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@36:a99dcd4d8f65, 2014-07-07 (annotated)

Committer:
Yo_Robot
Date:
Mon Jul 07 15:53:02 2014 +0000
Revision:
36:a99dcd4d8f65
Parent:
34:bdf918bc9b59 
Intento de evitar que la funcion -P  no bloquee comandos, no se logro, control dinamico de posici?n va para LabVIEW

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 36:a99dcd4d8f65 21 extern Timeout temporizador; // 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 36:a99dcd4d8f65 34
Yo_Robot 36:a99dcd4d8f65 35
Yo_Robot 36:a99dcd4d8f65 36
Yo_Robot 15:a1ffa32ce9d1 37 int fq_posicion = 10000; // Variable global donde se almacenara
Yo_Robot 15:a1ffa32ce9d1 38 // la velocidad de posicionamiento en Hz
Yo_Robot 24:a1d16835201c 39 float t_alto; // para el posicionamiento del motor
Yo_Robot 23:2126e38bb48c 40
Yo_Robot 26:dad0b2031173 41 int fq_actual = 0; // Ultimo valor seteado para el tren de pulsos
Yo_Robot 22:d5431fff164b 42
Yo_Robot 32:4483d6c225e5 43 int bandera_inicio = 0;
Yo_Robot 33:e6ff02c3e0f5 44
Yo_Robot 36:a99dcd4d8f65 45
Yo_Robot 36:a99dcd4d8f65 46
Yo_Robot 36:a99dcd4d8f65 47
Yo_Robot 36:a99dcd4d8f65 48 void fin_posicion()
Yo_Robot 36:a99dcd4d8f65 49 {
Yo_Robot 36:a99dcd4d8f65 50 stopTimer2();
Yo_Robot 36:a99dcd4d8f65 51
Yo_Robot 36:a99dcd4d8f65 52 // Envia un OK de comando recibido
Yo_Robot 36:a99dcd4d8f65 53 if( isPC )
Yo_Robot 36:a99dcd4d8f65 54 pc.printf("OK\r\n");
Yo_Robot 36:a99dcd4d8f65 55 else
Yo_Robot 36:a99dcd4d8f65 56 RS_232.printf("OK\r\n");
Yo_Robot 36:a99dcd4d8f65 57 }
Yo_Robot 36:a99dcd4d8f65 58
Yo_Robot 29:52932326c45a 59 int velocidad_rpm()
Yo_Robot 22:d5431fff164b 60 {
Yo_Robot 33:e6ff02c3e0f5 61 return encoder.GetVelocityCap();
Yo_Robot 22:d5431fff164b 62 }
Yo_Robot 22:d5431fff164b 63
Yo_Robot 22:d5431fff164b 64 void clear_encoder()
Yo_Robot 22:d5431fff164b 65 {
Yo_Robot 25:1910a55ff0a3 66 encoder.Reset( QEI_RESET_POS ); // reset position
Yo_Robot 22:d5431fff164b 67 }
Yo_Robot 22:d5431fff164b 68
Yo_Robot 4:552beeda4722 69 void setTimer2()
Yo_Robot 3:8d5a9e3cd680 70 {
Yo_Robot 3:8d5a9e3cd680 71 // Encender Timer2 (PCONP[22])
Yo_Robot 3:8d5a9e3cd680 72 LPC_SC->PCONP |= 1 << 22;
Yo_Robot 3:8d5a9e3cd680 73
Yo_Robot 3:8d5a9e3cd680 74 // Resetear y parar el Timer
Yo_Robot 3:8d5a9e3cd680 75 LPC_TIM2->TCR = 0x2;
Yo_Robot 3:8d5a9e3cd680 76 LPC_TIM2->CTCR = 0x0;
Yo_Robot 3:8d5a9e3cd680 77
Yo_Robot 4:552beeda4722 78 // Establecer el Preescaler en cero
Yo_Robot 4:552beeda4722 79 // SIn Preesclaer
Yo_Robot 4:552beeda4722 80 LPC_TIM2->PR = 0;
Yo_Robot 3:8d5a9e3cd680 81
Yo_Robot 4:552beeda4722 82 // Calcular el periodo Inicial
Yo_Robot 4:552beeda4722 83 uint32_t periodo = ( SystemCoreClock / 400 );
Yo_Robot 3:8d5a9e3cd680 84
Yo_Robot 3:8d5a9e3cd680 85 // Establecer los Registros de Coincidencia
Yo_Robot 3:8d5a9e3cd680 86 // ( Match Register )
Yo_Robot 3:8d5a9e3cd680 87 LPC_TIM2->MR2 = periodo;
Yo_Robot 4:552beeda4722 88 LPC_TIM2->MR3 = periodo; // Legacy, salidas identicas
Yo_Robot 3:8d5a9e3cd680 89
Yo_Robot 4:552beeda4722 90 LPC_TIM2->MCR |= 1 << 7; // Resetear Timer en MR2
Yo_Robot 3:8d5a9e3cd680 91
Yo_Robot 3:8d5a9e3cd680 92 LPC_TIM2->EMR |= 15UL << 8; // Alternar Pin MAT2.2
Yo_Robot 3:8d5a9e3cd680 93 // y MAT2.3
Yo_Robot 3:8d5a9e3cd680 94
Yo_Robot 3:8d5a9e3cd680 95 LPC_PINCON->PINSEL0 |= 15UL << 16; //Activar MAT2.2
Yo_Robot 8:958dfe5052b9 96 // y MAT2.3 como salidas
Yo_Robot 8:958dfe5052b9 97
Yo_Robot 6:b4dae934e1ea 98 }
Yo_Robot 6:b4dae934e1ea 99
Yo_Robot 12:c02b08dacc45 100 void ISR_Serial()
Yo_Robot 12:c02b08dacc45 101 {
Yo_Robot 12:c02b08dacc45 102 int value; // Nuevo Valor
Yo_Robot 12:c02b08dacc45 103 char command; // Comando al que aplicar el nuevo valor
Yo_Robot 23:2126e38bb48c 104
Yo_Robot 12:c02b08dacc45 105
Yo_Robot 19:c26cf8a48986 106 if( isPC )
Yo_Robot 23:2126e38bb48c 107 pc.scanf( "%d-%c", &value, &command );
Yo_Robot 19:c26cf8a48986 108 else
Yo_Robot 23:2126e38bb48c 109 RS_232.scanf( "%d-%c", &value, &command );
Yo_Robot 23:2126e38bb48c 110
Yo_Robot 23:2126e38bb48c 111 switch( command )
Yo_Robot 23:2126e38bb48c 112 {
Yo_Robot 19:c26cf8a48986 113
Yo_Robot 29:52932326c45a 114 case 'E': // Leer el contador del encoder.
