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

setup.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:
26:dad0b2031173
Compila pero falta probar el codigo con el encoder!

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yo_Robot 4:552beeda4722 1 /**
Yo_Robot 4:552beeda4722 2 * @file setup.cpp
Yo_Robot 4:552beeda4722 3 * @author Ernesto Palacios
Yo_Robot 20:4b154134ab20 4 * @brief Codigo Fuente de las funciones para el deslizador.
Yo_Robot 4:552beeda4722 5 *
Yo_Robot 4:552beeda4722 6 * Created on 25 de Marzo de 2012
Yo_Robot 4:552beeda4722 7 *
Yo_Robot 4:552beeda4722 8 * Licencia GPL v3.0
Yo_Robot 4:552beeda4722 9 * http://www.gnu.org/licenses/gpl-3.0.html
Yo_Robot 4:552beeda4722 10 */
Yo_Robot 4:552beeda4722 11
Yo_Robot 25:1910a55ff0a3 12 #include "mbed.h"
Yo_Robot 25:1910a55ff0a3 13 #include "qeihw.h"
Yo_Robot 3:8d5a9e3cd680 14 #include "setup.h"
Yo_Robot 18:cf1e07d82630 15 #include "EthernetNetIf.h"
Yo_Robot 25:1910a55ff0a3 16
Yo_Robot 3:8d5a9e3cd680 17
Yo_Robot 24:a1d16835201c 18 extern Serial pc; // Salida Serial de mbed
Yo_Robot 24:a1d16835201c 19 extern Serial RS_232; // Salida Serial a MAX232
Yo_Robot 25:1910a55ff0a3 20 //extern I2C encoder; // Comunicacion I2C con encoder
Yo_Robot 25:1910a55ff0a3 21 extern QEIHW encoder;
Yo_Robot 24:a1d16835201c 22 extern Timer crono; // Cronometro interno del microcontrolador
Yo_Robot 24:a1d16835201c 23 extern DigitalIn isPC; // Bit de configuracion serial en la placa
Yo_Robot 12:c02b08dacc45 24 extern DigitalOut pin_son; // SON
Yo_Robot 12:c02b08dacc45 25 extern DigitalOut pin_dir; // SIGN+
Yo_Robot 12:c02b08dacc45 26 extern InterruptIn pin_alm; // ALM
Yo_Robot 12:c02b08dacc45 27 extern AnalogOut aout; // +-10V
Yo_Robot 22:d5431fff164b 28 extern DigitalOut led_verde; // Led verde del conector Ethernet
Yo_Robot 24:a1d16835201c 29 extern DigitalOut led_rojo; // Led naranja del conector Ethernet
Yo_Robot 20:4b154134ab20 30
Yo_Robot 15:a1ffa32ce9d1 31 int fq_posicion = 10000; // Variable global donde se almacenara
Yo_Robot 15:a1ffa32ce9d1 32 // la velocidad de posicionamiento en Hz
Yo_Robot 24:a1d16835201c 33 float t_alto; // para el posicionamiento del motor
Yo_Robot 23:2126e38bb48c 34
Yo_Robot 22:d5431fff164b 35 const int addres = 0x36; // Direccion del enconder en modo esclavo
Yo_Robot 22:d5431fff164b 36
Yo_Robot 22:d5431fff164b 37 int read_encoder()
Yo_Robot 22:d5431fff164b 38 {
Yo_Robot 25:1910a55ff0a3 39 return encoder.GetPosition();
Yo_Robot 22:d5431fff164b 40 }
Yo_Robot 22:d5431fff164b 41
Yo_Robot 22:d5431fff164b 42 void clear_encoder()
Yo_Robot 22:d5431fff164b 43 {
Yo_Robot 25:1910a55ff0a3 44 encoder.Reset( QEI_RESET_POS ); // reset position
Yo_Robot 22:d5431fff164b 45 }
Yo_Robot 22:d5431fff164b 46
Yo_Robot 4:552beeda4722 47 void setTimer2()
Yo_Robot 3:8d5a9e3cd680 48 {
Yo_Robot 3:8d5a9e3cd680 49 // Encender Timer2 (PCONP[22])
Yo_Robot 3:8d5a9e3cd680 50 LPC_SC->PCONP |= 1 << 22;
Yo_Robot 3:8d5a9e3cd680 51
Yo_Robot 3:8d5a9e3cd680 52 // Resetear y parar el Timer
Yo_Robot 3:8d5a9e3cd680 53 LPC_TIM2->TCR = 0x2;
Yo_Robot 3:8d5a9e3cd680 54 LPC_TIM2->CTCR = 0x0;
Yo_Robot 3:8d5a9e3cd680 55
Yo_Robot 4:552beeda4722 56 // Establecer el Preescaler en cero
Yo_Robot 4:552beeda4722 57 // SIn Preesclaer
Yo_Robot 4:552beeda4722 58 LPC_TIM2->PR = 0;
Yo_Robot 3:8d5a9e3cd680 59
Yo_Robot 4:552beeda4722 60 // Calcular el periodo Inicial
