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@30:413d1a6648b5, 2014-02-05 (annotated)

Committer:
Yo_Robot
Date:
Wed Feb 05 18:55:37 2014 +0000
Revision:
30:413d1a6648b5
Parent:
29:52932326c45a
Child:
31:7e2cdd547cb2
Agregados los pines de alarma optoacopladores, aun sin probar y sin agregar codigo

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 QEIHW encoder;
Yo_Robot 24:a1d16835201c 21 extern Timer crono; // Cronometro interno del microcontrolador
Yo_Robot 24:a1d16835201c 22 extern DigitalIn isPC; // Bit de configuracion serial en la placa
Yo_Robot 12:c02b08dacc45 23 extern DigitalOut pin_son; // SON
Yo_Robot 12:c02b08dacc45 24 extern DigitalOut pin_dir; // SIGN+
Yo_Robot 12:c02b08dacc45 25 extern InterruptIn pin_alm; // ALM
Yo_Robot 12:c02b08dacc45 26 extern AnalogOut aout; // +-10V
Yo_Robot 22:d5431fff164b 27 extern DigitalOut led_verde; // Led verde del conector Ethernet
Yo_Robot 24:a1d16835201c 28 extern DigitalOut led_rojo; // Led naranja del conector Ethernet
Yo_Robot 30:413d1a6648b5 29 extern InterruptIn limite_1;
Yo_Robot 30:413d1a6648b5 30 extern InterruptIn limite_2;
Yo_Robot 30:413d1a6648b5 31 extern InterruptIn limite_3;
Yo_Robot 30:413d1a6648b5 32 extern InterruptIn limite_4;
Yo_Robot 20:4b154134ab20 33
Yo_Robot 15:a1ffa32ce9d1 34 int fq_posicion = 10000; // Variable global donde se almacenara
Yo_Robot 15:a1ffa32ce9d1 35 // la velocidad de posicionamiento en Hz
Yo_Robot 24:a1d16835201c 36 float t_alto; // para el posicionamiento del motor
Yo_Robot 23:2126e38bb48c 37
Yo_Robot 26:dad0b2031173 38 int fq_actual = 0; // Ultimo valor seteado para el tren de pulsos
Yo_Robot 22:d5431fff164b 39
Yo_Robot 29:52932326c45a 40 int velocidad_rpm()
Yo_Robot 22:d5431fff164b 41 {
Yo_Robot 25:1910a55ff0a3 42 return encoder.GetPosition();
Yo_Robot 22:d5431fff164b 43 }
Yo_Robot 22:d5431fff164b 44
Yo_Robot 22:d5431fff164b 45 void clear_encoder()
Yo_Robot 22:d5431fff164b 46 {
Yo_Robot 25:1910a55ff0a3 47 encoder.Reset( QEI_RESET_POS ); // reset position
Yo_Robot 22:d5431fff164b 48 }
Yo_Robot 22:d5431fff164b 49
Yo_Robot 4:552beeda4722 50 void setTimer2()
Yo_Robot 3:8d5a9e3cd680 51 {
Yo_Robot 3:8d5a9e3cd680 52 // Encender Timer2 (PCONP[22])
Yo_Robot 3:8d5a9e3cd680 53 LPC_SC->PCONP |= 1 << 22;
Yo_Robot 3:8d5a9e3cd680 54
Yo_Robot 3:8d5a9e3cd680 55 // Resetear y parar el Timer
Yo_Robot 3:8d5a9e3cd680 56 LPC_TIM2->TCR = 0x2;
Yo_Robot 3:8d5a9e3cd680 57 LPC_TIM2->CTCR = 0x0;
Yo_Robot 3:8d5a9e3cd680 58
Yo_Robot 4:552beeda4722 59 // Establecer el Preescaler en cero
Yo_Robot 4:552beeda4722 60 // SIn Preesclaer
Yo_Robot 4:552beeda4722 61 LPC_TIM2->PR = 0;
Yo_Robot 3:8d5a9e3cd680 62
Yo_Robot 4:552beeda4722 63 // Calcular el periodo Inicial
Yo_Robot 4:552beeda4722 64 uint32_t periodo = ( SystemCoreClock / 400 );
Yo_Robot 3:8d5a9e3cd680 65
Yo_Robot 3:8d5a9e3cd680 66 // Establecer los Registros de Coincidencia
Yo_Robot 3:8d5a9e3cd680 67 // ( Match Register )
Yo_Robot 3:8d5a9e3cd680 68 LPC_TIM2->MR2 = periodo;
Yo_Robot 4:552beeda4722 69 LPC_TIM2->MR3 = periodo; // Legacy, salidas identicas
Yo_Robot 3:8d5a9e3cd680 70
Yo_Robot 4:552beeda4722 71 LPC_TIM2->MCR |= 1 << 7; // Resetear Timer en MR2
Yo_Robot 3:8d5a9e3cd680 72
Yo_Robot 3:8d5a9e3cd680 73 LPC_TIM2->EMR |= 15UL << 8; // Alternar Pin MAT2.2
Yo_Robot 3:8d5a9e3cd680 74 // y MAT2.3
Yo_Robot 3:8d5a9e3cd680 75
Yo_Robot 3:8d5a9e3cd680 76 LPC_PINCON->PINSEL0 |= 15UL << 16; //Activar MAT2.2
Yo_Robot 8:958dfe5052b9 77 // y MAT2.3 como salidas
Yo_Robot 8:958dfe5052b9 78
Yo_Robot 6:b4dae934e1ea 79 }
Yo_Robot 6:b4dae934e1ea 80
Yo_Robot 12:c02b08dacc45 81 void ISR_Serial()
Yo_Robot 12:c02b08dacc45 82 {
Yo_Robot 12:c02b08dacc45 83 int value; // Nuevo Valor
Yo_Robot 12:c02b08dacc45 84 char command; // Comando al que aplicar el nuevo valor
Yo_Robot 23:2126e38bb48c 85
Yo_Robot 12:c02b08dacc45 86
Yo_Robot 19:c26cf8a48986 87 if( isPC )
Yo_Robot 23:2126e38bb48c 88 pc.scanf( "%d-%c", &value, &command );
Yo_Robot 19:c26cf8a48986 89 else
Yo_Robot 23:2126e38bb48c 90 RS_232.scanf( "%d-%c", &value, &command );
Yo_Robot 23:2126e38bb48c 91
Yo_Robot 23:2126e38bb48c 92 switch( command )
Yo_Robot 23:2126e38bb48c 93 {
Yo_Robot 19:c26cf8a48986 94
Yo_Robot 29:52932326c45a 95 case 'E': // Leer el contador del encoder.