Yo_Robot 24:a1d16835201c 115 {
Yo_Robot 23:2126e38bb48c 116
Yo_Robot 27:b8254b76ec57 117 //Leer la posición del encoder
Yo_Robot 23:2126e38bb48c 118
Yo_Robot 26:dad0b2031173 119 if( isPC )
Yo_Robot 29:52932326c45a 120 pc.printf("%d\n\r",encoder.GetPosition());
Yo_Robot 26:dad0b2031173 121 else
Yo_Robot 29:52932326c45a 122 RS_232.printf("%d\n\r",encoder.GetPosition());
Yo_Robot 23:2126e38bb48c 123 break;
Yo_Robot 24:a1d16835201c 124 }
Yo_Robot 27:b8254b76ec57 125
Yo_Robot 23:2126e38bb48c 126 case 'H': // Establecer nueva frecuencia
Yo_Robot 24:a1d16835201c 127 {
Yo_Robot 23:2126e38bb48c 128 setPTO( value );
Yo_Robot 26:dad0b2031173 129 fq_actual = value;
Yo_Robot 32:4483d6c225e5 130 bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar
Yo_Robot 26:dad0b2031173 131
Yo_Robot 26:dad0b2031173 132 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 133 if( isPC )
Yo_Robot 26:dad0b2031173 134 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 135 else
Yo_Robot 26:dad0b2031173 136 RS_232.printf("OK\r\n");
Yo_Robot 23:2126e38bb48c 137 break;
Yo_Robot 24:a1d16835201c 138 }
Yo_Robot 27:b8254b76ec57 139
Yo_Robot 23:2126e38bb48c 140 case 'K':
Yo_Robot 24:a1d16835201c 141 {
Yo_Robot 23:2126e38bb48c 142 setPTO( value * 1000 );
Yo_Robot 26:dad0b2031173 143 fq_actual = value;
Yo_Robot 32:4483d6c225e5 144 bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar
Yo_Robot 32:4483d6c225e5 145
Yo_Robot 26:dad0b2031173 146 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 147 if( isPC )
Yo_Robot 26:dad0b2031173 148 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 149 else
Yo_Robot 26:dad0b2031173 150 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 151
Yo_Robot 23:2126e38bb48c 152 break;
Yo_Robot 24:a1d16835201c 153 }
Yo_Robot 23:2126e38bb48c 154 case 'A': // Cambiar voltaje de salida
Yo_Robot 24:a1d16835201c 155 {
Yo_Robot 23:2126e38bb48c 156 aout = (float)( value + 10000.0 ) / 20000.0;
Yo_Robot 26:dad0b2031173 157
Yo_Robot 26:dad0b2031173 158 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 159 if( isPC )
Yo_Robot 26:dad0b2031173 160 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 161 else
Yo_Robot 26:dad0b2031173 162 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 163
Yo_Robot 23:2126e38bb48c 164 break;
Yo_Robot 24:a1d16835201c 165 }
Yo_Robot 23:2126e38bb48c 166 case 'D': // Cambiar la direccion
Yo_Robot 24:a1d16835201c 167 {
Yo_Robot 26:dad0b2031173 168
Yo_Robot 23:2126e38bb48c 169 stopTimer2();
Yo_Robot 23:2126e38bb48c 170 pin_dir = value;
Yo_Robot 23:2126e38bb48c 171 wait_us( 2 );
Yo_Robot 32:4483d6c225e5 172 bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar
Yo_Robot 26:dad0b2031173 173
Yo_Robot 26:dad0b2031173 174 if ( fq_actual != 0 )
Yo_Robot 26:dad0b2031173 175 {
Yo_Robot 26:dad0b2031173 176 startTimer2();
Yo_Robot 26:dad0b2031173 177 }
Yo_Robot 26:dad0b2031173 178
Yo_Robot 26:dad0b2031173 179 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 180 if( isPC )
Yo_Robot 26:dad0b2031173 181 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 182 else
Yo_Robot 26:dad0b2031173 183 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 184
Yo_Robot 23:2126e38bb48c 185 break;
Yo_Robot 24:a1d16835201c 186 }
Yo_Robot 23:2126e38bb48c 187 case 'V': //Setear la velocidad de Posicionamiento
Yo_Robot 24:a1d16835201c 188 {
Yo_Robot 23:2126e38bb48c 189 fq_posicion = value;
Yo_Robot 26:dad0b2031173 190
Yo_Robot 26:dad0b2031173 191 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 192 if( isPC )
Yo_Robot 26:dad0b2031173 193 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 194 else
Yo_Robot 26:dad0b2031173 195 RS_232.printf("OK\r\n");
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 pulsos a la velocidad de posicionamiento
Yo_Robot 29:52932326c45a 201 case 'P':
Yo_Robot 24:a1d16835201c 202 {
Yo_Robot 28:b7ded82ee7da 203 float pulsos = value; //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 32:4483d6c225e5 206 bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar
Yo_Robot 32:4483d6c225e5 207
Yo_Robot 27:b8254b76ec57 208 //DEBUG
Yo_Robot 32:4483d6c225e5 209 //pc.printf("Tiempo en timer en seg = %f", t_alto);
Yo_Robot 27:b8254b76ec57 210
Yo_Robot 23:2126e38bb48c 211 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 23:2126e38bb48c 212 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 23:2126e38bb48c 213 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 36:a99dcd4d8f65 214 temporizador.attach( &fin_posicion, t_alto);
Yo_Robot 26:dad0b2031173 215
Yo_Robot 36:a99dcd4d8f65 216
Yo_Robot 26:dad0b2031173 217
Yo_Robot 23:2126e38bb48c 218 break;
Yo_Robot 24:a1d16835201c 219 }
Yo_Robot 27:b8254b76ec57 220
Yo_Robot 27:b8254b76ec57 221 // Generar un numero definido de MILES de pulsos a la velocidad de posicionamiento
Yo_Robot 29:52932326c45a 222 case 'M':
Yo_Robot 27:b8254b76ec57 223 {
Yo_Robot 28:b7ded82ee7da 224 float pulsos = value * 1000; //Numero de pulsos a generar
Yo_Robot 28:b7ded82ee7da 225 t_alto = (float)(pulsos / fq_posicion); //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 32:4483d6c225e5 226 bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar
Yo_Robot 32:4483d6c225e5 227
Yo_Robot 27:b8254b76ec57 228 //DEBUG
Yo_Robot 32:4483d6c225e5 229 //pc.printf("Tiempo en timer en seg = %f", t_alto);
Yo_Robot 27:b8254b76ec57 230
Yo_Robot 27:b8254b76ec57 231 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 27:b8254b76ec57 232 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 27:b8254b76ec57 233 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 27:b8254b76ec57 234 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 27:b8254b76ec57 235 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 27:b8254b76ec57 236
Yo_Robot 27:b8254b76ec57 237
Yo_Robot 27:b8254b76ec57 238 // Envia un OK de comando recibido
Yo_Robot 27:b8254b76ec57 239 if( isPC )
Yo_Robot 27:b8254b76ec57 240 pc.printf("OK\r\n");
