STM. A piezoectric disk (or tube) is used to lower an atomically fine electrode tip (tungsten) to within a few nanometers of the surface of the sample material. When a bias voltage is applied to the sample, electrons will quantum tunnel from the electrode tip to the sample material. A tunneling current amplifer then reads this current and sends it back to the control electronics. The scan head scrolls over the surface of the sample, measuring the current, and reading the data over serial into the computer to display the image and perform PI control over the scanner.


Contents



General STM Project Overview
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The general idea is to build an STM (scanneling tunneling electron microscope) that has the ability to see (at a minimum) individual carbon atoms in a graphite lattice. There have been a few people that have done this and posted their machine images and general ideas/process online, but not too many. I'd like to continue where they left off, and really document this build very well so that other people can follow in my footsteps easily. The machine makes use of pretty cheap materials (using a piezoelectric disk instead of a piezoelectric tube, tungsten wire instead of platinum wire, manual calibration of z-axis instead of stepper motor calibraton, etc.), but should still be funcitonal, and for a lot less money (on the order of $200-$300). The goal is to replicate their work and document the process in extreme detail, well hopefully being able to achieve atomic resolution on some HOPG (highly oriented pyrolitic graphite) such as seen in the picture below.

Scan



Current Status of STM
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1) What does it do?
2) Who's done it beforehand?
3) What did I design?
4) What materials and components were used?
5) Where did they come from?
6) How much did they cost?
7) What parts and systems were made?
8) What processes were used?
9) What questions were answered?
10) How was it evaluated?
11) What are the implications?



Theory of STM Operation
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The actual in-depth theory of the STM is quite complex, so I will only provide a relatively surface level overview here. I will put some of the more in-depth papers on the theory of Scanning Tunneling Microscopy in the "Additional Resources and Links" section at the end of this site.

In general, a piezoectric disk (or tube) is used to lower an atomically fine electrode tip (tungsten) to within 5-10 Angstroms (0.5-1.0nm) of the surface of the sample material. When a bias voltage is applied to the sample, electrons will quantum tunnel from the electrode tip to the sample materiial. A tunneling current amplifer then reads this current and sends it back to the control electronics. The scan head scrolls over the surface of the sample, measuring the current, and reading the data over serial into the computer to display the image and perform PI control over the scanner. I will cover this all in more depth below.

Image Sources [Left: (http://www.slideshare.net/guestc5e21a/principle-of-a-f-s), Middle: (http://images.slideplayer.com/21/6281817/slides/slide_2.jpg), Right: (http://old.icnanotox.org/tag/stm/)]

Tunneling Theory
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Scanning Tunneling Microscopy (STM) tunneling theory is quite complex, but may be simplified greatly by several approximations. STM involves the tunneling of electrons through vacuum (or in this case, air) from the tip of the STM to the sample. For simplification, this can be considered as tunneling between two metallic electrodes, separated by a vacuum region. The potential in the vacuum region acts as a barrier to electrons. In this simplified form, one can apply the trivial solution of the Schrodinger equation, applied to a rectangular barrier:


In classical physics, if an electron has energy E smaller than the potential of the gap, then there is no way for the electron to cross that potential gap. It would first need to aquire that energy somewhere. This is equivalent to saying that if I coast down a hill of height 10 meters on my bike, then I can make it partially up a hill of 20 meters height using that energy, but not all the way up. I would need to acquire more energy somehow (via peddeling or by starting on a higher hill to have more potential energy) to make it over the 20 meter height hill. However, in quantum mechanics, when an electon has a potential higher than the barier height, it oscillates (sinosoidally), and if it has an energy, E, below the barier height, it can cross that barrier with an exponentially decaying wavefunction. In this way, it only needs a small increase in energy to cross the barrier, which in this case is provided by a small bias voltage. This "quantum tunneling" of electrons across bariers that they shouldn't classically be able to cross provides the basis for all of scanning tunneling microscopy. This is equivalent to the biker somehow disapearing from one side of the hill and reapearing on the other side of the barrier. Now let's look at the math behind this to see if we can isolate the tunneling current as a function of the bias voltage, seperation distance, and potential barrier between the electrode tip and the sample.