Yo_Robot 24:a1d16835201c 96 {
Yo_Robot 23:2126e38bb48c 97
Yo_Robot 27:b8254b76ec57 98 //Leer la posición del encoder
Yo_Robot 23:2126e38bb48c 99
Yo_Robot 26:dad0b2031173 100 if( isPC )
Yo_Robot 29:52932326c45a 101 pc.printf("%d\n\r",encoder.GetPosition());
Yo_Robot 26:dad0b2031173 102 else
Yo_Robot 29:52932326c45a 103 RS_232.printf("%d\n\r",encoder.GetPosition());
Yo_Robot 23:2126e38bb48c 104 break;
Yo_Robot 24:a1d16835201c 105 }
Yo_Robot 27:b8254b76ec57 106
Yo_Robot 23:2126e38bb48c 107 case 'H': // Establecer nueva frecuencia
Yo_Robot 24:a1d16835201c 108 {
Yo_Robot 23:2126e38bb48c 109 setPTO( value );
Yo_Robot 26:dad0b2031173 110 fq_actual = value;
Yo_Robot 26:dad0b2031173 111
Yo_Robot 26:dad0b2031173 112 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 113 if( isPC )
Yo_Robot 26:dad0b2031173 114 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 115 else
Yo_Robot 26:dad0b2031173 116 RS_232.printf("OK\r\n");
Yo_Robot 23:2126e38bb48c 117 break;
Yo_Robot 24:a1d16835201c 118 }
Yo_Robot 27:b8254b76ec57 119
Yo_Robot 23:2126e38bb48c 120 case 'K':
Yo_Robot 24:a1d16835201c 121 {
Yo_Robot 23:2126e38bb48c 122 setPTO( value * 1000 );
Yo_Robot 26:dad0b2031173 123 fq_actual = value;
Yo_Robot 26:dad0b2031173 124 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 125 if( isPC )
Yo_Robot 26:dad0b2031173 126 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 127 else
Yo_Robot 26:dad0b2031173 128 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 129
Yo_Robot 23:2126e38bb48c 130 break;
Yo_Robot 24:a1d16835201c 131 }
Yo_Robot 23:2126e38bb48c 132 case 'A': // Cambiar voltaje de salida
Yo_Robot 24:a1d16835201c 133 {
Yo_Robot 23:2126e38bb48c 134 aout = (float)( value + 10000.0 ) / 20000.0;
Yo_Robot 26:dad0b2031173 135
Yo_Robot 26:dad0b2031173 136 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 137 if( isPC )
Yo_Robot 26:dad0b2031173 138 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 139 else
Yo_Robot 26:dad0b2031173 140 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 141
Yo_Robot 23:2126e38bb48c 142 break;
Yo_Robot 24:a1d16835201c 143 }
Yo_Robot 23:2126e38bb48c 144 case 'D': // Cambiar la direccion
Yo_Robot 24:a1d16835201c 145 {
Yo_Robot 26:dad0b2031173 146
Yo_Robot 23:2126e38bb48c 147 stopTimer2();
Yo_Robot 23:2126e38bb48c 148 pin_dir = value;
Yo_Robot 23:2126e38bb48c 149 wait_us( 2 );
Yo_Robot 26:dad0b2031173 150
Yo_Robot 26:dad0b2031173 151 if ( fq_actual != 0 )
Yo_Robot 26:dad0b2031173 152 {
Yo_Robot 26:dad0b2031173 153 startTimer2();
Yo_Robot 26:dad0b2031173 154 }
Yo_Robot 26:dad0b2031173 155
Yo_Robot 26:dad0b2031173 156 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 157 if( isPC )
Yo_Robot 26:dad0b2031173 158 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 159 else
Yo_Robot 26:dad0b2031173 160 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 161
Yo_Robot 23:2126e38bb48c 162 break;
Yo_Robot 24:a1d16835201c 163 }
Yo_Robot 23:2126e38bb48c 164 case 'V': //Setear la velocidad de Posicionamiento
Yo_Robot 24:a1d16835201c 165 {
Yo_Robot 23:2126e38bb48c 166 fq_posicion = value;
Yo_Robot 26:dad0b2031173 167
Yo_Robot 26:dad0b2031173 168 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 169 if( isPC )
Yo_Robot 26:dad0b2031173 170 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 171 else
Yo_Robot 26:dad0b2031173 172 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 173
Yo_Robot 23:2126e38bb48c 174 break;
Yo_Robot 24:a1d16835201c 175 }
Yo_Robot 27:b8254b76ec57 176
Yo_Robot 27:b8254b76ec57 177 // Generar un numero definido de pulsos a la velocidad de posicionamiento
Yo_Robot 29:52932326c45a 178 case 'P':
Yo_Robot 24:a1d16835201c 179 {
Yo_Robot 28:b7ded82ee7da 180 float pulsos = value; //Numero de pulsos a generar
Yo_Robot 28:b7ded82ee7da 181 t_alto = (float)(pulsos / fq_posicion); //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 27:b8254b76ec57 182
Yo_Robot 27:b8254b76ec57 183 //DEBUG
Yo_Robot 27:b8254b76ec57 184 pc.printf("Tiempo en timer en seg = %f", t_alto);
Yo_Robot 27:b8254b76ec57 185
Yo_Robot 23:2126e38bb48c 186 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 23:2126e38bb48c 187 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 23:2126e38bb48c 188 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 23:2126e38bb48c 189 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 23:2126e38bb48c 190 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 26:dad0b2031173 191