Yo_Robot 27:b8254b76ec57 241 else
Yo_Robot 27:b8254b76ec57 242 RS_232.printf("OK\r\n");
Yo_Robot 27:b8254b76ec57 243
Yo_Robot 27:b8254b76ec57 244
Yo_Robot 27:b8254b76ec57 245 break;
Yo_Robot 27:b8254b76ec57 246 }
Yo_Robot 27:b8254b76ec57 247
Yo_Robot 27:b8254b76ec57 248 // Generar un numero definido de MILLONES pulsos a la velocidad de posicionamiento
Yo_Robot 29:52932326c45a 249 case 'N':
Yo_Robot 27:b8254b76ec57 250 {
Yo_Robot 28:b7ded82ee7da 251 float pulsos = value * 1000000; //Numero de pulsos a generar
Yo_Robot 28:b7ded82ee7da 252 t_alto = (float)(pulsos / fq_posicion); //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 32:4483d6c225e5 253 bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar
Yo_Robot 32:4483d6c225e5 254
Yo_Robot 27:b8254b76ec57 255 //DEBUG
Yo_Robot 32:4483d6c225e5 256 //pc.printf("Tiempo en timer en seg = %f", t_alto);
Yo_Robot 27:b8254b76ec57 257
Yo_Robot 27:b8254b76ec57 258 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 27:b8254b76ec57 259 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 27:b8254b76ec57 260 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 27:b8254b76ec57 261 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 27:b8254b76ec57 262 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 27:b8254b76ec57 263
Yo_Robot 27:b8254b76ec57 264
Yo_Robot 27:b8254b76ec57 265 // Envia un OK de comando recibido
Yo_Robot 27:b8254b76ec57 266 if( isPC )
Yo_Robot 27:b8254b76ec57 267 pc.printf("OK\r\n");
Yo_Robot 27:b8254b76ec57 268 else
Yo_Robot 27:b8254b76ec57 269 RS_232.printf("OK\r\n");
Yo_Robot 27:b8254b76ec57 270
Yo_Robot 27:b8254b76ec57 271
Yo_Robot 27:b8254b76ec57 272 break;
Yo_Robot 27:b8254b76ec57 273 }
Yo_Robot 27:b8254b76ec57 274
Yo_Robot 27:b8254b76ec57 275
Yo_Robot 29:52932326c45a 276 case 'R': // Leer la velocidd del encoder en RPM's
Yo_Robot 24:a1d16835201c 277 {
Yo_Robot 23:2126e38bb48c 278 if( isPC )
Yo_Robot 33:e6ff02c3e0f5 279 {
Yo_Robot 33:e6ff02c3e0f5 280 pc.printf( "%u", encoder.CalculateRPM( encoder.GetVelocityCap(), 360) ); // ultima velocidad leida desde el encoder
Yo_Robot 33:e6ff02c3e0f5 281 }else
Yo_Robot 33:e6ff02c3e0f5 282 RS_232.printf( "%u",encoder.CalculateRPM( encoder.GetVelocityCap(), 360) );
Yo_Robot 23:2126e38bb48c 283 break;
Yo_Robot 24:a1d16835201c 284 }
Yo_Robot 26:dad0b2031173 285
Yo_Robot 23:2126e38bb48c 286 case 'Z': //Limpiar contador encoder
Yo_Robot 29:52932326c45a 287 encoder.Reset(QEI_RESET_POS);
Yo_Robot 29:52932326c45a 288 encoder.Reset(QEI_RESET_VEL);
Yo_Robot 26:dad0b2031173 289
Yo_Robot 26:dad0b2031173 290 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 291 if( isPC )
Yo_Robot 26:dad0b2031173 292 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 293 else
Yo_Robot 26:dad0b2031173 294 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 295
Yo_Robot 23:2126e38bb48c 296 break;
Yo_Robot 23:2126e38bb48c 297
Yo_Robot 23:2126e38bb48c 298 case 'S': //Encender el Servo
Yo_Robot 26:dad0b2031173 299
Yo_Robot 23:2126e38bb48c 300 pin_son = value;
Yo_Robot 32:4483d6c225e5 301 bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar
Yo_Robot 32:4483d6c225e5 302
Yo_Robot 32:4483d6c225e5 303 // Envia un OK de comando recibido
Yo_Robot 32:4483d6c225e5 304 if( isPC )
Yo_Robot 32:4483d6c225e5 305 pc.printf("OK\r\n");
Yo_Robot 32:4483d6c225e5 306 else
Yo_Robot 32:4483d6c225e5 307 RS_232.printf("OK\r\n");
Yo_Robot 32:4483d6c225e5 308
Yo_Robot 32:4483d6c225e5 309 break;
Yo_Robot 32:4483d6c225e5 310
Yo_Robot 32:4483d6c225e5 311 case 'I': //Ir al inicio del recorrido
Yo_Robot 32:4483d6c225e5 312
Yo_Robot 32:4483d6c225e5 313 pin_dir = 1; //Mover hacia el motor
Yo_Robot 32:4483d6c225e5 314 bandera_inicio = 1; // Informar a ISR_Adv_motor() acerca del Homing
Yo_Robot 32:4483d6c225e5 315 setPTO( value ); // a la velocidad seteada
Yo_Robot 26:dad0b2031173 316
Yo_Robot 26:dad0b2031173 317 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 318 if( isPC )
Yo_Robot 26:dad0b2031173 319 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 320 else
Yo_Robot 26:dad0b2031173 321 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 322
Yo_Robot 23:2126e38bb48c 323 break;
Yo_Robot 28:b7ded82ee7da 324
Yo_Robot 28:b7ded82ee7da 325 default:
Yo_Robot 28:b7ded82ee7da 326
Yo_Robot 28:b7ded82ee7da 327 // EL COMANDO NO SE RECONOCE: No Aplica
Yo_Robot 28:b7ded82ee7da 328 if( isPC )
Yo_Robot 28:b7ded82ee7da 329 pc.printf("NA\r\n");
Yo_Robot 28:b7ded82ee7da 330 else
Yo_Robot 28:b7ded82ee7da 331 RS_232.printf("NA\r\n");
Yo_Robot 28:b7ded82ee7da 332
Yo_Robot 28:b7ded82ee7da 333 break;
Yo_Robot 32:4483d6c225e5 334
Yo_Robot 18:cf1e07d82630 335 }
Yo_Robot 23:2126e38bb48c 336
Yo_Robot 12:c02b08dacc45 337 }
Yo_Robot 12:c02b08dacc45 338
Yo_Robot 12:c02b08dacc45 339
Yo_Robot 12:c02b08dacc45 340 void setPTO( int freq )
Yo_Robot 12:c02b08dacc45 341 {
Yo_Robot 12:c02b08dacc45 342 if( freq != 0 )
Yo_Robot 12:c02b08dacc45 343 {
Yo_Robot 12:c02b08dacc45 344 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 345 setMR2( getMRvalue( freq ) );
Yo_Robot 12:c02b08dacc45 346 startTimer2();
Yo_Robot 12:c02b08dacc45 347
Yo_Robot 12:c02b08dacc45 348 }else{
Yo_Robot 12:c02b08dacc45 349
Yo_Robot 12:c02b08dacc45 350 stopTimer2();
Yo_Robot 12:c02b08dacc45 351 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 352 }
Yo_Robot 12:c02b08dacc45 353 }
Yo_Robot 12:c02b08dacc45 354
Yo_Robot 22:d5431fff164b 355
Yo_Robot 22:d5431fff164b 356
Yo_Robot 22:d5431fff164b 357 void ISR_Alarm()
Yo_Robot 22:d5431fff164b 358 {
Yo_Robot 22:d5431fff164b 359 pin_son = 0 ;
Yo_Robot 22:d5431fff164b 360 stopTimer2();
Yo_Robot 22:d5431fff164b 361 aout = 0.5 ;
Yo_Robot 22:d5431fff164b 362
Yo_Robot 22:d5431fff164b 363 if(isPC)
Yo_Robot 31:7e2cdd547cb2 364 pc.printf( "AL\r\n" ); //ALARMA! solo es AL para que
Yo_Robot 31:7e2cdd547cb2 365 //sea conciso con el modo ETH y funcione
Yo_Robot 31:7e2cdd547cb2 366 //bien en LabVIEW.