Yo_Robot 4:552beeda4722 61 uint32_t periodo = ( SystemCoreClock / 400 );
Yo_Robot 3:8d5a9e3cd680 62
Yo_Robot 3:8d5a9e3cd680 63 // Establecer los Registros de Coincidencia
Yo_Robot 3:8d5a9e3cd680 64 // ( Match Register )
Yo_Robot 3:8d5a9e3cd680 65 LPC_TIM2->MR2 = periodo;
Yo_Robot 4:552beeda4722 66 LPC_TIM2->MR3 = periodo; // Legacy, salidas identicas
Yo_Robot 3:8d5a9e3cd680 67
Yo_Robot 4:552beeda4722 68 LPC_TIM2->MCR |= 1 << 7; // Resetear Timer en MR2
Yo_Robot 3:8d5a9e3cd680 69
Yo_Robot 3:8d5a9e3cd680 70 LPC_TIM2->EMR |= 15UL << 8; // Alternar Pin MAT2.2
Yo_Robot 3:8d5a9e3cd680 71 // y MAT2.3
Yo_Robot 3:8d5a9e3cd680 72
Yo_Robot 3:8d5a9e3cd680 73 LPC_PINCON->PINSEL0 |= 15UL << 16; //Activar MAT2.2
Yo_Robot 8:958dfe5052b9 74 // y MAT2.3 como salidas
Yo_Robot 8:958dfe5052b9 75
Yo_Robot 6:b4dae934e1ea 76 }
Yo_Robot 6:b4dae934e1ea 77
Yo_Robot 12:c02b08dacc45 78 void ISR_Serial()
Yo_Robot 12:c02b08dacc45 79 {
Yo_Robot 12:c02b08dacc45 80 int value; // Nuevo Valor
Yo_Robot 12:c02b08dacc45 81 char command; // Comando al que aplicar el nuevo valor
Yo_Robot 23:2126e38bb48c 82
Yo_Robot 12:c02b08dacc45 83
Yo_Robot 19:c26cf8a48986 84 if( isPC )
Yo_Robot 23:2126e38bb48c 85 pc.scanf( "%d-%c", &value, &command );
Yo_Robot 19:c26cf8a48986 86 else
Yo_Robot 23:2126e38bb48c 87 RS_232.scanf( "%d-%c", &value, &command );
Yo_Robot 23:2126e38bb48c 88
Yo_Robot 23:2126e38bb48c 89 switch( command )
Yo_Robot 23:2126e38bb48c 90 {
Yo_Robot 19:c26cf8a48986 91
Yo_Robot 24:a1d16835201c 92 case 'R': // Leer la velocidad en RPMs del encoder
Yo_Robot 24:a1d16835201c 93 {
Yo_Robot 23:2126e38bb48c 94 int ang = 0;
Yo_Robot 23:2126e38bb48c 95 float rpm;
Yo_Robot 23:2126e38bb48c 96
Yo_Robot 23:2126e38bb48c 97 clear_encoder(); // Encerar encoder
Yo_Robot 23:2126e38bb48c 98 crono.reset(); // Encerar el cronometro;
Yo_Robot 23:2126e38bb48c 99
Yo_Robot 23:2126e38bb48c 100 while( ang == 0 ) // Esperar hasta q exista lectura del encoder
Yo_Robot 23:2126e38bb48c 101 ang = read_encoder(); // Leer nueva posicion
Yo_Robot 23:2126e38bb48c 102
Yo_Robot 23:2126e38bb48c 103 crono.stop(); // detener cronometro
Yo_Robot 23:2126e38bb48c 104 rpm = ( ang * 500 ) / (crono.read_ms() * 3 );
Yo_Robot 23:2126e38bb48c 105
Yo_Robot 24:a1d16835201c 106 // grados 1000 ms 60 s 1 Rev 500 Rev
Yo_Robot 24:a1d16835201c 107 // ------ * -------- * ------ * ---------- = --------
Yo_Robot 24:a1d16835201c 108 // ms 1s 1min 360 grad 3 Min
Yo_Robot 23:2126e38bb48c 109
Yo_Robot 23:2126e38bb48c 110 if( isPC )
Yo_Robot 23:2126e38bb48c 111 pc.printf("%f", rpm);
Yo_Robot 23:2126e38bb48c 112 else
Yo_Robot 23:2126e38bb48c 113 RS_232.printf("%f", rpm);
Yo_Robot 23:2126e38bb48c 114 break;
Yo_Robot 24:a1d16835201c 115 }
Yo_Robot 23:2126e38bb48c 116 case 'H': // Establecer nueva frecuencia
Yo_Robot 24:a1d16835201c 117 {
Yo_Robot 23:2126e38bb48c 118 setPTO( value );
Yo_Robot 23:2126e38bb48c 119 break;
Yo_Robot 24:a1d16835201c 120 }
Yo_Robot 23:2126e38bb48c 121 case 'K':
Yo_Robot 24:a1d16835201c 122 {
Yo_Robot 23:2126e38bb48c 123 setPTO( value * 1000 );
Yo_Robot 23:2126e38bb48c 124 break;
Yo_Robot 24:a1d16835201c 125 }
Yo_Robot 23:2126e38bb48c 126 case 'A': // Cambiar voltaje de salida
Yo_Robot 24:a1d16835201c 127 {
Yo_Robot 23:2126e38bb48c 128 aout = (float)( value + 10000.0 ) / 20000.0;
Yo_Robot 23:2126e38bb48c 129 break;
Yo_Robot 24:a1d16835201c 130 }