Yo_Robot 26:dad0b2031173 192
Yo_Robot 26:dad0b2031173 193 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 194 if( isPC )
Yo_Robot 26:dad0b2031173 195 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 196 else
Yo_Robot 26:dad0b2031173 197 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 198
Yo_Robot 26:dad0b2031173 199
Yo_Robot 23:2126e38bb48c 200 break;
Yo_Robot 24:a1d16835201c 201 }
Yo_Robot 27:b8254b76ec57 202
Yo_Robot 27:b8254b76ec57 203 // Generar un numero definido de MILES de pulsos a la velocidad de posicionamiento
Yo_Robot 29:52932326c45a 204 case 'M':
Yo_Robot 27:b8254b76ec57 205 {
Yo_Robot 28:b7ded82ee7da 206 float pulsos = value * 1000; //Numero de pulsos a generar
Yo_Robot 28:b7ded82ee7da 207 t_alto = (float)(pulsos / fq_posicion); //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 27:b8254b76ec57 208
Yo_Robot 27:b8254b76ec57 209 //DEBUG
Yo_Robot 27:b8254b76ec57 210 pc.printf("Tiempo en timer en seg = %f", t_alto);
Yo_Robot 27:b8254b76ec57 211
Yo_Robot 27:b8254b76ec57 212 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 27:b8254b76ec57 213 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 27:b8254b76ec57 214 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 27:b8254b76ec57 215 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 27:b8254b76ec57 216 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 27:b8254b76ec57 217
Yo_Robot 27:b8254b76ec57 218
Yo_Robot 27:b8254b76ec57 219 // Envia un OK de comando recibido
Yo_Robot 27:b8254b76ec57 220 if( isPC )
Yo_Robot 27:b8254b76ec57 221 pc.printf("OK\r\n");
Yo_Robot 27:b8254b76ec57 222 else
Yo_Robot 27:b8254b76ec57 223 RS_232.printf("OK\r\n");
Yo_Robot 27:b8254b76ec57 224
Yo_Robot 27:b8254b76ec57 225
Yo_Robot 27:b8254b76ec57 226 break;
Yo_Robot 27:b8254b76ec57 227 }
Yo_Robot 27:b8254b76ec57 228
Yo_Robot 27:b8254b76ec57 229 // Generar un numero definido de MILLONES pulsos a la velocidad de posicionamiento
Yo_Robot 29:52932326c45a 230 case 'N':
Yo_Robot 27:b8254b76ec57 231 {
Yo_Robot 28:b7ded82ee7da 232 float pulsos = value * 1000000; //Numero de pulsos a generar
Yo_Robot 28:b7ded82ee7da 233 t_alto = (float)(pulsos / fq_posicion); //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 27:b8254b76ec57 234
Yo_Robot 27:b8254b76ec57 235 //DEBUG
Yo_Robot 27:b8254b76ec57 236 pc.printf("Tiempo en timer en seg = %f", t_alto);
Yo_Robot 27:b8254b76ec57 237
Yo_Robot 27:b8254b76ec57 238 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 27:b8254b76ec57 239 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 27:b8254b76ec57 240 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 27:b8254b76ec57 241 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 27:b8254b76ec57 242 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 27:b8254b76ec57 243
Yo_Robot 27:b8254b76ec57 244
Yo_Robot 27:b8254b76ec57 245 // Envia un OK de comando recibido
Yo_Robot 27:b8254b76ec57 246 if( isPC )
Yo_Robot 27:b8254b76ec57 247 pc.printf("OK\r\n");
Yo_Robot 27:b8254b76ec57 248 else
Yo_Robot 27:b8254b76ec57 249 RS_232.printf("OK\r\n");
Yo_Robot 27:b8254b76ec57 250
Yo_Robot 27:b8254b76ec57 251
Yo_Robot 27:b8254b76ec57 252 break;
Yo_Robot 27:b8254b76ec57 253 }
Yo_Robot 27:b8254b76ec57 254
Yo_Robot 27:b8254b76ec57 255
Yo_Robot 29:52932326c45a 256 case 'R': // Leer la velocidd del encoder en RPM's
Yo_Robot 24:a1d16835201c 257 {
Yo_Robot 23:2126e38bb48c 258 if( isPC )
Yo_Robot 29:52932326c45a 259 pc.printf( "%d",velocidad_rpm() );
Yo_Robot 23:2126e38bb48c 260 else
Yo_Robot 29:52932326c45a 261 RS_232.printf( "%d",velocidad_rpm() );
Yo_Robot 23:2126e38bb48c 262 break;
Yo_Robot 24:a1d16835201c 263 }
Yo_Robot 26:dad0b2031173 264
Yo_Robot 23:2126e38bb48c 265 case 'Z': //Limpiar contador encoder
Yo_Robot 29:52932326c45a 266 encoder.Reset(QEI_RESET_POS);
Yo_Robot 29:52932326c45a 267 encoder.Reset(QEI_RESET_VEL);
Yo_Robot 26:dad0b2031173 268
Yo_Robot 26:dad0b2031173 269 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 270 if( isPC )
Yo_Robot 26:dad0b2031173 271 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 272 else
Yo_Robot 26:dad0b2031173 273 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 274
Yo_Robot 23:2126e38bb48c 275 break;
Yo_Robot 23:2126e38bb48c 276
Yo_Robot 23:2126e38bb48c 277 case 'S': //Encender el Servo