Yo_Robot 22:d5431fff164b 367 else
Yo_Robot 26:dad0b2031173 368 RS_232.printf( "AL\r\n" );
Yo_Robot 22:d5431fff164b 369 }
Yo_Robot 22:d5431fff164b 370
Yo_Robot 30:413d1a6648b5 371
Yo_Robot 30:413d1a6648b5 372
Yo_Robot 30:413d1a6648b5 373
Yo_Robot 30:413d1a6648b5 374 /** @brief: Esta es la rutina que maneja las interrupciones
Yo_Robot 30:413d1a6648b5 375 * del sensor óptico, al recibir una ALARMA de proximidad al encoder
Yo_Robot 30:413d1a6648b5 376 */
Yo_Robot 31:7e2cdd547cb2 377 void ISR_Alm_encoder()
Yo_Robot 31:7e2cdd547cb2 378 {
Yo_Robot 31:7e2cdd547cb2 379 if( isPC )
Yo_Robot 32:4483d6c225e5 380 pc.printf("A3\r\n");
Yo_Robot 31:7e2cdd547cb2 381 else
Yo_Robot 32:4483d6c225e5 382 RS_232.printf("A3\r\n");
Yo_Robot 31:7e2cdd547cb2 383 }
Yo_Robot 30:413d1a6648b5 384
Yo_Robot 30:413d1a6648b5 385
Yo_Robot 30:413d1a6648b5 386 /** @brief: Esta es la rutina que maneja las interrupciones
Yo_Robot 30:413d1a6648b5 387 * del sensor óptico, al recibir una ALARMA de proximidad al motor
Yo_Robot 30:413d1a6648b5 388 */
Yo_Robot 31:7e2cdd547cb2 389 void ISR_Alm_motor()
Yo_Robot 31:7e2cdd547cb2 390 {
Yo_Robot 32:4483d6c225e5 391 wait_us( 50 );
Yo_Robot 32:4483d6c225e5 392 if ( limite_4 == 1)
Yo_Robot 32:4483d6c225e5 393 {
Yo_Robot 32:4483d6c225e5 394 if( isPC )
Yo_Robot 32:4483d6c225e5 395 pc.printf("A0\r\n");
Yo_Robot 32:4483d6c225e5 396 else
Yo_Robot 32:4483d6c225e5 397 RS_232.printf("A0\r\n");
Yo_Robot 32:4483d6c225e5 398 }
Yo_Robot 31:7e2cdd547cb2 399 }
Yo_Robot 30:413d1a6648b5 400
Yo_Robot 30:413d1a6648b5 401
Yo_Robot 30:413d1a6648b5 402 /** @brief: Esta es la rutina que maneja las interrupciones
Yo_Robot 30:413d1a6648b5 403 * del sensor óptico, al recibir una advertencia de proximidad al encoder
Yo_Robot 30:413d1a6648b5 404 */
Yo_Robot 31:7e2cdd547cb2 405 void ISR_Adv_encoder()
Yo_Robot 31:7e2cdd547cb2 406 {
Yo_Robot 32:4483d6c225e5 407 wait_ms( 50 );
Yo_Robot 32:4483d6c225e5 408 if ( limite_2 == 1)
Yo_Robot 32:4483d6c225e5 409 {
Yo_Robot 31:7e2cdd547cb2 410
Yo_Robot 32:4483d6c225e5 411 if( isPC )
Yo_Robot 32:4483d6c225e5 412 pc.printf("A2\r\n");
Yo_Robot 32:4483d6c225e5 413 else
Yo_Robot 32:4483d6c225e5 414 RS_232.printf("A2\r\n");
Yo_Robot 32:4483d6c225e5 415 }
Yo_Robot 31:7e2cdd547cb2 416
Yo_Robot 31:7e2cdd547cb2 417 }
Yo_Robot 30:413d1a6648b5 418
Yo_Robot 30:413d1a6648b5 419
Yo_Robot 30:413d1a6648b5 420 /** @brief: Esta es la rutina que maneja las interrupciones
Yo_Robot 30:413d1a6648b5 421 * del sensor óptico, al recibir una advertencia de proximidad al motor
Yo_Robot 30:413d1a6648b5 422 */
Yo_Robot 31:7e2cdd547cb2 423 void ISR_Adv_motor()
Yo_Robot 31:7e2cdd547cb2 424 {
Yo_Robot 32:4483d6c225e5 425 if ( bandera_inicio == 1 )
Yo_Robot 32:4483d6c225e5 426 {
Yo_Robot 32:4483d6c225e5 427 setPTO( 0 ); //detener el carro
Yo_Robot 32:4483d6c225e5 428 pin_dir = 0; //hacer que se aleje del motor
Yo_Robot 32:4483d6c225e5 429
Yo_Robot 32:4483d6c225e5 430
Yo_Robot 32:4483d6c225e5 431 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 32:4483d6c225e5 432 setPTO( 20000 ); //Nueva frecuencia de salida
Yo_Robot 32:4483d6c225e5 433 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 32:4483d6c225e5 434 wait_ms( 100 ); //Espera hasta llegar a la posicion
Yo_Robot 32:4483d6c225e5 435 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 32:4483d6c225e5 436
Yo_Robot 32:4483d6c225e5 437 setPTO (0); // Detener el carro cuando este en posición valida
Yo_Robot 32:4483d6c225e5 438 wait_ms(100);
Yo_Robot 32:4483d6c225e5 439 //Encerar el contador de encoder y de velocidad
Yo_Robot 32:4483d6c225e5 440 encoder.Reset(QEI_RESET_POS);
Yo_Robot 32:4483d6c225e5 441 encoder.Reset(QEI_RESET_VEL);
Yo_Robot 32:4483d6c225e5 442
Yo_Robot 32:4483d6c225e5 443 bandera_inicio = 0; //Limpiar la bandera
Yo_Robot 32:4483d6c225e5 444
Yo_Robot 32:4483d6c225e5 445 // Envia un IN de proceso terminado
Yo_Robot 32:4483d6c225e5 446 if( isPC )
Yo_Robot 32:4483d6c225e5 447 pc.printf("IN\r\n");
Yo_Robot 32:4483d6c225e5 448 else
Yo_Robot 32:4483d6c225e5 449 RS_232.printf("IN\r\n");
Yo_Robot 32:4483d6c225e5 450 }
Yo_Robot 32:4483d6c225e5 451
Yo_Robot 32:4483d6c225e5 452 else{
Yo_Robot 32:4483d6c225e5 453
Yo_Robot 32:4483d6c225e5 454 if( isPC )
Yo_Robot 32:4483d6c225e5 455 pc.printf("A1\r\n");
Yo_Robot 32:4483d6c225e5 456 else
Yo_Robot 32:4483d6c225e5 457 RS_232.printf("A1\r\n");
Yo_Robot 32:4483d6c225e5 458 }
Yo_Robot 32:4483d6c225e5 459
Yo_Robot 31:7e2cdd547cb2 460 }
Yo_Robot 30:413d1a6648b5 461
Yo_Robot 30:413d1a6648b5 462
Yo_Robot 30:413d1a6648b5 463
Yo_Robot 22:d5431fff164b 464 int getMRvalue( int fout )
Yo_Robot 22:d5431fff164b 465 {
Yo_Robot 22:d5431fff164b 466 int toRegister;
Yo_Robot 22:d5431fff164b 467
Yo_Robot 22:d5431fff164b 468 toRegister = (24000000 /(fout*2.0) ) -1;
Yo_Robot 22:d5431fff164b 469 return toRegister;
Yo_Robot 22:d5431fff164b 470 }
Yo_Robot 22:d5431fff164b 471
Yo_Robot 22:d5431fff164b 472
Yo_Robot 22:d5431fff164b 473 void setMR2( int newValue )
Yo_Robot 22:d5431fff164b 474 {
Yo_Robot 22:d5431fff164b 475 LPC_TIM2->MR2 = newValue; // Las dos salidas son identicas
Yo_Robot 22:d5431fff164b 476 LPC_TIM2->MR3 = newValue; // Para testear el programa.
