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@29:52932326c45a, 2014-02-04 (annotated)

Committer:
Yo_Robot
Date:
Tue Feb 04 16:40:15 2014 +0000
Revision:
29:52932326c45a
Parent:
28:b7ded82ee7da
Child:
30:413d1a6648b5
Se cambiaron los nombres de algunas funciones seriales, y de Ethernet, se agregaron las funciones del encoder con la Interfaz QEI, a?n no se prueban

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