Yo_Robot 26:dad0b2031173 278
Yo_Robot 23:2126e38bb48c 279 pin_son = value;
Yo_Robot 26:dad0b2031173 280
Yo_Robot 26:dad0b2031173 281 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 282 if( isPC )
Yo_Robot 26:dad0b2031173 283 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 284 else
Yo_Robot 26:dad0b2031173 285 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 286
Yo_Robot 23:2126e38bb48c 287 break;
Yo_Robot 28:b7ded82ee7da 288
Yo_Robot 28:b7ded82ee7da 289 default:
Yo_Robot 28:b7ded82ee7da 290
Yo_Robot 28:b7ded82ee7da 291 // EL COMANDO NO SE RECONOCE: No Aplica
Yo_Robot 28:b7ded82ee7da 292 if( isPC )
Yo_Robot 28:b7ded82ee7da 293 pc.printf("NA\r\n");
Yo_Robot 28:b7ded82ee7da 294 else
Yo_Robot 28:b7ded82ee7da 295 RS_232.printf("NA\r\n");
Yo_Robot 28:b7ded82ee7da 296
Yo_Robot 28:b7ded82ee7da 297 break;
Yo_Robot 18:cf1e07d82630 298 }
Yo_Robot 23:2126e38bb48c 299
Yo_Robot 12:c02b08dacc45 300 }
Yo_Robot 12:c02b08dacc45 301
Yo_Robot 12:c02b08dacc45 302
Yo_Robot 12:c02b08dacc45 303 void setPTO( int freq )
Yo_Robot 12:c02b08dacc45 304 {
Yo_Robot 12:c02b08dacc45 305 if( freq != 0 )
Yo_Robot 12:c02b08dacc45 306 {
Yo_Robot 12:c02b08dacc45 307 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 308 setMR2( getMRvalue( freq ) );
Yo_Robot 12:c02b08dacc45 309 startTimer2();
Yo_Robot 12:c02b08dacc45 310
Yo_Robot 12:c02b08dacc45 311 }else{
Yo_Robot 12:c02b08dacc45 312
Yo_Robot 12:c02b08dacc45 313 stopTimer2();
Yo_Robot 12:c02b08dacc45 314 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 315 }
Yo_Robot 12:c02b08dacc45 316 }
Yo_Robot 12:c02b08dacc45 317
Yo_Robot 22:d5431fff164b 318
Yo_Robot 22:d5431fff164b 319
Yo_Robot 22:d5431fff164b 320 void ISR_Alarm()
Yo_Robot 22:d5431fff164b 321 {
Yo_Robot 22:d5431fff164b 322 pin_son = 0 ;
Yo_Robot 22:d5431fff164b 323 stopTimer2();
Yo_Robot 22:d5431fff164b 324 aout = 0.5 ;
Yo_Robot 22:d5431fff164b 325
Yo_Robot 22:d5431fff164b 326 if(isPC)
Yo_Robot 26:dad0b2031173 327 pc.printf( "AL\r\n" ); //ALARMA! solo es AL para que
Yo_Robot 22:d5431fff164b 328 //sea conciso con el modo ETH y funcione
Yo_Robot 22:d5431fff164b 329 //bien en LabVIEW.
Yo_Robot 22:d5431fff164b 330 else
Yo_Robot 26:dad0b2031173 331 RS_232.printf( "AL\r\n" );
Yo_Robot 22:d5431fff164b 332 }
Yo_Robot 22:d5431fff164b 333
Yo_Robot 30:413d1a6648b5 334
Yo_Robot 30:413d1a6648b5 335
Yo_Robot 30:413d1a6648b5 336
Yo_Robot 30:413d1a6648b5 337 /** @brief: Esta es la rutina que maneja las interrupciones
Yo_Robot 30:413d1a6648b5 338 * del sensor óptico, al recibir una ALARMA de proximidad al encoder
Yo_Robot 30:413d1a6648b5 339 */
Yo_Robot 30:413d1a6648b5 340 void ISR_Alm_encoder(){}
Yo_Robot 30:413d1a6648b5 341
Yo_Robot 30:413d1a6648b5 342
Yo_Robot 30:413d1a6648b5 343 /** @brief: Esta es la rutina que maneja las interrupciones
Yo_Robot 30:413d1a6648b5 344 * del sensor óptico, al recibir una ALARMA de proximidad al motor
Yo_Robot 30:413d1a6648b5 345 */
Yo_Robot 30:413d1a6648b5 346 void ISR_Alm_motor(){}
Yo_Robot 30:413d1a6648b5 347
Yo_Robot 30:413d1a6648b5 348
Yo_Robot 30:413d1a6648b5 349 /** @brief: Esta es la rutina que maneja las interrupciones
Yo_Robot 30:413d1a6648b5 350 * del sensor óptico, al recibir una advertencia de proximidad al encoder
Yo_Robot 30:413d1a6648b5 351 */
Yo_Robot 30:413d1a6648b5 352 void ISR_Adv_encoder(){}
Yo_Robot 30:413d1a6648b5 353
Yo_Robot 30:413d1a6648b5 354
Yo_Robot 30:413d1a6648b5 355 /** @brief: Esta es la rutina que maneja las interrupciones
Yo_Robot 30:413d1a6648b5 356 * del sensor óptico, al recibir una advertencia de proximidad al motor
Yo_Robot 30:413d1a6648b5 357 */
Yo_Robot 30:413d1a6648b5 358 void ISR_Adv_motor(){}
Yo_Robot 30:413d1a6648b5 359
Yo_Robot 30:413d1a6648b5 360
Yo_Robot 30:413d1a6648b5 361
Yo_Robot 22:d5431fff164b 362 int getMRvalue( int fout )
Yo_Robot 22:d5431fff164b 363 {
Yo_Robot 22:d5431fff164b 364 int toRegister;
Yo_Robot 22:d5431fff164b 365
Yo_Robot 22:d5431fff164b 366 toRegister = (24000000 /(fout*2.0) ) -1;
Yo_Robot 22:d5431fff164b 367 return toRegister;
Yo_Robot 22:d5431fff164b 368 }
Yo_Robot 22:d5431fff164b 369
Yo_Robot 22:d5431fff164b 370
Yo_Robot 22:d5431fff164b 371 void setMR2( int newValue )
Yo_Robot 22:d5431fff164b 372 {
Yo_Robot 22:d5431fff164b 373 LPC_TIM2->MR2 = newValue; // Las dos salidas son identicas
Yo_Robot 22:d5431fff164b 374 LPC_TIM2->MR3 = newValue; // Para testear el programa.