Yo_Robot 22:d5431fff164b 477 }
Yo_Robot 22:d5431fff164b 478
Yo_Robot 22:d5431fff164b 479
Yo_Robot 22:d5431fff164b 480
Yo_Robot 22:d5431fff164b 481 void startTimer2()
Yo_Robot 22:d5431fff164b 482 {
Yo_Robot 22:d5431fff164b 483 // Arrancer el Timer 2
Yo_Robot 22:d5431fff164b 484 LPC_TIM2->TCR = 1;
Yo_Robot 22:d5431fff164b 485 }
Yo_Robot 22:d5431fff164b 486
Yo_Robot 22:d5431fff164b 487 void stopTimer2()
Yo_Robot 22:d5431fff164b 488 {
Yo_Robot 22:d5431fff164b 489 // Detener el Timer 2
Yo_Robot 22:d5431fff164b 490 LPC_TIM2->TCR = 0x2;
Yo_Robot 22:d5431fff164b 491 }
Yo_Robot 22:d5431fff164b 492
Yo_Robot 22:d5431fff164b 493 int getBaud()
Yo_Robot 22:d5431fff164b 494 {
Yo_Robot 22:d5431fff164b 495 int baudios = 115200; //Valor por defecto
Yo_Robot 22:d5431fff164b 496
Yo_Robot 22:d5431fff164b 497 FILE *fp = fopen("/local/config.mbd", "r"); // Abre el archivo y lo guarda en fp
Yo_Robot 22:d5431fff164b 498
Yo_Robot 22:d5431fff164b 499 if(!fp) // En caso de no encontrarse el archivo
Yo_Robot 22:d5431fff164b 500 {
Yo_Robot 22:d5431fff164b 501 printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n");
Yo_Robot 22:d5431fff164b 502 printf("Cree un archivo de texto: config.mbd dentro de la unidad Mbed\n");
Yo_Robot 22:d5431fff164b 503 printf("que contenga las lineas:\n\n");
Yo_Robot 22:d5431fff164b 504
Yo_Robot 22:d5431fff164b 505 printf(" 1\n");
Yo_Robot 22:d5431fff164b 506 printf(" 2\n");
Yo_Robot 22:d5431fff164b 507 printf(" 3\n");
Yo_Robot 22:d5431fff164b 508 printf(" 4\n");
Yo_Robot 22:d5431fff164b 509 printf(" baudios: 115200\n");
Yo_Robot 22:d5431fff164b 510
Yo_Robot 22:d5431fff164b 511 printf("Cambie el valor de 115200 por la velocidad a la que desea transmitir:\n");
Yo_Robot 22:d5431fff164b 512 printf("luego reinicie el microcontrolador\n");
Yo_Robot 22:d5431fff164b 513 exit(1);
Yo_Robot 22:d5431fff164b 514
Yo_Robot 22:d5431fff164b 515 }
Yo_Robot 22:d5431fff164b 516 else
Yo_Robot 22:d5431fff164b 517 {
Yo_Robot 22:d5431fff164b 518 // Cadenas de caracteres desde el Archivo config.mbd
Yo_Robot 22:d5431fff164b 519 char notstr [04]; // linea vacia
Yo_Robot 22:d5431fff164b 520 char baud [40]; // valor en baudios
Yo_Robot 22:d5431fff164b 521
Yo_Robot 22:d5431fff164b 522 // Leer linea a linea el archivo
Yo_Robot 22:d5431fff164b 523 // cuatro primeras lineas no sirven
Yo_Robot 22:d5431fff164b 524 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 525 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 526 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 527 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 528 fgets( baud, 40, fp );
Yo_Robot 22:d5431fff164b 529 fclose(fp);
Yo_Robot 23:2126e38bb48c 530
Yo_Robot 22:d5431fff164b 531 // Extraer los valores numericos
Yo_Robot 22:d5431fff164b 532 sscanf( baud,"%*s %d",&baudios );
Yo_Robot 22:d5431fff164b 533
Yo_Robot 22:d5431fff164b 534
Yo_Robot 22:d5431fff164b 535 }
Yo_Robot 22:d5431fff164b 536
Yo_Robot 22:d5431fff164b 537 return baudios;
Yo_Robot 22:d5431fff164b 538 }
Yo_Robot 22:d5431fff164b 539
Yo_Robot 22:d5431fff164b 540 // **** Funciones Liberia Ethernet ***** //
Yo_Robot 12:c02b08dacc45 541 void setPTO_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 542 {
Yo_Robot 12:c02b08dacc45 543 int freq = atoi( input );
Yo_Robot 12:c02b08dacc45 544
Yo_Robot 12:c02b08dacc45 545 if( freq != 0 ){
Yo_Robot 12:c02b08dacc45 546 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 12:c02b08dacc45 547 setMR2( getMRvalue( freq ) ); // Cambiar frefuencia
Yo_Robot 12:c02b08dacc45 548 startTimer2(); // Iniciar Timer
Yo_Robot 14:039d070732d5 549 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 550 {
Yo_Robot 31:7e2cdd547cb2 551 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 552 {
Yo_Robot 31:7e2cdd547cb2 553 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 554 }
Yo_Robot 31:7e2cdd547cb2 555 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 556 {
Yo_Robot 31:7e2cdd547cb2 557 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 558 }
Yo_Robot 31:7e2cdd547cb2 559 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 560 {
Yo_Robot 31:7e2cdd547cb2 561 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 562 }
Yo_Robot 31:7e2cdd547cb2 563
Yo_Robot 31:7e2cdd547cb2 564 else
Yo_Robot 31:7e2cdd547cb2 565 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 566 }
Yo_Robot 14:039d070732d5 567 else
Yo_Robot 14:039d070732d5 568 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 569 }else{
Yo_Robot 12:c02b08dacc45 570 stopTimer2();
Yo_Robot 12:c02b08dacc45 571 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 14:039d070732d5 572 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 573 {
Yo_Robot 31:7e2cdd547cb2 574 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 575 {
Yo_Robot 31:7e2cdd547cb2 576 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 577 }
Yo_Robot 31:7e2cdd547cb2 578 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 579 {
Yo_Robot 31:7e2cdd547cb2 580 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 581 }
Yo_Robot 31:7e2cdd547cb2 582 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 583 {
Yo_Robot 31:7e2cdd547cb2 584 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 585 }
Yo_Robot 31:7e2cdd547cb2 586
Yo_Robot 31:7e2cdd547cb2 587 else
Yo_Robot 31:7e2cdd547cb2 588 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 589 }
Yo_Robot 14:039d070732d5 590 else
Yo_Robot 14:039d070732d5 591 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 592 }
Yo_Robot 12:c02b08dacc45 593 }
Yo_Robot 12:c02b08dacc45 594
Yo_Robot 15:a1ffa32ce9d1 595 void setANG_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 596 {
Yo_Robot 15:a1ffa32ce9d1 597 long int pulsos = atol( input ); //Numero de pulsos a generar
Yo_Robot 29:52932326c45a 598 float pulsos_f = (float) pulsos;
Yo_Robot 29:52932326c45a 599 t_alto = pulsos_f / fq_posicion; //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 15:a1ffa32ce9d1 600
Yo_Robot 15:a1ffa32ce9d1 601 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 602 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 15:a1ffa32ce9d1 603 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 604 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 18:cf1e07d82630 605 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 15:a1ffa32ce9d1 606
Yo_Robot 15:a1ffa32ce9d1 607 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 608 {
