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@17:a4f380bc2516, 2012-05-02 (annotated)

Committer:
Yo_Robot
Date:
Wed May 02 01:15:36 2012 +0000
Revision:
17:a4f380bc2516
Parent:
16:d50665706f21
Child:
18:cf1e07d82630
Version 1.4  Archivo de Configuracin funciona bien, falta funciones del encoder

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yo_Robot 4:552beeda4722 1 /**
Yo_Robot 4:552beeda4722 2 * @brief Tren de impulsos con Timer2
Yo_Robot 4:552beeda4722 3 * @file setup.cpp
Yo_Robot 4:552beeda4722 4 * @author Ernesto Palacios
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 3:8d5a9e3cd680 12
Yo_Robot 3:8d5a9e3cd680 13 #include "setup.h"
Yo_Robot 3:8d5a9e3cd680 14 #include "mbed.h"
Yo_Robot 3:8d5a9e3cd680 15
Yo_Robot 3:8d5a9e3cd680 16 // Salida Serial de mbed
Yo_Robot 3:8d5a9e3cd680 17 extern Serial pc;
Yo_Robot 12:c02b08dacc45 18 extern DigitalOut pin_son; // SON
Yo_Robot 12:c02b08dacc45 19 extern DigitalOut pin_dir; // SIGN+
Yo_Robot 12:c02b08dacc45 20 extern InterruptIn pin_alm; // ALM
Yo_Robot 12:c02b08dacc45 21 extern AnalogOut aout; // +-10V
Yo_Robot 3:8d5a9e3cd680 22
Yo_Robot 15:a1ffa32ce9d1 23 int fq_posicion = 10000; // Variable global donde se almacenara
Yo_Robot 15:a1ffa32ce9d1 24 // la velocidad de posicionamiento en Hz
Yo_Robot 15:a1ffa32ce9d1 25
Yo_Robot 3:8d5a9e3cd680 26
Yo_Robot 4:552beeda4722 27 void setTimer2()
Yo_Robot 3:8d5a9e3cd680 28 {
Yo_Robot 3:8d5a9e3cd680 29 // Encender Timer2 (PCONP[22])
Yo_Robot 3:8d5a9e3cd680 30 LPC_SC->PCONP |= 1 << 22;
Yo_Robot 3:8d5a9e3cd680 31
Yo_Robot 3:8d5a9e3cd680 32 // Resetear y parar el Timer
Yo_Robot 3:8d5a9e3cd680 33 LPC_TIM2->TCR = 0x2;
Yo_Robot 3:8d5a9e3cd680 34 LPC_TIM2->CTCR = 0x0;
Yo_Robot 3:8d5a9e3cd680 35
Yo_Robot 4:552beeda4722 36 // Establecer el Preescaler en cero
Yo_Robot 4:552beeda4722 37 // SIn Preesclaer
Yo_Robot 4:552beeda4722 38 LPC_TIM2->PR = 0;
Yo_Robot 3:8d5a9e3cd680 39
Yo_Robot 4:552beeda4722 40 // Calcular el periodo Inicial
Yo_Robot 4:552beeda4722 41 uint32_t periodo = ( SystemCoreClock / 400 );
Yo_Robot 3:8d5a9e3cd680 42
Yo_Robot 3:8d5a9e3cd680 43 // Establecer los Registros de Coincidencia
Yo_Robot 3:8d5a9e3cd680 44 // ( Match Register )
Yo_Robot 3:8d5a9e3cd680 45 LPC_TIM2->MR2 = periodo;
Yo_Robot 4:552beeda4722 46 LPC_TIM2->MR3 = periodo; // Legacy, salidas identicas
Yo_Robot 3:8d5a9e3cd680 47
Yo_Robot 4:552beeda4722 48 LPC_TIM2->MCR |= 1 << 7; // Resetear Timer en MR2
Yo_Robot 3:8d5a9e3cd680 49
Yo_Robot 3:8d5a9e3cd680 50 LPC_TIM2->EMR |= 15UL << 8; // Alternar Pin MAT2.2
Yo_Robot 3:8d5a9e3cd680 51 // y MAT2.3
Yo_Robot 3:8d5a9e3cd680 52
Yo_Robot 3:8d5a9e3cd680 53 LPC_PINCON->PINSEL0 |= 15UL << 16; //Activar MAT2.2
Yo_Robot 8:958dfe5052b9 54 // y MAT2.3 como salidas
Yo_Robot 8:958dfe5052b9 55
Yo_Robot 6:b4dae934e1ea 56 }
Yo_Robot 6:b4dae934e1ea 57
Yo_Robot 12:c02b08dacc45 58 void ISR_Serial()
Yo_Robot 12:c02b08dacc45 59 {
Yo_Robot 12:c02b08dacc45 60 int value; // Nuevo Valor
Yo_Robot 12:c02b08dacc45 61 char command; // Comando al que aplicar el nuevo valor
Yo_Robot 12:c02b08dacc45 62
Yo_Robot 12:c02b08dacc45 63 pc.scanf( "%d-%c", &value, &command ) ;
Yo_Robot 14:039d070732d5 64 //pc.printf("\n %d-%c \n", value, command );
Yo_Robot 12:c02b08dacc45 65
Yo_Robot 12:c02b08dacc45 66 // Establecer nueva frecuencia
Yo_Robot 12:c02b08dacc45 67 if( command == 'H')
Yo_Robot 12:c02b08dacc45 68 setPTO( value );
Yo_Robot 12:c02b08dacc45 69
Yo_Robot 12:c02b08dacc45 70 else if( command == 'K' )
Yo_Robot 12:c02b08dacc45 71 setPTO( value * 1000 );
Yo_Robot 12:c02b08dacc45 72