Yo_Robot 23:2126e38bb48c 131 case 'D': // Cambiar la direccion
Yo_Robot 24:a1d16835201c 132 {
Yo_Robot 23:2126e38bb48c 133 stopTimer2();
Yo_Robot 23:2126e38bb48c 134 pin_dir = value;
Yo_Robot 23:2126e38bb48c 135 wait_us( 2 );
Yo_Robot 23:2126e38bb48c 136 startTimer2();
Yo_Robot 23:2126e38bb48c 137 break;
Yo_Robot 24:a1d16835201c 138 }
Yo_Robot 23:2126e38bb48c 139 case 'V': //Setear la velocidad de Posicionamiento
Yo_Robot 24:a1d16835201c 140 {
Yo_Robot 23:2126e38bb48c 141 fq_posicion = value;
Yo_Robot 23:2126e38bb48c 142 break;
Yo_Robot 24:a1d16835201c 143 }
Yo_Robot 23:2126e38bb48c 144 // Generar un numero definido de pulsos a la velocidad de posicionamiento
Yo_Robot 23:2126e38bb48c 145 case 'G':
Yo_Robot 24:a1d16835201c 146 {
Yo_Robot 23:2126e38bb48c 147 int pulsos = value; //Numero de pulsos a generar
Yo_Robot 23:2126e38bb48c 148 t_alto = pulsos / fq_posicion; //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 23:2126e38bb48c 149
Yo_Robot 23:2126e38bb48c 150 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 23:2126e38bb48c 151 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 23:2126e38bb48c 152 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 23:2126e38bb48c 153 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 23:2126e38bb48c 154 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 23:2126e38bb48c 155 break;
Yo_Robot 24:a1d16835201c 156 }
Yo_Robot 24:a1d16835201c 157 case 'E': //Leer posicion angular relativa del encoder
Yo_Robot 24:a1d16835201c 158 {
Yo_Robot 23:2126e38bb48c 159 if( isPC )
Yo_Robot 23:2126e38bb48c 160 pc.printf( "%d",read_encoder() );
Yo_Robot 23:2126e38bb48c 161 else
Yo_Robot 23:2126e38bb48c 162 RS_232.printf( "%d",read_encoder() );
Yo_Robot 23:2126e38bb48c 163 break;
Yo_Robot 24:a1d16835201c 164 }
Yo_Robot 23:2126e38bb48c 165 case 'Z': //Limpiar contador encoder
Yo_Robot 23:2126e38bb48c 166 clear_encoder();
Yo_Robot 23:2126e38bb48c 167 break;
Yo_Robot 23:2126e38bb48c 168
Yo_Robot 23:2126e38bb48c 169 case 'S': //Encender el Servo
Yo_Robot 23:2126e38bb48c 170 pin_son = value;
Yo_Robot 23:2126e38bb48c 171 break;
Yo_Robot 18:cf1e07d82630 172 }
Yo_Robot 23:2126e38bb48c 173
Yo_Robot 12:c02b08dacc45 174 }
Yo_Robot 12:c02b08dacc45 175
Yo_Robot 12:c02b08dacc45 176
Yo_Robot 12:c02b08dacc45 177 void setPTO( int freq )
Yo_Robot 12:c02b08dacc45 178 {
Yo_Robot 12:c02b08dacc45 179 if( freq != 0 )
Yo_Robot 12:c02b08dacc45 180 {
Yo_Robot 12:c02b08dacc45 181 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 182 setMR2( getMRvalue( freq ) );
Yo_Robot 12:c02b08dacc45 183 startTimer2();
Yo_Robot 12:c02b08dacc45 184
Yo_Robot 12:c02b08dacc45 185 }else{
Yo_Robot 12:c02b08dacc45 186
Yo_Robot 12:c02b08dacc45 187 stopTimer2();
Yo_Robot 12:c02b08dacc45 188 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 189 }
Yo_Robot 12:c02b08dacc45 190 }
Yo_Robot 12:c02b08dacc45 191
Yo_Robot 22:d5431fff164b 192
Yo_Robot 22:d5431fff164b 193
Yo_Robot 22:d5431fff164b 194 void ISR_Alarm()
Yo_Robot 22:d5431fff164b 195 {
Yo_Robot 22:d5431fff164b 196 pin_son = 0 ;
Yo_Robot 22:d5431fff164b 197 stopTimer2();
Yo_Robot 22:d5431fff164b 198 aout = 0.5 ;
Yo_Robot 22:d5431fff164b 199
Yo_Robot 22:d5431fff164b 200 if(isPC)
Yo_Robot 22:d5431fff164b 201 pc.printf( "AL" ); //ALARMA! solo es AL para que
Yo_Robot 22:d5431fff164b 202 //sea conciso con el modo ETH y funcione
Yo_Robot 22:d5431fff164b 203 //bien en LabVIEW.