Yo_Robot 31:7e2cdd547cb2 609 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 610 {
Yo_Robot 31:7e2cdd547cb2 611 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 612 }
Yo_Robot 31:7e2cdd547cb2 613 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 614 {
Yo_Robot 31:7e2cdd547cb2 615 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 616 }
Yo_Robot 31:7e2cdd547cb2 617 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 618 {
Yo_Robot 31:7e2cdd547cb2 619 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 620 }
Yo_Robot 31:7e2cdd547cb2 621
Yo_Robot 31:7e2cdd547cb2 622 else
Yo_Robot 31:7e2cdd547cb2 623 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 624 }
Yo_Robot 15:a1ffa32ce9d1 625 else
Yo_Robot 15:a1ffa32ce9d1 626 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 627
Yo_Robot 15:a1ffa32ce9d1 628 }
Yo_Robot 21:353b0fe8fc54 629
Yo_Robot 21:353b0fe8fc54 630
Yo_Robot 15:a1ffa32ce9d1 631 void setSPD_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 632 {
Yo_Robot 15:a1ffa32ce9d1 633 fq_posicion = atoi( input );
Yo_Robot 15:a1ffa32ce9d1 634 // Esta funcion cambia la velocidad con la que se
Yo_Robot 15:a1ffa32ce9d1 635 // posicionara el eje del motor en un angulo determinado
Yo_Robot 15:a1ffa32ce9d1 636 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 637 {
Yo_Robot 31:7e2cdd547cb2 638 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 639 {
Yo_Robot 31:7e2cdd547cb2 640 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 641 }
Yo_Robot 31:7e2cdd547cb2 642 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 643 {
Yo_Robot 31:7e2cdd547cb2 644 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 645 }
Yo_Robot 31:7e2cdd547cb2 646 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 647 {
Yo_Robot 31:7e2cdd547cb2 648 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 649 }
Yo_Robot 31:7e2cdd547cb2 650
Yo_Robot 31:7e2cdd547cb2 651 else
Yo_Robot 31:7e2cdd547cb2 652 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 653 }
Yo_Robot 15:a1ffa32ce9d1 654 else
Yo_Robot 15:a1ffa32ce9d1 655 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 656
Yo_Robot 15:a1ffa32ce9d1 657 }
Yo_Robot 21:353b0fe8fc54 658
Yo_Robot 12:c02b08dacc45 659 void setAout_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 660 {
Yo_Robot 12:c02b08dacc45 661 int vout = atoi( input );
Yo_Robot 14:039d070732d5 662 aout = (float)( vout + 10000 ) / 20000;
Yo_Robot 14:039d070732d5 663 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 664 {
Yo_Robot 31:7e2cdd547cb2 665 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 666 {
Yo_Robot 31:7e2cdd547cb2 667 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 668 }
Yo_Robot 31:7e2cdd547cb2 669 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 670 {
Yo_Robot 31:7e2cdd547cb2 671 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 672 }
Yo_Robot 31:7e2cdd547cb2 673 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 674 {
Yo_Robot 31:7e2cdd547cb2 675 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 676 }
Yo_Robot 31:7e2cdd547cb2 677
Yo_Robot 31:7e2cdd547cb2 678 else
Yo_Robot 31:7e2cdd547cb2 679 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 680 }
Yo_Robot 14:039d070732d5 681 else
Yo_Robot 14:039d070732d5 682 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 683 }
Yo_Robot 12:c02b08dacc45 684
Yo_Robot 12:c02b08dacc45 685
Yo_Robot 12:c02b08dacc45 686
Yo_Robot 12:c02b08dacc45 687 void setDir_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 688 {
Yo_Robot 12:c02b08dacc45 689 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 690
Yo_Robot 12:c02b08dacc45 691 pin_dir = value;
Yo_Robot 12:c02b08dacc45 692
Yo_Robot 14:039d070732d5 693 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 694 {
Yo_Robot 31:7e2cdd547cb2 695 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 696 {
Yo_Robot 31:7e2cdd547cb2 697 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 698 }
Yo_Robot 31:7e2cdd547cb2 699 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 700 {
Yo_Robot 31:7e2cdd547cb2 701 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 702 }
Yo_Robot 31:7e2cdd547cb2 703 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 704 {
Yo_Robot 31:7e2cdd547cb2 705 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 706 }
Yo_Robot 31:7e2cdd547cb2 707
Yo_Robot 31:7e2cdd547cb2 708 else
Yo_Robot 31:7e2cdd547cb2 709 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 710 }
Yo_Robot 12:c02b08dacc45 711 else
Yo_Robot 14:039d070732d5 712 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 713 }
Yo_Robot 12:c02b08dacc45 714
Yo_Robot 12:c02b08dacc45 715
Yo_Robot 12:c02b08dacc45 716
Yo_Robot 12:c02b08dacc45 717 void setSON_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 718 {
Yo_Robot 12:c02b08dacc45 719 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 720
Yo_Robot 12:c02b08dacc45 721 pin_son = value;
Yo_Robot 12:c02b08dacc45 722
Yo_Robot 14:039d070732d5 723 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 724 {
Yo_Robot 31:7e2cdd547cb2 725 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 726 {
Yo_Robot 31:7e2cdd547cb2 727 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 728 }
Yo_Robot 31:7e2cdd547cb2 729 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 730 {
Yo_Robot 31:7e2cdd547cb2 731 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 732 }
Yo_Robot 31:7e2cdd547cb2 733 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 734 {
Yo_Robot 31:7e2cdd547cb2 735 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 736 }
Yo_Robot 31:7e2cdd547cb2 737
Yo_Robot 31:7e2cdd547cb2 738 else
Yo_Robot 31:7e2cdd547cb2 739 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 740 }
Yo_Robot 12:c02b08dacc45 741 else
Yo_Robot 14:039d070732d5 742 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 743
Yo_Robot 12:c02b08dacc45 744 }
Yo_Robot 12:c02b08dacc45 745
Yo_Robot 12:c02b08dacc45 746
Yo_Robot 22:d5431fff164b 747 void getENC_eth( char * input, char * output )
Yo_Robot 20:4b154134ab20 748 {
Yo_Robot 22:d5431fff164b 749 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 750 {
Yo_Robot 31:7e2cdd547cb2 751 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 752 {
Yo_Robot 31:7e2cdd547cb2 753 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 754 }
Yo_Robot 31:7e2cdd547cb2 755 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 756 {
