Ernesto Palacios / Mbed 2 deprecated DeslizadorUTN

Proyecto de Tesis en Mecatrónica. Universidad Técnica del Norte. Ernesto Palacios <mecatronica.mid@gmail.com>

Dependencies:   EthernetNetIf HTTPServer QEI_hw RPCInterface mbed

main.cpp@25:1910a55ff0a3, 2013-04-11 (annotated)

Committer:
Yo_Robot
Date:
Thu Apr 11 04:31:37 2013 +0000
Revision:
25:1910a55ff0a3
Parent:
24:a1d16835201c
Child:
30:413d1a6648b5
Compila pero falta probar el codigo con el encoder!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yo_Robot 20:4b154134ab20 1 /*******************************************************************\
Yo_Robot 20:4b154134ab20 2 * *
Yo_Robot 20:4b154134ab20 3 * DESLIZADOR LINEAL UTN *
Yo_Robot 20:4b154134ab20 4 * *
Yo_Robot 20:4b154134ab20 5 * Archivo: main.cpp *
Yo_Robot 20:4b154134ab20 6 * Autor: Ernesto Palacios <meacatronica.mid@gmail.com> *
Yo_Robot 22:d5431fff164b 7 * Version: v2.2 *
Yo_Robot 20:4b154134ab20 8 * Dependencias: setup.h, setup.cpp *
Yo_Robot 22:d5431fff164b 9 * Descripcion: Este es el archivo principal para el microcon- *
Yo_Robot 23:2126e38bb48c 10 * trolador mbed para la comunicacion y control *
Yo_Robot 20:4b154134ab20 11 * del deslizador *
Yo_Robot 20:4b154134ab20 12 * Fecha: Ibarra, 05 de junio de 2012 *
Yo_Robot 20:4b154134ab20 13 * *
Yo_Robot 20:4b154134ab20 14 *******************************************************************/
Yo_Robot 3:8d5a9e3cd680 15
Yo_Robot 3:8d5a9e3cd680 16 #include "mbed.h"
Yo_Robot 25:1910a55ff0a3 17 #include "qeihw.h"
Yo_Robot 3:8d5a9e3cd680 18 #include "setup.h"
Yo_Robot 8:958dfe5052b9 19 #include "EthernetNetIf.h"
Yo_Robot 8:958dfe5052b9 20 #include "HTTPServer.h"
Yo_Robot 8:958dfe5052b9 21 #include "RPCFunction.h"
Yo_Robot 8:958dfe5052b9 22 #include "RPCVariable.h"
Yo_Robot 20:4b154134ab20 23
Yo_Robot 23:2126e38bb48c 24 // Configuraci&#65533;n de Entradas / Salidas
Yo_Robot 9:6976ac1a430e 25
Yo_Robot 25:1910a55ff0a3 26 Serial pc( USBTX, USBRX ); //Comunicacion Serial directa al computador
Yo_Robot 25:1910a55ff0a3 27 Serial RS_232(p13, p14); //Comunicacion Serial para MAX232
Yo_Robot 25:1910a55ff0a3 28 //I2C encoder(p28, p27, "i2c_mbed"); //Comunicacion I2C para los encoders
Yo_Robot 25:1910a55ff0a3 29 QEIHW encoder( QEI_DIRINV_NONE, QEI_SIGNALMODE_QUAD, QEI_CAPMODE_2X, QEI_INVINX_NONE );
Yo_Robot 23:2126e38bb48c 30 Timer crono; // Reloj Interno de mbed
Yo_Robot 18:cf1e07d82630 31
Yo_Robot 18:cf1e07d82630 32 DigitalOut pin_son( p7 ); // SON
Yo_Robot 18:cf1e07d82630 33 DigitalOut pin_dir( p26 ); // SIGN+
Yo_Robot 18:cf1e07d82630 34 InterruptIn pin_alm( p8 ); // ALM
Yo_Robot 20:4b154134ab20 35 AnalogOut aout( p18 ); // VOUT
Yo_Robot 24:a1d16835201c 36 //PIN_06 pto_generator // PULS+
Yo_Robot 9:6976ac1a430e 37
Yo_Robot 16:d50665706f21 38 DigitalIn isHTTP( p15 ); // Modo Ethernet/Serial
Yo_Robot 16:d50665706f21 39 DigitalIn isFast( p16 ); // Serial Alta velocidad/Baja Velocidad
Yo_Robot 18:cf1e07d82630 40 DigitalIn isPC ( p17 ); // Salida a compuador o MAX232
Yo_Robot 18:cf1e07d82630 41
Yo_Robot 19:c26cf8a48986 42 DigitalOut led_verde( p21 ); // Led verde del conector Ethernet
Yo_Robot 19:c26cf8a48986 43 DigitalOut led_rojo( p22 ); // Led naranja del conector Ethernet
Yo_Robot 19:c26cf8a48986 44
Yo_Robot 20:4b154134ab20 45 // Objetos Ethernet
Yo_Robot 18:cf1e07d82630 46
Yo_Robot 18:cf1e07d82630 47 EthernetNetIf eth;
Yo_Robot 18:cf1e07d82630 48 HTTPServer svr;
Yo_Robot 17:a4f380bc2516 49 LocalFileSystem fs("local");
Yo_Robot 5:c5aea1eb10bb 50