Yo_Robot 12:c02b08dacc45 73 // Nuevo voltaje de salida
Yo_Robot 12:c02b08dacc45 74 // Alguna formula para calcular el Vout necesario
Yo_Robot 12:c02b08dacc45 75 // -100% a +100%
Yo_Robot 12:c02b08dacc45 76 else if( command == 'A')
Yo_Robot 14:039d070732d5 77 aout = (float)( value + 10000.0 ) / 20000.0;
Yo_Robot 12:c02b08dacc45 78
Yo_Robot 12:c02b08dacc45 79
Yo_Robot 12:c02b08dacc45 80 // Cambiar la direccion
Yo_Robot 12:c02b08dacc45 81 else if( command == 'D')
Yo_Robot 14:039d070732d5 82 {
Yo_Robot 14:039d070732d5 83 stopTimer2();
Yo_Robot 12:c02b08dacc45 84 pin_dir = value;
Yo_Robot 14:039d070732d5 85 wait_us( 2 );
Yo_Robot 14:039d070732d5 86 startTimer2();
Yo_Robot 14:039d070732d5 87 }
Yo_Robot 14:039d070732d5 88
Yo_Robot 12:c02b08dacc45 89
Yo_Robot 12:c02b08dacc45 90 //Encender el Servo
Yo_Robot 12:c02b08dacc45 91 else if( command == 'S')
Yo_Robot 12:c02b08dacc45 92 pin_son = value;
Yo_Robot 12:c02b08dacc45 93
Yo_Robot 12:c02b08dacc45 94 //else if( command == 'E')
Yo_Robot 12:c02b08dacc45 95 // setDir( value );
Yo_Robot 12:c02b08dacc45 96
Yo_Robot 12:c02b08dacc45 97 }
Yo_Robot 12:c02b08dacc45 98
Yo_Robot 12:c02b08dacc45 99
Yo_Robot 12:c02b08dacc45 100 void setPTO( int freq )
Yo_Robot 12:c02b08dacc45 101 {
Yo_Robot 12:c02b08dacc45 102 if( freq != 0 )
Yo_Robot 12:c02b08dacc45 103 {
Yo_Robot 12:c02b08dacc45 104 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 105 setMR2( getMRvalue( freq ) );
Yo_Robot 12:c02b08dacc45 106 startTimer2();
Yo_Robot 12:c02b08dacc45 107
Yo_Robot 12:c02b08dacc45 108 }else{
Yo_Robot 12:c02b08dacc45 109
Yo_Robot 12:c02b08dacc45 110 stopTimer2();
Yo_Robot 12:c02b08dacc45 111 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 112 }
Yo_Robot 12:c02b08dacc45 113 }
Yo_Robot 12:c02b08dacc45 114
Yo_Robot 12:c02b08dacc45 115 void setPTO_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 116 {
Yo_Robot 12:c02b08dacc45 117 int freq = atoi( input );
Yo_Robot 12:c02b08dacc45 118
Yo_Robot 12:c02b08dacc45 119 if( freq != 0 ){
Yo_Robot 12:c02b08dacc45 120 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 12:c02b08dacc45 121 setMR2( getMRvalue( freq ) ); // Cambiar frefuencia
Yo_Robot 12:c02b08dacc45 122 startTimer2(); // Iniciar Timer
Yo_Robot 14:039d070732d5 123 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 124 sprintf( output,"Ok" );
Yo_Robot 14:039d070732d5 125 else
Yo_Robot 14:039d070732d5 126 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 127 }else{
Yo_Robot 12:c02b08dacc45 128 stopTimer2();
Yo_Robot 12:c02b08dacc45 129 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 14:039d070732d5 130 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 131 sprintf( output,"Ok" );
Yo_Robot 14:039d070732d5 132 else
Yo_Robot 14:039d070732d5 133 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 134 }
Yo_Robot 12:c02b08dacc45 135 }
Yo_Robot 12:c02b08dacc45 136
Yo_Robot 15:a1ffa32ce9d1 137 void setANG_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 138 {
Yo_Robot 15:a1ffa32ce9d1 139 long int pulsos = atol( input ); //Numero de pulsos a generar
Yo_Robot 15:a1ffa32ce9d1 140 float t_alto = pulsos / fq_posicion; //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 15:a1ffa32ce9d1 141
Yo_Robot 15:a1ffa32ce9d1 142 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 143 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 15:a1ffa32ce9d1 144 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 145 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 17:a4f380bc2516 146 stopTimer2(); //Posición alcanzada ALTO.