Yo_Robot 31:7e2cdd547cb2 757 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 758 }
Yo_Robot 31:7e2cdd547cb2 759 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 760 {
Yo_Robot 31:7e2cdd547cb2 761 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 762 }
Yo_Robot 31:7e2cdd547cb2 763
Yo_Robot 31:7e2cdd547cb2 764 else
Yo_Robot 31:7e2cdd547cb2 765 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 766 }
Yo_Robot 22:d5431fff164b 767 else
Yo_Robot 22:d5431fff164b 768 sprintf( output,"AL" );
Yo_Robot 22:d5431fff164b 769 }
Yo_Robot 21:353b0fe8fc54 770
Yo_Robot 21:353b0fe8fc54 771
Yo_Robot 22:d5431fff164b 772 void setENC_eth( char * input, char * output )
Yo_Robot 22:d5431fff164b 773 {
Yo_Robot 29:52932326c45a 774 encoder.Reset(QEI_RESET_POS);
Yo_Robot 29:52932326c45a 775 encoder.Reset(QEI_RESET_VEL);
Yo_Robot 22:d5431fff164b 776
Yo_Robot 22:d5431fff164b 777 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 778 {
Yo_Robot 31:7e2cdd547cb2 779 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 780 {
Yo_Robot 31:7e2cdd547cb2 781 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 782 }
Yo_Robot 31:7e2cdd547cb2 783 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 784 {
Yo_Robot 31:7e2cdd547cb2 785 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 786 }
Yo_Robot 31:7e2cdd547cb2 787 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 788 {
Yo_Robot 31:7e2cdd547cb2 789 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 790 }
Yo_Robot 31:7e2cdd547cb2 791
Yo_Robot 31:7e2cdd547cb2 792 else
Yo_Robot 31:7e2cdd547cb2 793 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 794 }
Yo_Robot 22:d5431fff164b 795 else
Yo_Robot 22:d5431fff164b 796 sprintf( output,"AL" );
Yo_Robot 22:d5431fff164b 797
Yo_Robot 20:4b154134ab20 798 }
Yo_Robot 12:c02b08dacc45 799
Yo_Robot 23:2126e38bb48c 800 void getRPM_eth( char * input, char * output )
Yo_Robot 23:2126e38bb48c 801 {
Yo_Robot 29:52932326c45a 802 int rpm;
Yo_Robot 23:2126e38bb48c 803
Yo_Robot 29:52932326c45a 804 rpm = encoder.CalculateRPM( encoder.GetVelocityCap(), 360); // ultima velocidad leida desde el encoder
Yo_Robot 29:52932326c45a 805 // numero de revoluciones por vuelta del encoder
Yo_Robot 29:52932326c45a 806
Yo_Robot 23:2126e38bb48c 807
Yo_Robot 23:2126e38bb48c 808 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 809 {
Yo_Robot 31:7e2cdd547cb2 810 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 811 {
Yo_Robot 31:7e2cdd547cb2 812 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 813 }
Yo_Robot 31:7e2cdd547cb2 814 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 815 {
Yo_Robot 31:7e2cdd547cb2 816 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 817 }
Yo_Robot 31:7e2cdd547cb2 818 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 819 {
Yo_Robot 31:7e2cdd547cb2 820 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 821 }
Yo_Robot 31:7e2cdd547cb2 822
Yo_Robot 31:7e2cdd547cb2 823 else
Yo_Robot 31:7e2cdd547cb2 824 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 825 }
Yo_Robot 23:2126e38bb48c 826 else
Yo_Robot 29:52932326c45a 827 sprintf( output,"AL" );
Yo_Robot 23:2126e38bb48c 828
Yo_Robot 23:2126e38bb48c 829
Yo_Robot 23:2126e38bb48c 830 }
Yo_Robot 23:2126e38bb48c 831
Yo_Robot 21:353b0fe8fc54 832
Yo_Robot 32:4483d6c225e5 833 void setHOME_eth( char * input, char * output )
Yo_Robot 32:4483d6c225e5 834 {
Yo_Robot 32:4483d6c225e5 835 int value = atoi( input );
Yo_Robot 32:4483d6c225e5 836 pin_dir = 1; //Mover hacia el motor
Yo_Robot 32:4483d6c225e5 837 bandera_inicio = 1; // Informar a ISR_Adv_motor() acerca del Homing
Yo_Robot 32:4483d6c225e5 838 setPTO( value * 1000 ); // a la velocidad seteada en KiloHertzios
Yo_Robot 32:4483d6c225e5 839
Yo_Robot 32:4483d6c225e5 840 if( pin_alm == 0 )
Yo_Robot 32:4483d6c225e5 841 {
Yo_Robot 32:4483d6c225e5 842 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 32:4483d6c225e5 843 {
Yo_Robot 32:4483d6c225e5 844 sprintf( output,"A2\r\n" );
Yo_Robot 32:4483d6c225e5 845 }
Yo_Robot 32:4483d6c225e5 846
Yo_Robot 32:4483d6c225e5 847 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 32:4483d6c225e5 848 {
Yo_Robot 32:4483d6c225e5 849 if (bandera_inicio == 1)
Yo_Robot 32:4483d6c225e5 850 {
Yo_Robot 32:4483d6c225e5 851 sprintf( output,"IN\r\n" );
Yo_Robot 32:4483d6c225e5 852 }
Yo_Robot 32:4483d6c225e5 853 sprintf( output,"A1\r\n" );
Yo_Robot 32:4483d6c225e5 854 }
Yo_Robot 32:4483d6c225e5 855 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 32:4483d6c225e5 856 {
Yo_Robot 32:4483d6c225e5 857 sprintf( output,"A0\r\n" );
Yo_Robot 32:4483d6c225e5 858 }
Yo_Robot 32:4483d6c225e5 859
Yo_Robot 32:4483d6c225e5 860 else
Yo_Robot 32:4483d6c225e5 861 sprintf( output,"OK\r\n" );
Yo_Robot 32:4483d6c225e5 862 }
Yo_Robot 32:4483d6c225e5 863 else
Yo_Robot 32:4483d6c225e5 864 sprintf( output,"AL" );
Yo_Robot 32:4483d6c225e5 865
Yo_Robot 32:4483d6c225e5 866
Yo_Robot 32:4483d6c225e5 867 }
Yo_Robot 32:4483d6c225e5 868
Yo_Robot 34:bdf918bc9b59 869 void getALM_eth ( char * input, char * output )
Yo_Robot 34:bdf918bc9b59 870 {
Yo_Robot 34:bdf918bc9b59 871
Yo_Robot 34:bdf918bc9b59 872 if( pin_alm == 0 )
Yo_Robot 34:bdf918bc9b59 873 {
Yo_Robot 34:bdf918bc9b59 874 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 34:bdf918bc9b59 875 {
Yo_Robot 34:bdf918bc9b59 876 sprintf( output,"A2\r\n" );
Yo_Robot 34:bdf918bc9b59 877 }
Yo_Robot 34:bdf918bc9b59 878 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 34:bdf918bc9b59 879 {
Yo_Robot 34:bdf918bc9b59 880 sprintf( output,"A1\r\n" );
Yo_Robot 34:bdf918bc9b59 881 }
Yo_Robot 34:bdf918bc9b59 882 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 34:bdf918bc9b59 883 {
Yo_Robot 34:bdf918bc9b59 884 sprintf( output,"A0\r\n" );
Yo_Robot 34:bdf918bc9b59 885 }
Yo_Robot 34:bdf918bc9b59 886
Yo_Robot 34:bdf918bc9b59 887 else
Yo_Robot 34:bdf918bc9b59 888 sprintf( output,"OK\r\n" );
Yo_Robot 34:bdf918bc9b59 889 }
Yo_Robot 34:bdf918bc9b59 890 else
Yo_Robot 34:bdf918bc9b59 891 sprintf( output,"AL" );
Yo_Robot 34:bdf918bc9b59 892
Yo_Robot 34:bdf918bc9b59 893 }
Yo_Robot 22:d5431fff164b 894
Yo_Robot 22:d5431fff164b 895
Yo_Robot 4:552beeda4722 896 /* LEGACY FUNCTIONS
Yo_Robot 4:552beeda4722 897 *
Yo_Robot 20:4b154134ab20 898 * El siguiente codigo no es utilizado por el
Yo_Robot 20:4b154134ab20 899 * programa. Sin embargo pueden servir como
Yo_Robot 20:4b154134ab20 900 * futuras referencias.