Yo_Robot 22:d5431fff164b 375 }
Yo_Robot 22:d5431fff164b 376
Yo_Robot 22:d5431fff164b 377
Yo_Robot 22:d5431fff164b 378
Yo_Robot 22:d5431fff164b 379 void startTimer2()
Yo_Robot 22:d5431fff164b 380 {
Yo_Robot 22:d5431fff164b 381 // Arrancer el Timer 2
Yo_Robot 22:d5431fff164b 382 LPC_TIM2->TCR = 1;
Yo_Robot 22:d5431fff164b 383 }
Yo_Robot 22:d5431fff164b 384
Yo_Robot 22:d5431fff164b 385 void stopTimer2()
Yo_Robot 22:d5431fff164b 386 {
Yo_Robot 22:d5431fff164b 387 // Detener el Timer 2
Yo_Robot 22:d5431fff164b 388 LPC_TIM2->TCR = 0x2;
Yo_Robot 22:d5431fff164b 389 }
Yo_Robot 22:d5431fff164b 390
Yo_Robot 22:d5431fff164b 391 int getBaud()
Yo_Robot 22:d5431fff164b 392 {
Yo_Robot 22:d5431fff164b 393 int baudios = 115200; //Valor por defecto
Yo_Robot 22:d5431fff164b 394
Yo_Robot 22:d5431fff164b 395 FILE *fp = fopen("/local/config.mbd", "r"); // Abre el archivo y lo guarda en fp
Yo_Robot 22:d5431fff164b 396
Yo_Robot 22:d5431fff164b 397 if(!fp) // En caso de no encontrarse el archivo
Yo_Robot 22:d5431fff164b 398 {
Yo_Robot 22:d5431fff164b 399 printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n");
Yo_Robot 22:d5431fff164b 400 printf("Cree un archivo de texto: config.mbd dentro de la unidad Mbed\n");
Yo_Robot 22:d5431fff164b 401 printf("que contenga las lineas:\n\n");
Yo_Robot 22:d5431fff164b 402
Yo_Robot 22:d5431fff164b 403 printf(" 1\n");
Yo_Robot 22:d5431fff164b 404 printf(" 2\n");
Yo_Robot 22:d5431fff164b 405 printf(" 3\n");
Yo_Robot 22:d5431fff164b 406 printf(" 4\n");
Yo_Robot 22:d5431fff164b 407 printf(" baudios: 115200\n");
Yo_Robot 22:d5431fff164b 408
Yo_Robot 22:d5431fff164b 409 printf("Cambie el valor de 115200 por la velocidad a la que desea transmitir:\n");
Yo_Robot 22:d5431fff164b 410 printf("luego reinicie el microcontrolador\n");
Yo_Robot 22:d5431fff164b 411 exit(1);
Yo_Robot 22:d5431fff164b 412
Yo_Robot 22:d5431fff164b 413 }
Yo_Robot 22:d5431fff164b 414 else
Yo_Robot 22:d5431fff164b 415 {
Yo_Robot 22:d5431fff164b 416 // Cadenas de caracteres desde el Archivo config.mbd
Yo_Robot 22:d5431fff164b 417 char notstr [04]; // linea vacia
Yo_Robot 22:d5431fff164b 418 char baud [40]; // valor en baudios
Yo_Robot 22:d5431fff164b 419
Yo_Robot 22:d5431fff164b 420 // Leer linea a linea el archivo
Yo_Robot 22:d5431fff164b 421 // cuatro primeras lineas no sirven
Yo_Robot 22:d5431fff164b 422 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 423 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 424 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 425 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 426 fgets( baud, 40, fp );
Yo_Robot 22:d5431fff164b 427 fclose(fp);
Yo_Robot 23:2126e38bb48c 428
Yo_Robot 22:d5431fff164b 429 // Extraer los valores numericos
Yo_Robot 22:d5431fff164b 430 sscanf( baud,"%*s %d",&baudios );
Yo_Robot 22:d5431fff164b 431
Yo_Robot 22:d5431fff164b 432
Yo_Robot 22:d5431fff164b 433 }
Yo_Robot 22:d5431fff164b 434
Yo_Robot 22:d5431fff164b 435 return baudios;
Yo_Robot 22:d5431fff164b 436 }
Yo_Robot 22:d5431fff164b 437
Yo_Robot 22:d5431fff164b 438 // **** Funciones Liberia Ethernet ***** //
Yo_Robot 12:c02b08dacc45 439 void setPTO_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 440 {
Yo_Robot 12:c02b08dacc45 441 int freq = atoi( input );
Yo_Robot 12:c02b08dacc45 442
Yo_Robot 12:c02b08dacc45 443 if( freq != 0 ){
Yo_Robot 12:c02b08dacc45 444 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 12:c02b08dacc45 445 setMR2( getMRvalue( freq ) ); // Cambiar frefuencia
Yo_Robot 12:c02b08dacc45 446 startTimer2(); // Iniciar Timer
Yo_Robot 14:039d070732d5 447 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 448 sprintf( output,"OK\r\n" );
Yo_Robot 14:039d070732d5 449 else
Yo_Robot 14:039d070732d5 450 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 451 }else{
Yo_Robot 12:c02b08dacc45 452 stopTimer2();