Yo_Robot 15:a1ffa32ce9d1 147
Yo_Robot 15:a1ffa32ce9d1 148 if( pin_alm == 0 )
Yo_Robot 15:a1ffa32ce9d1 149 sprintf( output,"Ok" );
Yo_Robot 15:a1ffa32ce9d1 150 else
Yo_Robot 15:a1ffa32ce9d1 151 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 152
Yo_Robot 15:a1ffa32ce9d1 153 }
Yo_Robot 15:a1ffa32ce9d1 154 void setSPD_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 155 {
Yo_Robot 15:a1ffa32ce9d1 156 fq_posicion = atoi( input );
Yo_Robot 15:a1ffa32ce9d1 157 // Esta funcion cambia la velocidad con la que se
Yo_Robot 15:a1ffa32ce9d1 158 // posicionara el eje del motor en un angulo determinado
Yo_Robot 15:a1ffa32ce9d1 159 if( pin_alm == 0 )
Yo_Robot 15:a1ffa32ce9d1 160 sprintf( output,"Ok" );
Yo_Robot 15:a1ffa32ce9d1 161 else
Yo_Robot 15:a1ffa32ce9d1 162 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 163
Yo_Robot 15:a1ffa32ce9d1 164 }
Yo_Robot 15:a1ffa32ce9d1 165 void getENC_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 166 {
Yo_Robot 15:a1ffa32ce9d1 167 //Leer el Encoder ******* F A L T A
Yo_Robot 15:a1ffa32ce9d1 168 if( pin_alm == 0 )
Yo_Robot 15:a1ffa32ce9d1 169 sprintf( output,"Ok" );
Yo_Robot 15:a1ffa32ce9d1 170 else
Yo_Robot 15:a1ffa32ce9d1 171 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 172
Yo_Robot 15:a1ffa32ce9d1 173 }
Yo_Robot 15:a1ffa32ce9d1 174
Yo_Robot 12:c02b08dacc45 175
Yo_Robot 12:c02b08dacc45 176 void ISR_Alarm()
Yo_Robot 12:c02b08dacc45 177 {
Yo_Robot 12:c02b08dacc45 178 pin_son = 0 ;
Yo_Robot 12:c02b08dacc45 179 stopTimer2();
Yo_Robot 12:c02b08dacc45 180 aout = 0.5 ;
Yo_Robot 12:c02b08dacc45 181
Yo_Robot 16:d50665706f21 182 pc.printf( "AL" ); //ALARMA! solo es AL para que
Yo_Robot 16:d50665706f21 183 //sea conciso con el modo ETH y funcione
Yo_Robot 16:d50665706f21 184 //bien en LabVIEW.
Yo_Robot 12:c02b08dacc45 185 }
Yo_Robot 6:b4dae934e1ea 186
Yo_Robot 4:552beeda4722 187 int getMRvalue( int fout )
Yo_Robot 3:8d5a9e3cd680 188 {
Yo_Robot 4:552beeda4722 189 int toRegister;
Yo_Robot 4:552beeda4722 190
Yo_Robot 12:c02b08dacc45 191 toRegister = (24000000 /(fout*2.0) ) -1;
Yo_Robot 4:552beeda4722 192 return toRegister;
Yo_Robot 3:8d5a9e3cd680 193 }
Yo_Robot 3:8d5a9e3cd680 194
Yo_Robot 3:8d5a9e3cd680 195
Yo_Robot 3:8d5a9e3cd680 196 void setMR2( int newValue )
Yo_Robot 3:8d5a9e3cd680 197 {
Yo_Robot 4:552beeda4722 198 LPC_TIM2->MR2 = newValue; // Las dos salidas son identicas
Yo_Robot 4:552beeda4722 199 LPC_TIM2->MR3 = newValue; // Para testear el programa.