Yo_Robot 22:d5431fff164b 204 else
Yo_Robot 22:d5431fff164b 205 RS_232.printf( "AL" );
Yo_Robot 22:d5431fff164b 206 }
Yo_Robot 22:d5431fff164b 207
Yo_Robot 22:d5431fff164b 208 int getMRvalue( int fout )
Yo_Robot 22:d5431fff164b 209 {
Yo_Robot 22:d5431fff164b 210 int toRegister;
Yo_Robot 22:d5431fff164b 211
Yo_Robot 22:d5431fff164b 212 toRegister = (24000000 /(fout*2.0) ) -1;
Yo_Robot 22:d5431fff164b 213 return toRegister;
Yo_Robot 22:d5431fff164b 214 }
Yo_Robot 22:d5431fff164b 215
Yo_Robot 22:d5431fff164b 216
Yo_Robot 22:d5431fff164b 217 void setMR2( int newValue )
Yo_Robot 22:d5431fff164b 218 {
Yo_Robot 22:d5431fff164b 219 LPC_TIM2->MR2 = newValue; // Las dos salidas son identicas
Yo_Robot 22:d5431fff164b 220 LPC_TIM2->MR3 = newValue; // Para testear el programa.
Yo_Robot 22:d5431fff164b 221 }
Yo_Robot 22:d5431fff164b 222
Yo_Robot 22:d5431fff164b 223
Yo_Robot 22:d5431fff164b 224
Yo_Robot 22:d5431fff164b 225 void startTimer2()
Yo_Robot 22:d5431fff164b 226 {
Yo_Robot 22:d5431fff164b 227 // Arrancer el Timer 2
Yo_Robot 22:d5431fff164b 228 LPC_TIM2->TCR = 1;
Yo_Robot 22:d5431fff164b 229 }
Yo_Robot 22:d5431fff164b 230
Yo_Robot 22:d5431fff164b 231 void stopTimer2()
Yo_Robot 22:d5431fff164b 232 {
Yo_Robot 22:d5431fff164b 233 // Detener el Timer 2
Yo_Robot 22:d5431fff164b 234 LPC_TIM2->TCR = 0x2;
Yo_Robot 22:d5431fff164b 235 }
Yo_Robot 22:d5431fff164b 236
Yo_Robot 22:d5431fff164b 237 int getBaud()
Yo_Robot 22:d5431fff164b 238 {
Yo_Robot 22:d5431fff164b 239 int baudios = 115200; //Valor por defecto
Yo_Robot 22:d5431fff164b 240
Yo_Robot 22:d5431fff164b 241 FILE *fp = fopen("/local/config.mbd", "r"); // Abre el archivo y lo guarda en fp
Yo_Robot 22:d5431fff164b 242
Yo_Robot 22:d5431fff164b 243 if(!fp) // En caso de no encontrarse el archivo
Yo_Robot 22:d5431fff164b 244 {
Yo_Robot 22:d5431fff164b 245 printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n");
Yo_Robot 22:d5431fff164b 246 printf("Cree un archivo de texto: config.mbd dentro de la unidad Mbed\n");
Yo_Robot 22:d5431fff164b 247 printf("que contenga las lineas:\n\n");
Yo_Robot 22:d5431fff164b 248
Yo_Robot 22:d5431fff164b 249 printf(" 1\n");
Yo_Robot 22:d5431fff164b 250 printf(" 2\n");
Yo_Robot 22:d5431fff164b 251 printf(" 3\n");
Yo_Robot 22:d5431fff164b 252 printf(" 4\n");
Yo_Robot 22:d5431fff164b 253 printf(" baudios: 115200\n");
Yo_Robot 22:d5431fff164b 254
Yo_Robot 22:d5431fff164b 255 printf("Cambie el valor de 115200 por la velocidad a la que desea transmitir:\n");
Yo_Robot 22:d5431fff164b 256 printf("luego reinicie el microcontrolador\n");
Yo_Robot 22:d5431fff164b 257 exit(1);
Yo_Robot 22:d5431fff164b 258
Yo_Robot 22:d5431fff164b 259 }
Yo_Robot 22:d5431fff164b 260 else
Yo_Robot 22:d5431fff164b 261 {
Yo_Robot 22:d5431fff164b 262 // Cadenas de caracteres desde el Archivo config.mbd
Yo_Robot 22:d5431fff164b 263 char notstr [04]; // linea vacia
Yo_Robot 22:d5431fff164b 264 char baud [40]; // valor en baudios
Yo_Robot 22:d5431fff164b 265
Yo_Robot 22:d5431fff164b 266 // Leer linea a linea el archivo
Yo_Robot 22:d5431fff164b 267 // cuatro primeras lineas no sirven
Yo_Robot 22:d5431fff164b 268 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 269 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 270 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 271 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 272 fgets( baud, 40, fp );
Yo_Robot 22:d5431fff164b 273 fclose(fp);
Yo_Robot 23:2126e38bb48c 274