Yo_Robot 12:c02b08dacc45 453 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 14:039d070732d5 454 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 455 sprintf( output,"OK\r\n" );
Yo_Robot 14:039d070732d5 456 else
Yo_Robot 14:039d070732d5 457 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 458 }
Yo_Robot 12:c02b08dacc45 459 }
Yo_Robot 12:c02b08dacc45 460
Yo_Robot 15:a1ffa32ce9d1 461 void setANG_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 462 {
Yo_Robot 15:a1ffa32ce9d1 463 long int pulsos = atol( input ); //Numero de pulsos a generar
Yo_Robot 29:52932326c45a 464 float pulsos_f = (float) pulsos;
Yo_Robot 29:52932326c45a 465 t_alto = pulsos_f / fq_posicion; //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 15:a1ffa32ce9d1 466
Yo_Robot 15:a1ffa32ce9d1 467 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 468 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 15:a1ffa32ce9d1 469 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 470 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 18:cf1e07d82630 471 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 15:a1ffa32ce9d1 472
Yo_Robot 15:a1ffa32ce9d1 473 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 474 sprintf( output,"OK\r\n" );
Yo_Robot 15:a1ffa32ce9d1 475 else
Yo_Robot 15:a1ffa32ce9d1 476 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 477
Yo_Robot 15:a1ffa32ce9d1 478 }
Yo_Robot 21:353b0fe8fc54 479
Yo_Robot 21:353b0fe8fc54 480
Yo_Robot 15:a1ffa32ce9d1 481 void setSPD_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 482 {
Yo_Robot 15:a1ffa32ce9d1 483 fq_posicion = atoi( input );
Yo_Robot 15:a1ffa32ce9d1 484 // Esta funcion cambia la velocidad con la que se
Yo_Robot 15:a1ffa32ce9d1 485 // posicionara el eje del motor en un angulo determinado
Yo_Robot 15:a1ffa32ce9d1 486 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 487 sprintf( output,"OK\r\n" );
Yo_Robot 15:a1ffa32ce9d1 488 else
Yo_Robot 15:a1ffa32ce9d1 489 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 490
Yo_Robot 15:a1ffa32ce9d1 491 }
Yo_Robot 21:353b0fe8fc54 492
Yo_Robot 12:c02b08dacc45 493 void setAout_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 494 {
Yo_Robot 12:c02b08dacc45 495 int vout = atoi( input );
Yo_Robot 14:039d070732d5 496 aout = (float)( vout + 10000 ) / 20000;
Yo_Robot 14:039d070732d5 497 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 498 sprintf( output,"OK\r\n" );
Yo_Robot 14:039d070732d5 499 else
Yo_Robot 14:039d070732d5 500 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 501 }
Yo_Robot 12:c02b08dacc45 502
Yo_Robot 12:c02b08dacc45 503
Yo_Robot 12:c02b08dacc45 504
Yo_Robot 12:c02b08dacc45 505 void setDir_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 506 {
Yo_Robot 12:c02b08dacc45 507 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 508
Yo_Robot 12:c02b08dacc45 509 pin_dir = value;
Yo_Robot 12:c02b08dacc45 510
Yo_Robot 14:039d070732d5 511 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 512 sprintf( output,"OK\r\n" );
Yo_Robot 12:c02b08dacc45 513 else
Yo_Robot 14:039d070732d5 514 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 515 }
Yo_Robot 12:c02b08dacc45 516
Yo_Robot 12:c02b08dacc45 517
Yo_Robot 12:c02b08dacc45 518
Yo_Robot 12:c02b08dacc45 519 void setSON_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 520 {
Yo_Robot 12:c02b08dacc45 521 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 522
Yo_Robot 12:c02b08dacc45 523 pin_son = value;
Yo_Robot 12:c02b08dacc45 524
Yo_Robot 14:039d070732d5 525 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 526 sprintf( output,"OK\r\n" );
Yo_Robot 12:c02b08dacc45 527 else
Yo_Robot 14:039d070732d5 528 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 529
Yo_Robot 12:c02b08dacc45 530 }
Yo_Robot 12:c02b08dacc45 531
Yo_Robot 12:c02b08dacc45 532
Yo_Robot 22:d5431fff164b 533 void getENC_eth( char * input, char * output )
Yo_Robot 20:4b154134ab20 534 {
Yo_Robot 22:d5431fff164b 535 if( pin_alm == 0 )
