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.h@23:2126e38bb48c, 2012-07-06 (annotated)

Committer:
Yo_Robot
Date:
Fri Jul 06 17:34:16 2012 +0000
Revision:
23:2126e38bb48c
Parent:
22:d5431fff164b
Child:
30:413d1a6648b5
Version 2.0 Encoder listo -  faltan alarmas externas de proximidad

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yo_Robot 20:4b154134ab20 1 /**
Yo_Robot 20:4b154134ab20 2 * @file setup.h
Yo_Robot 20:4b154134ab20 3 * @author Ernesto Palacios
Yo_Robot 20:4b154134ab20 4 * @brief decalracion de funciones
Yo_Robot 20:4b154134ab20 5 *
Yo_Robot 20:4b154134ab20 6 * Created on 25 de Marzo de 2012
Yo_Robot 20:4b154134ab20 7 *
Yo_Robot 20:4b154134ab20 8 * Licencia GPL v3.0
Yo_Robot 20:4b154134ab20 9 * http://www.gnu.org/licenses/gpl-3.0.html
Yo_Robot 20:4b154134ab20 10 */
Yo_Robot 20:4b154134ab20 11
Yo_Robot 2:a1b556d78a7f 12
Yo_Robot 2:a1b556d78a7f 13 #ifndef SETUP_H
Yo_Robot 2:a1b556d78a7f 14 #define SETUP_H
Yo_Robot 2:a1b556d78a7f 15
Yo_Robot 2:a1b556d78a7f 16 #include "mbed.h"
Yo_Robot 18:cf1e07d82630 17 #include "EthernetNetIf.h"
Yo_Robot 18:cf1e07d82630 18
Yo_Robot 4:552beeda4722 19 /** @brief: Esta funcion configura al Timer2
Yo_Robot 4:552beeda4722 20 * para que las salidas p5 y p6 del mbed
Yo_Robot 4:552beeda4722 21 * se alternen cada vez que se iguala al
Yo_Robot 4:552beeda4722 22 * registro MR2 y MR3.
Yo_Robot 4:552beeda4722 23 */
Yo_Robot 4:552beeda4722 24 void setTimer2();
Yo_Robot 4:552beeda4722 25
Yo_Robot 4:552beeda4722 26
Yo_Robot 20:4b154134ab20 27 /** @brief: Esta es la rutina para obtener la onfiguracion
Yo_Robot 20:4b154134ab20 28 * de la velocidad serial para el puerto MAX_232
Yo_Robot 20:4b154134ab20 29 */
Yo_Robot 21:353b0fe8fc54 30 int configurarBaudios();
Yo_Robot 20:4b154134ab20 31
Yo_Robot 20:4b154134ab20 32
Yo_Robot 4:552beeda4722 33 /** @brief: Esta es la rutina que maneja las interrupciones
Yo_Robot 4:552beeda4722 34 * seriales, al recibir un caracter.
Yo_Robot 4:552beeda4722 35 */
Yo_Robot 2:a1b556d78a7f 36 void ISR_Serial();
Yo_Robot 2:a1b556d78a7f 37
Yo_Robot 4:552beeda4722 38
Yo_Robot 12:c02b08dacc45 39 /** @brief: Esta es la rutina que cambia la frecuencia
Yo_Robot 12:c02b08dacc45 40 * de salida del Micro en Serial
Yo_Robot 4:552beeda4722 41 */
Yo_Robot 12:c02b08dacc45 42 void setPTO( int freq );
Yo_Robot 4:552beeda4722 43
Yo_Robot 4:552beeda4722 44
Yo_Robot 12:c02b08dacc45 45 /** @brief: Esta es la rutina que maneja la interrupcion
Yo_Robot 12:c02b08dacc45 46 * de alarma
Yo_Robot 4:552beeda4722 47 */
Yo_Robot 12:c02b08dacc45 48 void ISR_Alarm();
Yo_Robot 2:a1b556d78a7f 49
Yo_Robot 4:552beeda4722 50
Yo_Robot 4:552beeda4722 51 /** @brief: Esta Funcion calcula el valor necesario
Yo_Robot 4:552beeda4722 52 * en el MatchRegister para obtener una frecuencia
Yo_Robot 4:552beeda4722 53 * de salida.
Yo_Robot 4:552beeda4722 54 * @param fout Frecuencia de salida deseada
Yo_Robot 4:552beeda4722 55 * @return El valor que debe tener el MatchRegister
Yo_Robot 4:552beeda4722 56 */
Yo_Robot 4:552beeda4722 57 int getMRvalue( int fout );
Yo_Robot 4:552beeda4722 58
Yo_Robot 4:552beeda4722 59
Yo_Robot 21:353b0fe8fc54 60
Yo_Robot 21:353b0fe8fc54 61 /** @brief: Esta es la rutina que maneja la interrupcion
Yo_Robot 21:353b0fe8fc54 62 * de alarma
Yo_Robot 21:353b0fe8fc54 63 */
Yo_Robot 21:353b0fe8fc54 64 int getBaud();
Yo_Robot 21:353b0fe8fc54 65
Yo_Robot 21:353b0fe8fc54 66
Yo_Robot 21:353b0fe8fc54 67
Yo_Robot 12:c02b08dacc45 68 /** @brief: Esta Funcion cambia el valor del Registro 2
Yo_Robot 12:c02b08dacc45 69 */
Yo_Robot 12:c02b08dacc45 70 void setMR2( int newValue );
Yo_Robot 12:c02b08dacc45 71
Yo_Robot 12:c02b08dacc45 72
Yo_Robot 12:c02b08dacc45 73 /** @brief: Esta Funcion arranca el timer
Yo_Robot 12:c02b08dacc45 74 */
Yo_Robot 12:c02b08dacc45 75 void startTimer2();
Yo_Robot 12:c02b08dacc45 76
Yo_Robot 12:c02b08dacc45 77
Yo_Robot 12:c02b08dacc45 78 /** @brief: Esta Funcion detiene el timer
Yo_Robot 12:c02b08dacc45 79 */
Yo_Robot 12:c02b08dacc45 80 void stopTimer2();
Yo_Robot 12:c02b08dacc45 81
Yo_Robot 12:c02b08dacc45 82
Yo_Robot 22:d5431fff164b 83 //________________ FUNCIONES ETHERNET ___________________//
Yo_Robot 22:d5431fff164b 84
Yo_Robot 22:d5431fff164b 85
Yo_Robot 22:d5431fff164b 86 /** @brief: Esta es la rutina que cambia la frecuencia
Yo_Robot 22:d5431fff164b 87 * de salida del Micro en comunicacion Ethernet
Yo_Robot 22:d5431fff164b 88 */
Yo_Robot 22:d5431fff164b 89 void setPTO_eth ( char * input, char * output );
Yo_Robot 22:d5431fff164b 90
Yo_Robot 22:d5431fff164b 91
Yo_Robot 12:c02b08dacc45 92 /** @brief: Esta Funcion cambia el voltaje de salida el
Yo_Robot 12:c02b08dacc45 93 * valor ingresado debe ser en porcentaje.