For a rectangular barrier, we get a wavefuntion of:


The probability of finding an electron behind the barrier of width d is:


In STM (scanning tunneling microscopy), a bias voltage is applied to the sample such that the tunneling current is caused from the reduced barrier height. This barrier height can be approximated by the average workfunction of the sample and tip materials. The workfuntion of a material is essentially the energy required to fully strip an electron from the surface of that material and place it into vacuum. The work function is different for the surface and bulk of a material, but we are only concerned about the surface here. The work functions for materials have already been worked out experimentally and can be found online.

The critical parameter in this solution is k. One finds that:

k = sqrt[2m(phi - E)/(h2)]

where, phi represents the barrier potential, E is the energy of the particular state, and h corresponds to the reduced Planck constant. In order to simplify the model, phi can be substituted by its average value across the potential barrier; however, generally, phi would not be constant. With this simplification, the system then becomes a rectangular potential barrier, which is actually quite easy to solve. When the bias voltage is much smaller than the workfunction, the inverse decay length of the electrons can be further simplifed to:


The current is then proportional to the probability of electrons to tunnel through the barrier. From quantum mechanics, we know that the probability of electrons to tunnel is proportional to the wave function squared. Then, the current becomes proportional to:


Finally, by using the definition of the local density of states:


the current can be shown as:


where, d is defined as the separation between the tip and the sample. This result turns out to be the key to the STM operation. If an atomically sharp tip is used, the tunneling current from the first atom of the tip will be exponentially larger than that of the tip atoms which are slightly behind it. Considering general work function values, and substituting this for (phi-E) in the equation for k, one finds that the tunneling current decreases about an order of magnitude for every angstrom of separation, d, between the tip and the sample.

This gives us unprecidented vertical resolution in the scan head. Because the current increases by a factor of 10 for every angstron, we can actually use this to get 0.01 Angstrom accuracy in the vertical scanning with some relatively simple electronics and mechanics.

Finally, if we wanted a more accurate calculation of the current density, we would need to solve Schrodinger's equation for all three regions (before, in, and after the barrier) for a verticaly varying electic field strength, leading us to a transition probability of:

Piezoelectric Tube/Disk Theory
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A piezoceramic tube/disk is a ceramic tube/disk in which the many molecular dipoles, or positive-negative charge separations, are polarized at an elevated temperature by applying a (typically) positive voltage to an outer electrode (inner at ground). The positive outer voltage causes the molecules to partially align themselves with the positive directed outward, resulting in + outer and - inner radial polarization. The ceramic is then cooled to retain this polarization permanently. The resulting ceramic has a net negative charge on the inside surface and net positive charge on the outside surface. When a smaller voltage is then applied with the same polarity as the polarizing voltage, the element experiences a temporary expansion in the polarizing direction (i.e., the tube/disk radius expands) and contraction in the perpendicular direction (i.e., the tube length contracts). It is this contraction that results in the tube/disk bending, thus allowing x-y scanning.



In order to achieve scanning in the X and Y directions, the outer electrode of the disk is sectioned into quarters. The outer electrode is grounded. When a positive voltage is applied to one of the quartered electrodes, that segment of the disk contracts perpendicular to the electric field. This causes the whole disk to bend perpendicular to its axis. It is best to use push-pull voltages on opposite tube quadrants. A single voltage on one quadrant will result in tube bending in x or y, but also some undesirable net motion in the z-direction. Opposite polarity voltages of equal magnitude on opposite quadrants will bend the disk with no net z motion. Orthogonal x-y motion is obtained by controlling the voltages of the two electrode pairs in an additive vector fashion.