Yo_Robot 8:958dfe5052b9 51
Yo_Robot 20:4b154134ab20 52 // Anadir funciones al Protocolo RPC:
Yo_Robot 20:4b154134ab20 53 //
Yo_Robot 20:4b154134ab20 54 // estas son las funciones de acceso de la libreria HTTP_ASM sobre
Yo_Robot 20:4b154134ab20 55 // el Protocolo RPC
Yo_Robot 12:c02b08dacc45 56 RPCFunction SetFQ (&setPTO_eth, "PTO");
Yo_Robot 12:c02b08dacc45 57 RPCFunction SetAOUT(&setAout_eth, "AOUT");
Yo_Robot 12:c02b08dacc45 58 RPCFunction SetDIR (&setDir_eth, "DIR");
Yo_Robot 12:c02b08dacc45 59 RPCFunction SetSON (&setSON_eth, "SON");
Yo_Robot 16:d50665706f21 60 RPCFunction SetANG (&setANG_eth, "ANG");
Yo_Robot 16:d50665706f21 61 RPCFunction SetSpd (&setSPD_eth, "VAN");
Yo_Robot 22:d5431fff164b 62 RPCFunction ReadEnc(&getENC_eth, "ENC");
Yo_Robot 22:d5431fff164b 63 RPCFunction ClrEnc (&setENC_eth, "CLR");
Yo_Robot 23:2126e38bb48c 64 RPCFunction ReadRPM(&getRPM_eth, "RPM");
Yo_Robot 8:958dfe5052b9 65
Yo_Robot 3:8d5a9e3cd680 66
Yo_Robot 3:8d5a9e3cd680 67 int main() {
Yo_Robot 20:4b154134ab20 68 //*************** Configura Red Ethernet **************************************************//
Yo_Robot 20:4b154134ab20 69 if( isHTTP )
Yo_Robot 13:649543aa8b1d 70 {
Yo_Robot 20:4b154134ab20 71
Yo_Robot 22:d5431fff164b 72 // Anade clases base al protocolo RPC
Yo_Robot 13:649543aa8b1d 73 Base::add_rpc_class<AnalogIn>();
Yo_Robot 13:649543aa8b1d 74 Base::add_rpc_class<AnalogOut>();
Yo_Robot 13:649543aa8b1d 75 Base::add_rpc_class<DigitalIn>();
Yo_Robot 13:649543aa8b1d 76 Base::add_rpc_class<DigitalOut>();
Yo_Robot 13:649543aa8b1d 77 Base::add_rpc_class<DigitalInOut>();
Yo_Robot 13:649543aa8b1d 78 Base::add_rpc_class<PwmOut>();
Yo_Robot 13:649543aa8b1d 79 Base::add_rpc_class<Timer>();
Yo_Robot 13:649543aa8b1d 80 Base::add_rpc_class<BusOut>();
Yo_Robot 13:649543aa8b1d 81 Base::add_rpc_class<BusIn>();
Yo_Robot 13:649543aa8b1d 82 Base::add_rpc_class<BusInOut>();
Yo_Robot 13:649543aa8b1d 83 Base::add_rpc_class<Serial>();
Yo_Robot 17:a4f380bc2516 84
Yo_Robot 24:a1d16835201c 85 led_verde = 0; //Esperando configuracion
Yo_Robot 24:a1d16835201c 86 led_rojo = 1;
Yo_Robot 24:a1d16835201c 87
Yo_Robot 22:d5431fff164b 88 // Configura conexion Ethernet
Yo_Robot 19:c26cf8a48986 89 printf("Configurando...\n");
Yo_Robot 18:cf1e07d82630 90 EthernetErr ethErr = eth.setup();
Yo_Robot 18:cf1e07d82630 91 if(ethErr)
Yo_Robot 13:649543aa8b1d 92 {
Yo_Robot 21:353b0fe8fc54 93 printf("Error %d en la configuracion.\n", ethErr);
Yo_Robot 24:a1d16835201c 94 led_rojo = 0;
Yo_Robot 18:cf1e07d82630 95 return -1;
Yo_Robot 18:cf1e07d82630 96 }
Yo_Robot 24:a1d16835201c 97 printf("Configuracion correcta!\n");
Yo_Robot 24:a1d16835201c 98
Yo_Robot 24:a1d16835201c 99 led_verde = 1; //Configuracion correcta led verde encendido
Yo_Robot 24:a1d16835201c 100 led_rojo = 0;
Yo_Robot 24:a1d16835201c 101
Yo_Robot 18:cf1e07d82630 102 FSHandler::mount("/local", "/files"); //Monta /local en /files que es el directorio web
Yo_Robot 18:cf1e07d82630 103 FSHandler::mount("/local", "/"); //Mount /local en / que es el directorio raiz
Yo_Robot 13:649543aa8b1d 104
Yo_Robot 18:cf1e07d82630 105 //Handles para la comunicacion
Yo_Robot 13:649543aa8b1d 106 svr.addHandler<SimpleHandler>("/hello");
Yo_Robot 13:649543aa8b1d 107 svr.addHandler<RPCHandler>("/rpc");
Yo_Robot 13:649543aa8b1d 108 svr.addHandler<FSHandler>("/files");
Yo_Robot 18:cf1e07d82630 109 svr.addHandler<FSHandler>("/");
Yo_Robot 18:cf1e07d82630 110
Yo_Robot 18:cf1e07d82630 111 svr.bind(80); // Puerto de comunicacion.