Yo_Robot 3:8d5a9e3cd680 200 }
Yo_Robot 3:8d5a9e3cd680 201
Yo_Robot 3:8d5a9e3cd680 202
Yo_Robot 3:8d5a9e3cd680 203
Yo_Robot 3:8d5a9e3cd680 204 void startTimer2()
Yo_Robot 3:8d5a9e3cd680 205 {
Yo_Robot 8:958dfe5052b9 206 // Arrancer el Timer 2
Yo_Robot 3:8d5a9e3cd680 207 LPC_TIM2->TCR = 1;
Yo_Robot 3:8d5a9e3cd680 208 }
Yo_Robot 3:8d5a9e3cd680 209
Yo_Robot 3:8d5a9e3cd680 210 void stopTimer2()
Yo_Robot 3:8d5a9e3cd680 211 {
Yo_Robot 4:552beeda4722 212 // Detener el Timer 2
Yo_Robot 3:8d5a9e3cd680 213 LPC_TIM2->TCR = 0x2;
Yo_Robot 4:552beeda4722 214 }
Yo_Robot 4:552beeda4722 215
Yo_Robot 12:c02b08dacc45 216
Yo_Robot 12:c02b08dacc45 217 // **** Funciones Liberia Ethernet ***** //
Yo_Robot 12:c02b08dacc45 218
Yo_Robot 12:c02b08dacc45 219 void setAout_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 220 {
Yo_Robot 12:c02b08dacc45 221 int vout = atoi( input );
Yo_Robot 14:039d070732d5 222 aout = (float)( vout + 10000 ) / 20000;
Yo_Robot 14:039d070732d5 223 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 224 sprintf( output,"Ok" );
Yo_Robot 14:039d070732d5 225 else
Yo_Robot 14:039d070732d5 226 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 227 }
Yo_Robot 12:c02b08dacc45 228
Yo_Robot 12:c02b08dacc45 229
Yo_Robot 12:c02b08dacc45 230
Yo_Robot 12:c02b08dacc45 231 void setDir_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 232 {
Yo_Robot 12:c02b08dacc45 233 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 234
Yo_Robot 12:c02b08dacc45 235 pin_dir = value;
Yo_Robot 12:c02b08dacc45 236
Yo_Robot 14:039d070732d5 237 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 238 sprintf( output,"Ok" );
Yo_Robot 12:c02b08dacc45 239 else
Yo_Robot 14:039d070732d5 240 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 241 }
Yo_Robot 12:c02b08dacc45 242
Yo_Robot 12:c02b08dacc45 243
Yo_Robot 12:c02b08dacc45 244
Yo_Robot 12:c02b08dacc45 245 void setSON_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 246 {
Yo_Robot 12:c02b08dacc45 247 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 248
Yo_Robot 12:c02b08dacc45 249 pin_son = value;
Yo_Robot 12:c02b08dacc45 250
Yo_Robot 14:039d070732d5 251 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 252 sprintf( output,"Ok" );
Yo_Robot 12:c02b08dacc45 253 else
Yo_Robot 14:039d070732d5 254 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 255
Yo_Robot 12:c02b08dacc45 256 }
Yo_Robot 12:c02b08dacc45 257
Yo_Robot 12:c02b08dacc45 258
Yo_Robot 12:c02b08dacc45 259
Yo_Robot 4:552beeda4722 260 /* LEGACY FUNCTIONS
Yo_Robot 4:552beeda4722 261 *
Yo_Robot 5:c5aea1eb10bb 262 * El codigo actual no hace referencia a estas funciones
Yo_Robot 5:c5aea1eb10bb 263 * sin embargo no hay problema en definirlas.
Yo_Robot 4:552beeda4722 264 */
Yo_Robot 4:552beeda4722 265 void setMR3( int newValue )
Yo_Robot 4:552beeda4722 266 {
Yo_Robot 4:552beeda4722 267 LPC_TIM2->MR3 = newValue;
Yo_Robot 4:552beeda4722 268 }
Yo_Robot 4:552beeda4722 269
Yo_Robot 4:552beeda4722 270
Yo_Robot 4:552beeda4722 271 void setPrescaler( int newValue)
Yo_Robot 4:552beeda4722 272 {
Yo_Robot 4:552beeda4722 273 LPC_TIM2->PR = newValue;
Yo_Robot 4:552beeda4722 274 }