Yo_Robot 12:c02b08dacc45 94 * Desde -100% hasta +100% dependiendo de la velocidad
Yo_Robot 12:c02b08dacc45 95 * y el sentido de giro
Yo_Robot 12:c02b08dacc45 96 */
Yo_Robot 12:c02b08dacc45 97 void setAout_eth( char * input, char * output );
Yo_Robot 12:c02b08dacc45 98
Yo_Robot 12:c02b08dacc45 99
Yo_Robot 12:c02b08dacc45 100 /** @brief: Cambiar Direccion @ PTO
Yo_Robot 12:c02b08dacc45 101 */
Yo_Robot 12:c02b08dacc45 102 void setDir_eth ( char * input, char * output );
Yo_Robot 12:c02b08dacc45 103
Yo_Robot 12:c02b08dacc45 104
Yo_Robot 22:d5431fff164b 105 /** @brief: Encender el Servo (bloquearlo)
Yo_Robot 22:d5431fff164b 106 */
Yo_Robot 22:d5431fff164b 107 void setSON_eth ( char * input, char * output );
Yo_Robot 22:d5431fff164b 108
Yo_Robot 22:d5431fff164b 109
Yo_Robot 22:d5431fff164b 110 /** @brief: Cambiar el angulo actual del eje del motor
Yo_Robot 22:d5431fff164b 111 */
Yo_Robot 22:d5431fff164b 112 void setANG_eth( char * input, char * output );
Yo_Robot 22:d5431fff164b 113
Yo_Robot 22:d5431fff164b 114
Yo_Robot 22:d5431fff164b 115 /** @brief: Cambiar la velocidad de giro al cambiar el angulo del motor
Yo_Robot 22:d5431fff164b 116 */
Yo_Robot 22:d5431fff164b 117 void setSPD_eth( char * input, char * output );
Yo_Robot 22:d5431fff164b 118
Yo_Robot 22:d5431fff164b 119
Yo_Robot 22:d5431fff164b 120 /** @brief: Leer desde el encoder
Yo_Robot 22:d5431fff164b 121 */
Yo_Robot 22:d5431fff164b 122 void getENC_eth( char * input, char * output );
Yo_Robot 22:d5431fff164b 123
Yo_Robot 22:d5431fff164b 124
Yo_Robot 22:d5431fff164b 125 /** @brief: Leer desde el encoder
Yo_Robot 22:d5431fff164b 126 */
Yo_Robot 22:d5431fff164b 127 void setENC_eth( char * input, char * output );
Yo_Robot 22:d5431fff164b 128
Yo_Robot 22:d5431fff164b 129
Yo_Robot 23:2126e38bb48c 130 /** @brief: Limpiar contador del encoder
Yo_Robot 23:2126e38bb48c 131 */
Yo_Robot 23:2126e38bb48c 132 void getRPM_eth( char * input, char * output );
Yo_Robot 23:2126e38bb48c 133
Yo_Robot 22:d5431fff164b 134
Yo_Robot 22:d5431fff164b 135 //________________ FUNCIONES ENCODER __________________//
Yo_Robot 22:d5431fff164b 136
Yo_Robot 12:c02b08dacc45 137 /** @brief: Cambiar Direccion @ PTO
Yo_Robot 12:c02b08dacc45 138 */
Yo_Robot 22:d5431fff164b 139 int read_encoder();
Yo_Robot 12:c02b08dacc45 140
Yo_Robot 12:c02b08dacc45 141
Yo_Robot 15:a1ffa32ce9d1 142 /** @brief: Cambiar Direccion @ PTO
Yo_Robot 15:a1ffa32ce9d1 143 */
Yo_Robot 22:d5431fff164b 144 void clear_encoder();
Yo_Robot 15:a1ffa32ce9d1 145
Yo_Robot 12:c02b08dacc45 146
Yo_Robot 12:c02b08dacc45 147
Yo_Robot 4:552beeda4722 148 // Legacy
Yo_Robot 4:552beeda4722 149 void setMR3( int newValue );
Yo_Robot 4:552beeda4722 150 void setPrescaler( int newValue );
Yo_Robot 20:4b154134ab20 151 EthernetNetIf configurarEthernet();
Yo_Robot 4:552beeda4722 152
Yo_Robot 4:552beeda4722 153
Yo_Robot 2:a1b556d78a7f 154 #endif