Yo_Robot 22:d5431fff164b 275 // Extraer los valores numericos
Yo_Robot 22:d5431fff164b 276 sscanf( baud,"%*s %d",&baudios );
Yo_Robot 22:d5431fff164b 277
Yo_Robot 22:d5431fff164b 278
Yo_Robot 22:d5431fff164b 279 }
Yo_Robot 22:d5431fff164b 280
Yo_Robot 22:d5431fff164b 281 return baudios;
Yo_Robot 22:d5431fff164b 282 }
Yo_Robot 22:d5431fff164b 283
Yo_Robot 22:d5431fff164b 284 // **** Funciones Liberia Ethernet ***** //
Yo_Robot 12:c02b08dacc45 285 void setPTO_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 286 {
Yo_Robot 12:c02b08dacc45 287 int freq = atoi( input );
Yo_Robot 12:c02b08dacc45 288
Yo_Robot 12:c02b08dacc45 289 if( freq != 0 ){
Yo_Robot 12:c02b08dacc45 290 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 12:c02b08dacc45 291 setMR2( getMRvalue( freq ) ); // Cambiar frefuencia
Yo_Robot 12:c02b08dacc45 292 startTimer2(); // Iniciar Timer
Yo_Robot 14:039d070732d5 293 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 294 sprintf( output,"Ok" );
Yo_Robot 14:039d070732d5 295 else
Yo_Robot 14:039d070732d5 296 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 297 }else{
Yo_Robot 12:c02b08dacc45 298 stopTimer2();
Yo_Robot 12:c02b08dacc45 299 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 14:039d070732d5 300 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 301 sprintf( output,"Ok" );
Yo_Robot 14:039d070732d5 302 else
Yo_Robot 14:039d070732d5 303 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 304 }
Yo_Robot 12:c02b08dacc45 305 }
Yo_Robot 12:c02b08dacc45 306
Yo_Robot 15:a1ffa32ce9d1 307 void setANG_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 308 {
Yo_Robot 15:a1ffa32ce9d1 309 long int pulsos = atol( input ); //Numero de pulsos a generar
Yo_Robot 23:2126e38bb48c 310 t_alto = pulsos / fq_posicion; //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 15:a1ffa32ce9d1 311
Yo_Robot 15:a1ffa32ce9d1 312 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 313 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 15:a1ffa32ce9d1 314 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 315 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 18:cf1e07d82630 316 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 15:a1ffa32ce9d1 317
Yo_Robot 15:a1ffa32ce9d1 318 if( pin_alm == 0 )
Yo_Robot 15:a1ffa32ce9d1 319 sprintf( output,"Ok" );
Yo_Robot 15:a1ffa32ce9d1 320 else
Yo_Robot 15:a1ffa32ce9d1 321 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 322
Yo_Robot 15:a1ffa32ce9d1 323 }
Yo_Robot 21:353b0fe8fc54 324
Yo_Robot 21:353b0fe8fc54 325
Yo_Robot 15:a1ffa32ce9d1 326 void setSPD_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 327 {
Yo_Robot 15:a1ffa32ce9d1 328 fq_posicion = atoi( input );
Yo_Robot 15:a1ffa32ce9d1 329 // Esta funcion cambia la velocidad con la que se
Yo_Robot 15:a1ffa32ce9d1 330 // posicionara el eje del motor en un angulo determinado
Yo_Robot 15:a1ffa32ce9d1 331 if( pin_alm == 0 )
Yo_Robot 15:a1ffa32ce9d1 332 sprintf( output,"Ok" );
Yo_Robot 15:a1ffa32ce9d1 333 else
Yo_Robot 15:a1ffa32ce9d1 334 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 335
Yo_Robot 15:a1ffa32ce9d1 336 }
Yo_Robot 21:353b0fe8fc54 337
Yo_Robot 12:c02b08dacc45 338 void setAout_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 339 {
Yo_Robot 12:c02b08dacc45 340 int vout = atoi( input );
Yo_Robot 14:039d070732d5 341 aout = (float)( vout + 10000 ) / 20000;
Yo_Robot 14:039d070732d5 342 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 343 sprintf( output,"Ok" );