Yo_Robot 18:cf1e07d82630 112
Yo_Robot 18:cf1e07d82630 113 printf("Listo para comunicacion...\n");
Yo_Robot 13:649543aa8b1d 114
Yo_Robot 18:cf1e07d82630 115 // Para probar la correcta configuracion acceder a mbed.htm
Yo_Robot 18:cf1e07d82630 116 // http://a.b.c.d/mbed.htm or http://a.b.c.d/files/mbed.htm
Yo_Robot 18:cf1e07d82630 117
Yo_Robot 13:649543aa8b1d 118 }
Yo_Robot 20:4b154134ab20 119
Yo_Robot 20:4b154134ab20 120
Yo_Robot 20:4b154134ab20 121 //*************** Configura Comunicacion Serial **************************************************//
Yo_Robot 15:a1ffa32ce9d1 122 else // Caso Contrario Anadir modo Serial
Yo_Robot 8:958dfe5052b9 123 {
Yo_Robot 22:d5431fff164b 124 int fast_baud = getBaud();
Yo_Robot 20:4b154134ab20 125 if( isPC ) // Utiliza el Puerto Virtual Incluido.
Yo_Robot 19:c26cf8a48986 126 {
Yo_Robot 19:c26cf8a48986 127 pc.attach( &ISR_Serial );
Yo_Robot 20:4b154134ab20 128 if( isFast ) //Configurar Serial a alta velocidad
Yo_Robot 21:353b0fe8fc54 129 pc.baud( fast_baud );
Yo_Robot 19:c26cf8a48986 130 }
Yo_Robot 20:4b154134ab20 131 else // Utiiliza el puerto serial hacia MAX232
Yo_Robot 19:c26cf8a48986 132 {
Yo_Robot 19:c26cf8a48986 133 RS_232.attach( &ISR_Serial );
Yo_Robot 20:4b154134ab20 134 if( isFast ) //Configurar Serial a alta velocidad
Yo_Robot 21:353b0fe8fc54 135 RS_232.baud( fast_baud );
Yo_Robot 19:c26cf8a48986 136 }
Yo_Robot 8:958dfe5052b9 137 }
Yo_Robot 8:958dfe5052b9 138
Yo_Robot 20:4b154134ab20 139 //*******************************************************************************************************//
Yo_Robot 20:4b154134ab20 140
Yo_Robot 20:4b154134ab20 141
Yo_Robot 24:a1d16835201c 142 //________ Ajustes iniciales del Driver _________//
Yo_Robot 24:a1d16835201c 143
Yo_Robot 20:4b154134ab20 144 setTimer2(); // Configurar PTO
Yo_Robot 20:4b154134ab20 145 pin_son = 0; // Servo Apagado por defecto
Yo_Robot 13:649543aa8b1d 146 aout = 0.5; // Voltaje de salida 0V por defecto( +-10V! )
Yo_Robot 8:958dfe5052b9 147
Yo_Robot 21:353b0fe8fc54 148
Yo_Robot 21:353b0fe8fc54 149 pin_alm.fall( &ISR_Alarm ); // Entrada de la alarma driver
Yo_Robot 14:039d070732d5 150
Yo_Robot 13:649543aa8b1d 151 while(1)
Yo_Robot 13:649543aa8b1d 152 {
Yo_Robot 13:649543aa8b1d 153 if( isHTTP )
Yo_Robot 24:a1d16835201c 154 {
Yo_Robot 15:a1ffa32ce9d1 155 Net::poll(); // Revisa la red solo si la coneccion es HTTP
Yo_Robot 24:a1d16835201c 156 led_verde = led_verde ^ 1; // Toggle Led Verde... esperando transmicion
Yo_Robot 24:a1d16835201c 157 }
Yo_Robot 13:649543aa8b1d 158 }
Yo_Robot 8:958dfe5052b9 159 }
Yo_Robot 8:958dfe5052b9 160