Yo_Robot 29:52932326c45a 536 sprintf( output,"%d", encoder.GetPosition() );
Yo_Robot 22:d5431fff164b 537 else
Yo_Robot 22:d5431fff164b 538 sprintf( output,"AL" );
Yo_Robot 22:d5431fff164b 539 }
Yo_Robot 21:353b0fe8fc54 540
Yo_Robot 21:353b0fe8fc54 541
Yo_Robot 22:d5431fff164b 542 void setENC_eth( char * input, char * output )
Yo_Robot 22:d5431fff164b 543 {
Yo_Robot 29:52932326c45a 544 encoder.Reset(QEI_RESET_POS);
Yo_Robot 29:52932326c45a 545 encoder.Reset(QEI_RESET_VEL);
Yo_Robot 22:d5431fff164b 546
Yo_Robot 22:d5431fff164b 547 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 548 sprintf( output,"OK\r\n" );
Yo_Robot 22:d5431fff164b 549 else
Yo_Robot 22:d5431fff164b 550 sprintf( output,"AL" );
Yo_Robot 22:d5431fff164b 551
Yo_Robot 20:4b154134ab20 552 }
Yo_Robot 12:c02b08dacc45 553
Yo_Robot 23:2126e38bb48c 554 void getRPM_eth( char * input, char * output )
Yo_Robot 23:2126e38bb48c 555 {
Yo_Robot 29:52932326c45a 556 int rpm;
Yo_Robot 23:2126e38bb48c 557
Yo_Robot 29:52932326c45a 558 rpm = encoder.CalculateRPM( encoder.GetVelocityCap(), 360); // ultima velocidad leida desde el encoder
Yo_Robot 29:52932326c45a 559 // numero de revoluciones por vuelta del encoder
Yo_Robot 29:52932326c45a 560
Yo_Robot 23:2126e38bb48c 561
Yo_Robot 23:2126e38bb48c 562 if( pin_alm == 0 )
Yo_Robot 29:52932326c45a 563 sprintf( output,"%d",rpm );
Yo_Robot 23:2126e38bb48c 564 else
Yo_Robot 29:52932326c45a 565 sprintf( output,"AL" );
Yo_Robot 23:2126e38bb48c 566
Yo_Robot 23:2126e38bb48c 567
Yo_Robot 23:2126e38bb48c 568 }
Yo_Robot 23:2126e38bb48c 569
Yo_Robot 21:353b0fe8fc54 570
Yo_Robot 22:d5431fff164b 571
Yo_Robot 22:d5431fff164b 572
Yo_Robot 22:d5431fff164b 573
Yo_Robot 4:552beeda4722 574 /* LEGACY FUNCTIONS
Yo_Robot 4:552beeda4722 575 *
Yo_Robot 20:4b154134ab20 576 * El siguiente codigo no es utilizado por el
Yo_Robot 20:4b154134ab20 577 * programa. Sin embargo pueden servir como
Yo_Robot 20:4b154134ab20 578 * futuras referencias.
Yo_Robot 4:552beeda4722 579 */
Yo_Robot 4:552beeda4722 580 void setMR3( int newValue )
Yo_Robot 4:552beeda4722 581 {
Yo_Robot 4:552beeda4722 582 LPC_TIM2->MR3 = newValue;
Yo_Robot 4:552beeda4722 583 }
Yo_Robot 4:552beeda4722 584
Yo_Robot 4:552beeda4722 585
Yo_Robot 4:552beeda4722 586 void setPrescaler( int newValue)
Yo_Robot 4:552beeda4722 587 {
Yo_Robot 4:552beeda4722 588 LPC_TIM2->PR = newValue;
Yo_Robot 4:552beeda4722 589 }
Yo_Robot 20:4b154134ab20 590
Yo_Robot 20:4b154134ab20 591
Yo_Robot 20:4b154134ab20 592 EthernetNetIf configurarEthernet()
Yo_Robot 20:4b154134ab20 593 {
Yo_Robot 20:4b154134ab20 594 //____________ *** ARCHIVO DE CONFIGURACION ***_______________________ //
Yo_Robot 20:4b154134ab20 595
Yo_Robot 20:4b154134ab20 596 printf("\n *** CONFIGURACION ETHERNET DE MBED ***\n");
Yo_Robot 20:4b154134ab20 597 printf("Leyendo archivo de configuracion...\n\n");
Yo_Robot 20:4b154134ab20 598
Yo_Robot 20:4b154134ab20 599 FILE *fp = fopen("/local/config.txt", "r"); // Abre el archivo y lo guarda en fp
Yo_Robot 20:4b154134ab20 600
Yo_Robot 20:4b154134ab20 601 if(!fp) // En caso de no encontrarse el archivo
Yo_Robot 20:4b154134ab20 602 {
Yo_Robot 20:4b154134ab20 603 printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n");
Yo_Robot 20:4b154134ab20 604 exit(1);
Yo_Robot 20:4b154134ab20 605
Yo_Robot 20:4b154134ab20 606 }
Yo_Robot 20:4b154134ab20 607 else
Yo_Robot 20:4b154134ab20 608 {
Yo_Robot 20:4b154134ab20 609 // Cadenas de caracteres desde el Archivo config.txt
Yo_Robot 20:4b154134ab20 610 char isDHCP [15]; //Modo Automatico o Manual
Yo_Robot 20:4b154134ab20 611 char empty [2]; // Linea vacia
Yo_Robot 20:4b154134ab20 612 char ip [40]; // Direccion IP
Yo_Robot 20:4b154134ab20 613 char mask [40]; // Mascara de Subred
Yo_Robot 20:4b154134ab20 614 char gate [40]; // Puerta de enlace
Yo_Robot 20:4b154134ab20 615 char dns [40]; // Direccion DNS
Yo_Robot 20:4b154134ab20 616
Yo_Robot 20:4b154134ab20 617 // Valores 'int' para agregar a la configuracion manual