Yo_Robot 14:039d070732d5 344 else
Yo_Robot 14:039d070732d5 345 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 346 }
Yo_Robot 12:c02b08dacc45 347
Yo_Robot 12:c02b08dacc45 348
Yo_Robot 12:c02b08dacc45 349
Yo_Robot 12:c02b08dacc45 350 void setDir_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 351 {
Yo_Robot 12:c02b08dacc45 352 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 353
Yo_Robot 12:c02b08dacc45 354 pin_dir = value;
Yo_Robot 12:c02b08dacc45 355
Yo_Robot 14:039d070732d5 356 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 357 sprintf( output,"Ok" );
Yo_Robot 12:c02b08dacc45 358 else
Yo_Robot 14:039d070732d5 359 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 360 }
Yo_Robot 12:c02b08dacc45 361
Yo_Robot 12:c02b08dacc45 362
Yo_Robot 12:c02b08dacc45 363
Yo_Robot 12:c02b08dacc45 364 void setSON_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 365 {
Yo_Robot 12:c02b08dacc45 366 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 367
Yo_Robot 12:c02b08dacc45 368 pin_son = value;
Yo_Robot 12:c02b08dacc45 369
Yo_Robot 14:039d070732d5 370 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 371 sprintf( output,"Ok" );
Yo_Robot 12:c02b08dacc45 372 else
Yo_Robot 14:039d070732d5 373 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 374
Yo_Robot 12:c02b08dacc45 375 }
Yo_Robot 12:c02b08dacc45 376
Yo_Robot 12:c02b08dacc45 377
Yo_Robot 22:d5431fff164b 378 void getENC_eth( char * input, char * output )
Yo_Robot 20:4b154134ab20 379 {
Yo_Robot 22:d5431fff164b 380 if( pin_alm == 0 )
Yo_Robot 22:d5431fff164b 381 sprintf( output,"%d", read_encoder() );
Yo_Robot 22:d5431fff164b 382 else
Yo_Robot 22:d5431fff164b 383 sprintf( output,"AL" );
Yo_Robot 22:d5431fff164b 384 }
Yo_Robot 21:353b0fe8fc54 385
Yo_Robot 21:353b0fe8fc54 386
Yo_Robot 22:d5431fff164b 387 void setENC_eth( char * input, char * output )
Yo_Robot 22:d5431fff164b 388 {
Yo_Robot 22:d5431fff164b 389 clear_encoder();
Yo_Robot 22:d5431fff164b 390
Yo_Robot 22:d5431fff164b 391 if( pin_alm == 0 )
Yo_Robot 22:d5431fff164b 392 sprintf( output,"Ok" );
Yo_Robot 22:d5431fff164b 393 else
Yo_Robot 22:d5431fff164b 394 sprintf( output,"AL" );
Yo_Robot 22:d5431fff164b 395
Yo_Robot 20:4b154134ab20 396 }
Yo_Robot 12:c02b08dacc45 397
Yo_Robot 23:2126e38bb48c 398 void getRPM_eth( char * input, char * output )
Yo_Robot 23:2126e38bb48c 399 {
Yo_Robot 23:2126e38bb48c 400 int ang = 0;
Yo_Robot 23:2126e38bb48c 401 float rpm;
Yo_Robot 23:2126e38bb48c 402
Yo_Robot 25:1910a55ff0a3 403 rpm = encoder.CalculateRPM( encoder.GetVelocityCap() , // ultima velocidad leida desde el encoder
Yo_Robot 25:1910a55ff0a3 404 360 // numero de revoluciones por vuelta del encoder
Yo_Robot 25:1910a55ff0a3 405 );
Yo_Robot 25:1910a55ff0a3 406
Yo_Robot 23:2126e38bb48c 407
Yo_Robot 23:2126e38bb48c 408 if( pin_alm == 0 )
Yo_Robot 23:2126e38bb48c 409 sprintf( output,"Ok" );
Yo_Robot 23:2126e38bb48c 410 else
Yo_Robot 23:2126e38bb48c 411 sprintf( output,"%f", rpm );
Yo_Robot 23:2126e38bb48c 412
Yo_Robot 23:2126e38bb48c 413
Yo_Robot 23:2126e38bb48c 414 }
Yo_Robot 23:2126e38bb48c 415
Yo_Robot 21:353b0fe8fc54 416
Yo_Robot 22:d5431fff164b 417
Yo_Robot 22:d5431fff164b 418
Yo_Robot 22:d5431fff164b 419
Yo_Robot 4:552beeda4722 420 /* LEGACY FUNCTIONS
Yo_Robot 4:552beeda4722 421 *
Yo_Robot 20:4b154134ab20 422 * El siguiente codigo no es utilizado por el
Yo_Robot 20:4b154134ab20 423 * programa. Sin embargo pueden servir como
Yo_Robot 20:4b154134ab20 424 * futuras referencias.