Yo_Robot 4:552beeda4722 901 */
Yo_Robot 4:552beeda4722 902 void setMR3( int newValue )
Yo_Robot 4:552beeda4722 903 {
Yo_Robot 4:552beeda4722 904 LPC_TIM2->MR3 = newValue;
Yo_Robot 4:552beeda4722 905 }
Yo_Robot 4:552beeda4722 906
Yo_Robot 4:552beeda4722 907
Yo_Robot 4:552beeda4722 908 void setPrescaler( int newValue)
Yo_Robot 4:552beeda4722 909 {
Yo_Robot 4:552beeda4722 910 LPC_TIM2->PR = newValue;
Yo_Robot 4:552beeda4722 911 }
Yo_Robot 20:4b154134ab20 912
Yo_Robot 20:4b154134ab20 913
Yo_Robot 20:4b154134ab20 914 EthernetNetIf configurarEthernet()
Yo_Robot 20:4b154134ab20 915 {
Yo_Robot 20:4b154134ab20 916 //____________ *** ARCHIVO DE CONFIGURACION ***_______________________ //
Yo_Robot 20:4b154134ab20 917
Yo_Robot 20:4b154134ab20 918 printf("\n *** CONFIGURACION ETHERNET DE MBED ***\n");
Yo_Robot 20:4b154134ab20 919 printf("Leyendo archivo de configuracion...\n\n");
Yo_Robot 20:4b154134ab20 920
Yo_Robot 20:4b154134ab20 921 FILE *fp = fopen("/local/config.txt", "r"); // Abre el archivo y lo guarda en fp
Yo_Robot 20:4b154134ab20 922
Yo_Robot 20:4b154134ab20 923 if(!fp) // En caso de no encontrarse el archivo
Yo_Robot 20:4b154134ab20 924 {
Yo_Robot 20:4b154134ab20 925 printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n");
Yo_Robot 20:4b154134ab20 926 exit(1);
Yo_Robot 20:4b154134ab20 927
Yo_Robot 20:4b154134ab20 928 }
Yo_Robot 20:4b154134ab20 929 else
Yo_Robot 20:4b154134ab20 930 {
Yo_Robot 20:4b154134ab20 931 // Cadenas de caracteres desde el Archivo config.txt
Yo_Robot 20:4b154134ab20 932 char isDHCP [15]; //Modo Automatico o Manual
Yo_Robot 20:4b154134ab20 933 char empty [2]; // Linea vacia
Yo_Robot 20:4b154134ab20 934 char ip [40]; // Direccion IP
Yo_Robot 20:4b154134ab20 935 char mask [40]; // Mascara de Subred
Yo_Robot 20:4b154134ab20 936 char gate [40]; // Puerta de enlace
Yo_Robot 20:4b154134ab20 937 char dns [40]; // Direccion DNS
Yo_Robot 20:4b154134ab20 938
Yo_Robot 20:4b154134ab20 939 // Valores 'int' para agregar a la configuracion manual
Yo_Robot 20:4b154134ab20 940 int DHCP;
Yo_Robot 20:4b154134ab20 941 int n_ip[4];
Yo_Robot 20:4b154134ab20 942 int n_mask[4];
Yo_Robot 20:4b154134ab20 943 int n_gate[4];
Yo_Robot 20:4b154134ab20 944 int n_dns[4];
Yo_Robot 20:4b154134ab20 945
Yo_Robot 20:4b154134ab20 946
Yo_Robot 20:4b154134ab20 947 // Leer linea a linea el archivo
Yo_Robot 20:4b154134ab20 948 fgets( isDHCP, 15, fp );
Yo_Robot 20:4b154134ab20 949 fgets( empty, 2, fp );
Yo_Robot 20:4b154134ab20 950 fgets( ip, 40, fp );
Yo_Robot 20:4b154134ab20 951 fgets( mask, 40, fp );
Yo_Robot 20:4b154134ab20 952 fgets( gate, 40, fp );
Yo_Robot 20:4b154134ab20 953 fgets( dns, 40, fp );
Yo_Robot 20:4b154134ab20 954
Yo_Robot 20:4b154134ab20 955 printf("Cerrando archivo...\n");
Yo_Robot 20:4b154134ab20 956 fclose(fp);
Yo_Robot 20:4b154134ab20 957
Yo_Robot 20:4b154134ab20 958 // Extraer los valores numericos
Yo_Robot 20:4b154134ab20 959 sscanf( isDHCP,"%*s %d",&DHCP );
Yo_Robot 20:4b154134ab20 960
Yo_Robot 20:4b154134ab20 961 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0],&n_ip[1],&n_ip[2],&n_ip[3] );
Yo_Robot 20:4b154134ab20 962 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 20:4b154134ab20 963 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 20:4b154134ab20 964 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0],&n_dns[1],&n_dns[2],&n_dns[3] );
Yo_Robot 20:4b154134ab20 965
Yo_Robot 20:4b154134ab20 966
Yo_Robot 20:4b154134ab20 967 if(DHCP) //En caso de modo DHCP
Yo_Robot 20:4b154134ab20 968 {
Yo_Robot 20:4b154134ab20 969 printf("\n Configurar red de manera automatica\n");
Yo_Robot 20:4b154134ab20 970 EthernetNetIf eth; //Crea la interfaz
Yo_Robot 20:4b154134ab20 971 EthernetErr ethErr = eth.setup();
Yo_Robot 20:4b154134ab20 972 if( ethErr )
Yo_Robot 20:4b154134ab20 973 {
Yo_Robot 20:4b154134ab20 974 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 20:4b154134ab20 975 exit(1);
Yo_Robot 20:4b154134ab20 976 }
Yo_Robot 20:4b154134ab20 977
Yo_Robot 20:4b154134ab20 978 printf("Configuracion Correcta\n\n");
Yo_Robot 20:4b154134ab20 979 return eth;
Yo_Robot 20:4b154134ab20 980 }
Yo_Robot 20:4b154134ab20 981 else
Yo_Robot 20:4b154134ab20 982 {
Yo_Robot 20:4b154134ab20 983 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0], &n_ip[1], &n_ip[2], &n_ip[3] );
Yo_Robot 20:4b154134ab20 984 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 20:4b154134ab20 985 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 20:4b154134ab20 986 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0], &n_dns[1], &n_dns[2], &n_dns[3] );
Yo_Robot 20:4b154134ab20 987 printf(" %s %s %s %s %s\n " , isDHCP, ip, mask, gate, dns );
Yo_Robot 20:4b154134ab20 988
Yo_Robot 20:4b154134ab20 989 printf("\n Configurar red de manera manual\n");
Yo_Robot 20:4b154134ab20 990 EthernetNetIf eth(
Yo_Robot 20:4b154134ab20 991 IpAddr( n_ip[0], n_ip[1], n_ip[2], n_ip[3]), //IP Address
Yo_Robot 20:4b154134ab20 992 IpAddr( n_mask[0],n_mask[1],n_mask[2],n_mask[3]), //Network Mask
Yo_Robot 20:4b154134ab20 993 IpAddr( n_gate[0],n_gate[1],n_gate[2],n_gate[3]), //Gateway
Yo_Robot 20:4b154134ab20 994 IpAddr( n_dns[0], n_dns[1], n_dns[2], n_dns[3] ) //DNS
Yo_Robot 20:4b154134ab20 995 );
Yo_Robot 20:4b154134ab20 996
Yo_Robot 20:4b154134ab20 997 EthernetErr ethErr = eth.setup();
Yo_Robot 20:4b154134ab20 998 if( ethErr )
Yo_Robot 20:4b154134ab20 999 {
Yo_Robot 20:4b154134ab20 1000 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 20:4b154134ab20 1001 exit(1);
Yo_Robot 20:4b154134ab20 1002 }
Yo_Robot 20:4b154134ab20 1003
Yo_Robot 20:4b154134ab20 1004 printf("Configuracion Correcta\n\n");
Yo_Robot 20:4b154134ab20 1005 return eth;
Yo_Robot 20:4b154134ab20 1006 }
Yo_Robot 20:4b154134ab20 1007
Yo_Robot 20:4b154134ab20 1008 }
Yo_Robot 20:4b154134ab20 1009
Yo_Robot 20:4b154134ab20 1010 EthernetNetIf eth;
Yo_Robot 20:4b154134ab20 1011 return eth;
Yo_Robot 20:4b154134ab20 1012 }