Motion of the tube in the Z direction is obtained by applying a voltage to all outside electrodes uniformly. A positive voltage causes a uniform contraction of the tube. A negative voltage causes an expansion. Important Note: Do not try to get increased range by applying an equal and opposite voltage to the inner electrode. This will tend to depolarize the piezo tube. The inner electrode should always be grounded, or at the negative pole, i.e., if your range is +-18 volts, the inner electrode should be held at a steady -18 volts.


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.

Current Measurement Theory (Transimpedance Amp)
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The most common approach to amplifying the tunneling current is to use something called a transimpedance amplifier [TIA]. This is basically a current-to-voltage converter, most commonly implemented via an op-amp circuit. The TIA can be used to amplify the current output of many different machines, including photo detectors, accelerometers, and a huge variety of sensors.



In this case, I will be using this making this TIA with a special op-amp that has an ultra low input bias current, and using a 100M Ohm feedback resistor to get amplification on the order of 100,000,000. This means a current of 1nA-10nA will read as a voltage of 100mV to 1V, easily readable by a microchip's ADC. However, when using an op-amp with a relatively high input bias current (on the order of the tunneling current - 1nA), that current will also get summed up/amplified, leading to huge errors in the current measurement. I will be using the ADA4530 for this current amplifier circuit, as the ADA4530 has a guaranteed input bias current of only 20fA at room temperature! The designs for this can be seen in the electronics section below, but of special note is the guard ring I implemented around the current input node to reduce unwanted voltage and current noise - the guard ring is held at ground to absorb the noise. Finally, even though the set point for this scope will be around 1nA of current, it is important to have some extra range in order to not damage the preAmp circuit. With the ADA4530 and a 100M Ohm resistor, I can measure up to around 100nA of current before the circuit is overwhelmed.

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.

Data Acquisition Theory and Techniques
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***Work in progress***

Data is aquired via a 16 bit LTC ADC located on the main PCB away from the scan head. Since this ADC is located somewhat far away (a few feet) from the preAmp board, I will be taking a differential measurment to compensate for the noise picked up in the wiring. There are also a number of op-amps (LT1469 dual op-amp) for buffering and filtering the preAmp output and ground signals. Finally, these buffered and filtered preAmp signals are fed into the LTC2326-16 16-bit pseudo-differential ADC.

There is also a feedback loop using the Teensy 3.6. The teensy takes the log of the input data (because the tunneling current is exponentially proportional to the tip-sample distance), then looks up that value on an ADC table of 2^16 entries. Finally, that signal is fed into a PI loop, which then outputs the Z-piezo signal.



Spectroscopic Theory and Techniques
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Finally, as a stretch goal, it is actually possibly to use the STM as a spectrometer. Instead of scanning over the surface and measuring the current with the known bias voltgae, we can just keep the tip in the same position and vary the bias voltage. This plot of bias voltage vs tunneling current is unique for different elements, and will give us an exact plot of the different elements in the sample. This type of spectrometry is known as I/V spectrometry, and also as dI/dV spectrometry (because we are measuring the slope of the plot of current with respect to voltage). ***More info on this to come***



Design of the STM
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The design on my STM was influenced by a few other homemeade STM designs out there (which can all be seen in the links at the end). In particular, the vibrational isolation methods were quite similar, as there isn't a whole lot to change there. My eddy current damping system, as well as accoustic dampening are fairly unique however. As far as I can tell, no homemade STM has used electrochemically etched tips either, so we'll see how that turns out. Finally, while my electronic diagrams were influenced by others' designs, the board designs were all done myself. Hopefully they work!