Yo_Robot 4:552beeda4722 425 */
Yo_Robot 4:552beeda4722 426 void setMR3( int newValue )
Yo_Robot 4:552beeda4722 427 {
Yo_Robot 4:552beeda4722 428 LPC_TIM2->MR3 = newValue;
Yo_Robot 4:552beeda4722 429 }
Yo_Robot 4:552beeda4722 430
Yo_Robot 4:552beeda4722 431
Yo_Robot 4:552beeda4722 432 void setPrescaler( int newValue)
Yo_Robot 4:552beeda4722 433 {
Yo_Robot 4:552beeda4722 434 LPC_TIM2->PR = newValue;
Yo_Robot 4:552beeda4722 435 }
Yo_Robot 20:4b154134ab20 436
Yo_Robot 20:4b154134ab20 437
Yo_Robot 20:4b154134ab20 438 EthernetNetIf configurarEthernet()
Yo_Robot 20:4b154134ab20 439 {
Yo_Robot 20:4b154134ab20 440 //____________ *** ARCHIVO DE CONFIGURACION ***_______________________ //
Yo_Robot 20:4b154134ab20 441
Yo_Robot 20:4b154134ab20 442 printf("\n *** CONFIGURACION ETHERNET DE MBED ***\n");
Yo_Robot 20:4b154134ab20 443 printf("Leyendo archivo de configuracion...\n\n");
Yo_Robot 20:4b154134ab20 444
Yo_Robot 20:4b154134ab20 445 FILE *fp = fopen("/local/config.txt", "r"); // Abre el archivo y lo guarda en fp
Yo_Robot 20:4b154134ab20 446
Yo_Robot 20:4b154134ab20 447 if(!fp) // En caso de no encontrarse el archivo
Yo_Robot 20:4b154134ab20 448 {
Yo_Robot 20:4b154134ab20 449 printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n");
Yo_Robot 20:4b154134ab20 450 exit(1);
Yo_Robot 20:4b154134ab20 451
Yo_Robot 20:4b154134ab20 452 }
Yo_Robot 20:4b154134ab20 453 else
Yo_Robot 20:4b154134ab20 454 {
Yo_Robot 20:4b154134ab20 455 // Cadenas de caracteres desde el Archivo config.txt
Yo_Robot 20:4b154134ab20 456 char isDHCP [15]; //Modo Automatico o Manual
Yo_Robot 20:4b154134ab20 457 char empty [2]; // Linea vacia
Yo_Robot 20:4b154134ab20 458 char ip [40]; // Direccion IP
Yo_Robot 20:4b154134ab20 459 char mask [40]; // Mascara de Subred
Yo_Robot 20:4b154134ab20 460 char gate [40]; // Puerta de enlace
Yo_Robot 20:4b154134ab20 461 char dns [40]; // Direccion DNS
Yo_Robot 20:4b154134ab20 462
Yo_Robot 20:4b154134ab20 463 // Valores 'int' para agregar a la configuracion manual
Yo_Robot 20:4b154134ab20 464 int DHCP;
Yo_Robot 20:4b154134ab20 465 int n_ip[4];
Yo_Robot 20:4b154134ab20 466 int n_mask[4];
Yo_Robot 20:4b154134ab20 467 int n_gate[4];
Yo_Robot 20:4b154134ab20 468 int n_dns[4];
Yo_Robot 20:4b154134ab20 469
Yo_Robot 20:4b154134ab20 470
Yo_Robot 20:4b154134ab20 471 // Leer linea a linea el archivo
Yo_Robot 20:4b154134ab20 472 fgets( isDHCP, 15, fp );
Yo_Robot 20:4b154134ab20 473 fgets( empty, 2, fp );
Yo_Robot 20:4b154134ab20 474 fgets( ip, 40, fp );
Yo_Robot 20:4b154134ab20 475 fgets( mask, 40, fp );
Yo_Robot 20:4b154134ab20 476 fgets( gate, 40, fp );
Yo_Robot 20:4b154134ab20 477 fgets( dns, 40, fp );
Yo_Robot 20:4b154134ab20 478
Yo_Robot 20:4b154134ab20 479 printf("Cerrando archivo...\n");
Yo_Robot 20:4b154134ab20 480 fclose(fp);
Yo_Robot 20:4b154134ab20 481
Yo_Robot 20:4b154134ab20 482 // Extraer los valores numericos
Yo_Robot 20:4b154134ab20 483 sscanf( isDHCP,"%*s %d",&DHCP );