Yo_Robot 20:4b154134ab20 618 int DHCP;
Yo_Robot 20:4b154134ab20 619 int n_ip[4];
Yo_Robot 20:4b154134ab20 620 int n_mask[4];
Yo_Robot 20:4b154134ab20 621 int n_gate[4];
Yo_Robot 20:4b154134ab20 622 int n_dns[4];
Yo_Robot 20:4b154134ab20 623
Yo_Robot 20:4b154134ab20 624
Yo_Robot 20:4b154134ab20 625 // Leer linea a linea el archivo
Yo_Robot 20:4b154134ab20 626 fgets( isDHCP, 15, fp );
Yo_Robot 20:4b154134ab20 627 fgets( empty, 2, fp );
Yo_Robot 20:4b154134ab20 628 fgets( ip, 40, fp );
Yo_Robot 20:4b154134ab20 629 fgets( mask, 40, fp );
Yo_Robot 20:4b154134ab20 630 fgets( gate, 40, fp );
Yo_Robot 20:4b154134ab20 631 fgets( dns, 40, fp );
Yo_Robot 20:4b154134ab20 632
Yo_Robot 20:4b154134ab20 633 printf("Cerrando archivo...\n");
Yo_Robot 20:4b154134ab20 634 fclose(fp);
Yo_Robot 20:4b154134ab20 635
Yo_Robot 20:4b154134ab20 636 // Extraer los valores numericos
Yo_Robot 20:4b154134ab20 637 sscanf( isDHCP,"%*s %d",&DHCP );
Yo_Robot 20:4b154134ab20 638
Yo_Robot 20:4b154134ab20 639 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0],&n_ip[1],&n_ip[2],&n_ip[3] );
Yo_Robot 20:4b154134ab20 640 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 20:4b154134ab20 641 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 20:4b154134ab20 642 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0],&n_dns[1],&n_dns[2],&n_dns[3] );
Yo_Robot 20:4b154134ab20 643
Yo_Robot 20:4b154134ab20 644
Yo_Robot 20:4b154134ab20 645 if(DHCP) //En caso de modo DHCP
Yo_Robot 20:4b154134ab20 646 {
Yo_Robot 20:4b154134ab20 647 printf("\n Configurar red de manera automatica\n");
Yo_Robot 20:4b154134ab20 648 EthernetNetIf eth; //Crea la interfaz
Yo_Robot 20:4b154134ab20 649 EthernetErr ethErr = eth.setup();
Yo_Robot 20:4b154134ab20 650 if( ethErr )
Yo_Robot 20:4b154134ab20 651 {
Yo_Robot 20:4b154134ab20 652 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 20:4b154134ab20 653 exit(1);
Yo_Robot 20:4b154134ab20 654 }
Yo_Robot 20:4b154134ab20 655
Yo_Robot 20:4b154134ab20 656 printf("Configuracion Correcta\n\n");
Yo_Robot 20:4b154134ab20 657 return eth;
Yo_Robot 20:4b154134ab20 658 }
Yo_Robot 20:4b154134ab20 659 else
Yo_Robot 20:4b154134ab20 660 {
Yo_Robot 20:4b154134ab20 661 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0], &n_ip[1], &n_ip[2], &n_ip[3] );
Yo_Robot 20:4b154134ab20 662 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 20:4b154134ab20 663 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 20:4b154134ab20 664 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0], &n_dns[1], &n_dns[2], &n_dns[3] );
Yo_Robot 20:4b154134ab20 665 printf(" %s %s %s %s %s\n " , isDHCP, ip, mask, gate, dns );
Yo_Robot 20:4b154134ab20 666
Yo_Robot 20:4b154134ab20 667 printf("\n Configurar red de manera manual\n");
Yo_Robot 20:4b154134ab20 668 EthernetNetIf eth(
Yo_Robot 20:4b154134ab20 669 IpAddr( n_ip[0], n_ip[1], n_ip[2], n_ip[3]), //IP Address
Yo_Robot 20:4b154134ab20 670 IpAddr( n_mask[0],n_mask[1],n_mask[2],n_mask[3]), //Network Mask
Yo_Robot 20:4b154134ab20 671 IpAddr( n_gate[0],n_gate[1],n_gate[2],n_gate[3]), //Gateway
Yo_Robot 20:4b154134ab20 672 IpAddr( n_dns[0], n_dns[1], n_dns[2], n_dns[3] ) //DNS
Yo_Robot 20:4b154134ab20 673 );
Yo_Robot 20:4b154134ab20 674
Yo_Robot 20:4b154134ab20 675 EthernetErr ethErr = eth.setup();
Yo_Robot 20:4b154134ab20 676 if( ethErr )
Yo_Robot 20:4b154134ab20 677 {
Yo_Robot 20:4b154134ab20 678 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 20:4b154134ab20 679 exit(1);
Yo_Robot 20:4b154134ab20 680 }
Yo_Robot 20:4b154134ab20 681
Yo_Robot 20:4b154134ab20 682 printf("Configuracion Correcta\n\n");
Yo_Robot 20:4b154134ab20 683 return eth;
Yo_Robot 20:4b154134ab20 684 }
Yo_Robot 20:4b154134ab20 685
Yo_Robot 20:4b154134ab20 686 }
Yo_Robot 20:4b154134ab20 687
Yo_Robot 20:4b154134ab20 688 EthernetNetIf eth;
Yo_Robot 20:4b154134ab20 689 return eth;
Yo_Robot 20:4b154134ab20 690 }