Mechanical Design Overview
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The mechanical design is pretty straight forward. Most of the actual design considerations come from trying to limit the vibrations in the scan head. This is done by hanging the scan head from some long springs to limit both horizontal vibrations (pendulum), and vertical vibrations (spring). The scan head and spring are weighted by some steel disks to provide extra weight to the pendulum and spring to dampen these vibrations. On the bottom of this scan head I put an aluminum disk so that I can have some extra eddy current dampening from some neodymium magnets mounted underneath. This will further limit the vibrations. Finally, these disks, and the entire instrument, are mounted on some Viton rubber gaskets to provide further dampening.

The scan head itself functions via a cheap, common piezoelectric disk. This disk is cut into 4 segments as seen in the photos below. A wire is soldered onto each of these quadrants. By modulating the input to each of these quadrants, we can control the scanning (x-y movement) and depth of scan (z-movement). Additonally, some super fine thread bolts provide some rough z movement to get near to the surface, while the piezoelectric disk does the fin z movement. The scan tip itself is a thin gauge tungsten wire, which, when cut in a very specific way, can become atomically fine at the tip. The sample is mounted on a disk (penny) below this with a bias applied to it by the electronics. The scan head moves down to the surface, and measures the tunneling current.

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.

Above: Several images from my current build progress on the STM.

Mechanical Design: Scanning Electrode Tip
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The tungsten electrode tips have to be produced in a unique way - via an electrochemical etching lammalae drop off technique. This is because the electrode tips need to be atomically shart - on the order of 1 to a few atoms at the tip. This is because, as stated in the theory above, even a few extra atoms at the tip heavily changes the tunneling current because our tip is no longer as fine a point a the surface.

This is an interesting technique that actually allows us to get an atomically fine tip. If you refer to the images below, the electrochemical etching only occurs in that thin membrane layer which helps to make it atomically fine. There will be more papers posted on how exactly this works in the additional resources section as the bottom.


The best method found in the literature was to use 2M NaOH (roughly 8 grams NaOH disolved in 100ml of water), and a voltage of around 4-4.5V for the etching. A thin steel wire rolled into a loop was used as the anode, while a small section (1cm) of the 30 AWG tungsten wire as cut off with a sharp wirecutters, and placed through the steel ring to be used as the cathode.

A container with the 2M NaOH was then raised up onto the loop electorde to provide a thin membrane/lamallae layer that began the etching process. I had a bit of troubly keeping the membrane layer to stay at first, but adding some acetone to the layer helped a bit, as it kept the bubbles from aggregating too largely and disrupting the membrane. The whole process took around 30 minutes, after which the etched tungsten wire dropped out into the cup of water and was recovered, being very careful not to tough the end of it so as to damage the tip.

Above:

Mechanical Design: Noise Reduction
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1) Vibration 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)

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 frame)

Above:

Mechanical Design: Course Approach
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*** In progress ***

Couse approach is done via 3 80 thread/inch screws attached to some stepper motors that provide a step size of around 2000 steps per revolution.

Above: Several images from my current build progress on the STM.

Electrical Design Overview
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The electical design is fairly straightforward, but a bit more difficult than the mechanical design. I'm pretty much done with the schematics at this point, and am starting to work on the board layups. I will be most likely doing a 4 layer board with a ground plane and VCC plane for extra noise immunity. Gavin, the TA for our section, has given me some good resources for this. I'm debating between Oshpark and a few other fab houses.

The electircal design is sectioned into a few different sections, one on the scanning side to control the piezoelectric disk and to scan over the surface and plunge down towards the surface. This will be done using a 4 channel 16 bit DAC 8814 bit banged up to a 20 bit DAC for extra resolution. The other side of the circuit is the one that provides the bias voltage to the sample, and measures the tunneling current. It measures the current, amplifies it, and reads it into a 16 bit ADC. This current then gets sent over serial to the computer. It also provides a feedback loop for the scanning electronics - if the current is too high, move the z axis of the scan head up a bit. The tunneling current increases exponentially with distance to surface, so it is quite easy to read.

Electrical Design: Pre-amplifer
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The preAmplifer has undergone a few major revisions in the past few weeks. The most current version is used the ADA4530 op amp.