Yo_Robot 20:4b154134ab20 484
Yo_Robot 20:4b154134ab20 485 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0],&n_ip[1],&n_ip[2],&n_ip[3] );
Yo_Robot 20:4b154134ab20 486 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 20:4b154134ab20 487 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 20:4b154134ab20 488 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0],&n_dns[1],&n_dns[2],&n_dns[3] );
Yo_Robot 20:4b154134ab20 489
Yo_Robot 20:4b154134ab20 490
Yo_Robot 20:4b154134ab20 491 if(DHCP) //En caso de modo DHCP
Yo_Robot 20:4b154134ab20 492 {
Yo_Robot 20:4b154134ab20 493 printf("\n Configurar red de manera automatica\n");
Yo_Robot 20:4b154134ab20 494 EthernetNetIf eth; //Crea la interfaz
Yo_Robot 20:4b154134ab20 495 EthernetErr ethErr = eth.setup();
Yo_Robot 20:4b154134ab20 496 if( ethErr )
Yo_Robot 20:4b154134ab20 497 {
Yo_Robot 20:4b154134ab20 498 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 20:4b154134ab20 499 exit(1);
Yo_Robot 20:4b154134ab20 500 }
Yo_Robot 20:4b154134ab20 501
Yo_Robot 20:4b154134ab20 502 printf("Configuracion Correcta\n\n");
Yo_Robot 20:4b154134ab20 503 return eth;
Yo_Robot 20:4b154134ab20 504 }
Yo_Robot 20:4b154134ab20 505 else
Yo_Robot 20:4b154134ab20 506 {
Yo_Robot 20:4b154134ab20 507 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0], &n_ip[1], &n_ip[2], &n_ip[3] );
Yo_Robot 20:4b154134ab20 508 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 20:4b154134ab20 509 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 20:4b154134ab20 510 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0], &n_dns[1], &n_dns[2], &n_dns[3] );
Yo_Robot 20:4b154134ab20 511 printf(" %s %s %s %s %s\n " , isDHCP, ip, mask, gate, dns );
Yo_Robot 20:4b154134ab20 512
Yo_Robot 20:4b154134ab20 513 printf("\n Configurar red de manera manual\n");
Yo_Robot 20:4b154134ab20 514 EthernetNetIf eth(
Yo_Robot 20:4b154134ab20 515 IpAddr( n_ip[0], n_ip[1], n_ip[2], n_ip[3]), //IP Address
Yo_Robot 20:4b154134ab20 516 IpAddr( n_mask[0],n_mask[1],n_mask[2],n_mask[3]), //Network Mask
Yo_Robot 20:4b154134ab20 517 IpAddr( n_gate[0],n_gate[1],n_gate[2],n_gate[3]), //Gateway
Yo_Robot 20:4b154134ab20 518 IpAddr( n_dns[0], n_dns[1], n_dns[2], n_dns[3] ) //DNS
Yo_Robot 20:4b154134ab20 519 );
Yo_Robot 20:4b154134ab20 520
Yo_Robot 20:4b154134ab20 521 EthernetErr ethErr = eth.setup();
Yo_Robot 20:4b154134ab20 522 if( ethErr )
Yo_Robot 20:4b154134ab20 523 {
Yo_Robot 20:4b154134ab20 524 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 20:4b154134ab20 525 exit(1);
Yo_Robot 20:4b154134ab20 526 }
Yo_Robot 20:4b154134ab20 527
Yo_Robot 20:4b154134ab20 528 printf("Configuracion Correcta\n\n");
Yo_Robot 20:4b154134ab20 529 return eth;
Yo_Robot 20:4b154134ab20 530 }
Yo_Robot 20:4b154134ab20 531
Yo_Robot 20:4b154134ab20 532 }
Yo_Robot 20:4b154134ab20 533
Yo_Robot 20:4b154134ab20 534 EthernetNetIf eth;
Yo_Robot 20:4b154134ab20 535 return eth;
Yo_Robot 20:4b154134ab20 536 }