The most common approach to amplifying the tunnelling current is to use a transimpedance amplifer using a ultra low imput bias current op amp. Following MatthiasR's design on hackaday and Dan Berard's design, I built a preAmp using Eagle. It used a 100M Ohm feedback resistor to amplify the current from around 1nA and to convert it to get an ouput voltage rating on the order of 100mV to 10V at the highest. An op amp for this use case needs an extremely low input bias current, because any input bias current will get summed up with the tunneling current and amplified as well, giving me huge errors. The ADA4350 op amp can be configured in this way and only as an input bias current of 20fA at ambient temperature, voltage and current noise, which is definetely low enough. The schematics for this can be seen below.

https://dberard.com/home-built-stm/electronics/

https://hackaday.io/project/11829-diy-scanning-tunneling-microscope


Above: Shown above is version number 1 and version number 2 of the preAmplifer. They were both sent to OSHPark and should be done within a week or so.

Electrical Design: Main Analog Scanning PCB
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The block diagram for the scanner PCB can be seen below. The electronics aren't that compicated by themselves, except for the fact that they all need to be very precise and have as little noise as possible. This means a 4 layer PCB board was neeeded with seperate ground and power planes to minimize EMI interference, and specialized parts were needed that had higher than normal resolution, etc.. The STM electronics work like this: a microcontroller (Teensy 3.6) scans the electrode tip in a raster pattern by having the DAC8814 4 Channel 16 bit (bit banged to 20 bit) generate the X and Y scanning signals. It also generated the Z scanning signal for vertical motion. A DC bias voltage is supplied by the DAC as well, which is connected to the sample surface, which causes electrons to quantum tunnel across the gap between the electrode tip and the material surface (when they are (< 1 nm apart). The current is measured by the preAmp, which outputs a voltage proportional to the tunneling current. That signal is then digitized via the 16 bit ADC, fed into the Teensy 3.6 to be sent to the computer, and is also fed into a PI control loop to drive the scanner again. This is needed to provide some feedback and to maintain either a constant scanning height or constant scanning current. This surprisingly actually works pretty well. The scanning data (tunneling current and output z-axis height change) are send over USB to the PC C# program.


Above: Some of the electrical schematics and beginning of the board design files.

Software Design Overview
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The programming is basically split into two parts, and will probably be where I spend the majority of my time on this project. There is the programming of the Teensey 3.6 in C which controls all of the electronics in the instrument and sends serial data to the computer over USB or FTDI. There is also the host side of the programming, where the computer takes the data being sent over and develops the image for it, line by line. This will either be accomplished with Python or C#.

Software Design: Teensey 3.6 C Code
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The Teensy uses a timer to call a function at a regular time interval (around 40us). This function increments the scan, performs PI calculations to update the Z axis, and performs sigma-delta modulation of the scanner DACs. Since the scanning probe is a (sharp, fragile) solid object, it’s velocity needs to be controlled at all times. If it moves too fast, it will likely crash into something, so the tip scans in a zig-zag pattern rather than a traditional raster (as in a CRT or SEM for example). Since the STM is always incrementing the scan at the same time interval, doing a slower scan will acquire more data. All data acquired between pixels is averaged, so you’ll get less noise in a slower scan. Once a line of the image has been scanned in one direction and re-scanned in the other direction, the Teeny sends the Z data and error signal data over USB.

Many thanks to the other STM contributers out there with their help and guiadance on the software end. Specifically, Dan Berard's page and John Alexander's Page were very helpful with the software!

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,
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	  523936,
	  523938,
	  523940,
	  523941,
	  523943,
	  523944,
	  523946,
	  523947,
	  523949,
	  523950,
	  523952,
	  523954,
	  523955,
	  523957,
	  523958,
	  523960,
	  523961,
	  523963,
	  523964,
	  523966,
	  523967,
	  523969,
	  523971,
	  523972,
	  523974,
	  523975,
	  523977,
	  523978,
	  523980,
	  523981,
	  523983,
	  523984,
	  523986,
	  523988,
	  523989,
	  523991,
	  523992,
	  523994,
	  523995,
	  523997,
	  523998,
	  524000,
	  524002,
	  524003,
	  524005,
	  524006,
	  524008,
	  524009,
	  524011,
	  524012,
	  524014,
	  524015,
	  524017,
	  524019,
	  524020,
	  524022,
	  524023,
	  524025,
	  524026,
	  524028,
	  524029,
	  524031,
	  524032,
	  524034,
	  524036,
	  524037,
	  524039,
	  524040,
	  524042,
	  524043,
	  524045,
	  524046,
	  524048,
	  524049,
	  524051,
	  524053,
	  524054,
	  524056,
	  524057,
	  524059,
	  524060,
	  524062,
	  524063,
	  524065,
	  524066,
	  524068,
	  524070,
	  524071,
	  524073,
	  524074,
	  524076,
	  524077,
	  524079,
	  524080,
	  524082,
	  524083,
	  524085,
	  524087,
	  524088,
	  524090,
	  524091,
	  524093,
	  524094,
	  524096,
	  524097,
	  524099,
	  524100,
	  524102,
	  524104,
	  524105,
	  524107,
	  524108,
	  524110,
	  524111,
	  524113,
	  524114,
	  524116,
	  524117,
	  524119,
	  524121,
	  524122,
	  524124,
	  524125,
	  524127,
	  524128,
	  524130,
	  524131,
	  524133,
	  524134,
	  524136,
	  524138,
	  524139,
	  524141,
	  524142,
	  524144,
	  524145,
	  524147,
	  524148,
	  524150,
	  524151,
	  524153,
	  524154,
	  524156,
	  524158,
	  524159,
	  524161,
	  524162,
	  524164,
	  524165,
	  524167,
	  524168,
	  524170,
	  524171,
	  524173,
	  524175,
	  524176,
	  524178,
	  524179,
	  524181,
	  524182,
	  524184,
	  524185,
	  524187,
	  524188,
	  524190,
	  524192,
	  524193,
	  524195,
	  524196,
	  524198,
	  524199,
	  524201,
	  524202,
	  524204,
	  524205,
	  524207,
	  524208,
	  524210,
	  524212,
	  524213,
	  524215,
	  524216,
	  524218,
	  524219,
	  524221,
	  524222,
	  524224,
	  524225,
	  524227,
	  524228,
	  524230,
	  524232,
	  524233,
	  524235,
	  524236,
	  524238,
	  524239,
	  524241,
	  524242,
	  524244,
	  524245,
	  524247,
	  524249,
	  524250,
	  524252,
	  524253,
	  524255,
	  524256,
	  524258,
	  524259,
	  524261,
	  524262,
	  524264,
	  524265,
	  524267,
	  524269,
	  524270,
	  524272,
	  524273,
	  524275,
	  524276,
	  524278,
	  524279,
	  524281,
	  524282,
	  524284,
	  524285,
	  524287
	};

Above: Teensy Software in the Arduino environment.

Software Design: Host C# GUI Code
To Top

The PC software receives the data, does some basic processing, and adds it to the images on the screen. The left image is the topography (Z signal) and the right image is the error signal. The error signal looks like the gradient of the Z signal and has more high-frequency content. The topography data is displayed line by line in the graph at the bottom of the window. The red curve corresponds to the most recent scan line, and the blue curve is the same line scanned in the opposite direction. Ideally, these curves should be identical, but the agreement will never be perfect due to piezo hysteresis and things like that.

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);
            }
        }
    }
}



Build of the STM
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Build log woot woot















Operation of the STM and Some Sample Scans
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Does it work? We'll see...



Bill of Materials
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Cost of all the stuff



Additional Links and Resources
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