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@28:b7ded82ee7da, 2014-02-04 (annotated)

Committer:
Yo_Robot
Date:
Tue Feb 04 15:39:53 2014 +0000
Revision:
28:b7ded82ee7da
Parent:
27:b8254b76ec57
Child:
29:52932326c45a
Ya funciona el enviar un n?mero determinado de pulsos, se aumento enviar un NA cuando no reconoce el comando que se le envi?

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 22:d5431fff164b 37 int read_encoder()
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 24:a1d16835201c 92 case 'R': // Leer la velocidad en RPMs 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 27:b8254b76ec57 98 pc.printf("encoder\n\r");
Yo_Robot 26:dad0b2031173 99 else
Yo_Robot 27:b8254b76ec57 100 RS_232.printf("encoder\n\r");
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 23:2126e38bb48c 175 case 'G':
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 27:b8254b76ec57 201 case 'P':
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 27:b8254b76ec57 227 case 'M':
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 24:a1d16835201c 253 case 'E': //Leer posicion angular relativa del encoder
Yo_Robot 24:a1d16835201c 254 {
Yo_Robot 23:2126e38bb48c 255 if( isPC )
Yo_Robot 23:2126e38bb48c 256 pc.printf( "%d",read_encoder() );
Yo_Robot 23:2126e38bb48c 257 else
Yo_Robot 23:2126e38bb48c 258 RS_232.printf( "%d",read_encoder() );
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 23:2126e38bb48c 263 clear_encoder();
Yo_Robot 26:dad0b2031173 264
Yo_Robot 26:dad0b2031173 265 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 266 if( isPC )
Yo_Robot 26:dad0b2031173 267 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 268 else
Yo_Robot 26:dad0b2031173 269 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 270
Yo_Robot 23:2126e38bb48c 271 break;
Yo_Robot 23:2126e38bb48c 272
Yo_Robot 23:2126e38bb48c 273 case 'S': //Encender el Servo
Yo_Robot 26:dad0b2031173 274
Yo_Robot 23:2126e38bb48c 275 pin_son = value;
Yo_Robot 26:dad0b2031173 276
Yo_Robot 26:dad0b2031173 277 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 278 if( isPC )
Yo_Robot 26:dad0b2031173 279 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 280 else
Yo_Robot 26:dad0b2031173 281 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 282
Yo_Robot 23:2126e38bb48c 283 break;
Yo_Robot 28:b7ded82ee7da 284
Yo_Robot 28:b7ded82ee7da 285 default:
Yo_Robot 28:b7ded82ee7da 286
Yo_Robot 28:b7ded82ee7da 287 // EL COMANDO NO SE RECONOCE: No Aplica
Yo_Robot 28:b7ded82ee7da 288 if( isPC )
Yo_Robot 28:b7ded82ee7da 289 pc.printf("NA\r\n");
Yo_Robot 28:b7ded82ee7da 290 else
Yo_Robot 28:b7ded82ee7da 291 RS_232.printf("NA\r\n");
Yo_Robot 28:b7ded82ee7da 292
Yo_Robot 28:b7ded82ee7da 293 break;
Yo_Robot 18:cf1e07d82630 294 }
Yo_Robot 23:2126e38bb48c 295
Yo_Robot 12:c02b08dacc45 296 }
Yo_Robot 12:c02b08dacc45 297
Yo_Robot 12:c02b08dacc45 298
Yo_Robot 12:c02b08dacc45 299 void setPTO( int freq )
Yo_Robot 12:c02b08dacc45 300 {
Yo_Robot 12:c02b08dacc45 301 if( freq != 0 )
Yo_Robot 12:c02b08dacc45 302 {
Yo_Robot 12:c02b08dacc45 303 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 304 setMR2( getMRvalue( freq ) );
Yo_Robot 12:c02b08dacc45 305 startTimer2();
Yo_Robot 12:c02b08dacc45 306
Yo_Robot 12:c02b08dacc45 307 }else{
Yo_Robot 12:c02b08dacc45 308
Yo_Robot 12:c02b08dacc45 309 stopTimer2();
Yo_Robot 12:c02b08dacc45 310 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 311 }
Yo_Robot 12:c02b08dacc45 312 }
Yo_Robot 12:c02b08dacc45 313
Yo_Robot 22:d5431fff164b 314
Yo_Robot 22:d5431fff164b 315
Yo_Robot 22:d5431fff164b 316 void ISR_Alarm()
Yo_Robot 22:d5431fff164b 317 {
Yo_Robot 22:d5431fff164b 318 pin_son = 0 ;
Yo_Robot 22:d5431fff164b 319 stopTimer2();
Yo_Robot 22:d5431fff164b 320 aout = 0.5 ;
Yo_Robot 22:d5431fff164b 321
Yo_Robot 22:d5431fff164b 322 if(isPC)
Yo_Robot 26:dad0b2031173 323 pc.printf( "AL\r\n" ); //ALARMA! solo es AL para que
Yo_Robot 22:d5431fff164b 324 //sea conciso con el modo ETH y funcione
Yo_Robot 22:d5431fff164b 325 //bien en LabVIEW.
Yo_Robot 22:d5431fff164b 326 else
Yo_Robot 26:dad0b2031173 327 RS_232.printf( "AL\r\n" );
Yo_Robot 22:d5431fff164b 328 }
Yo_Robot 22:d5431fff164b 329
Yo_Robot 22:d5431fff164b 330 int getMRvalue( int fout )
Yo_Robot 22:d5431fff164b 331 {
Yo_Robot 22:d5431fff164b 332 int toRegister;
Yo_Robot 22:d5431fff164b 333
Yo_Robot 22:d5431fff164b 334 toRegister = (24000000 /(fout*2.0) ) -1;
Yo_Robot 22:d5431fff164b 335 return toRegister;
Yo_Robot 22:d5431fff164b 336 }
Yo_Robot 22:d5431fff164b 337
Yo_Robot 22:d5431fff164b 338
Yo_Robot 22:d5431fff164b 339 void setMR2( int newValue )
Yo_Robot 22:d5431fff164b 340 {
Yo_Robot 22:d5431fff164b 341 LPC_TIM2->MR2 = newValue; // Las dos salidas son identicas
Yo_Robot 22:d5431fff164b 342 LPC_TIM2->MR3 = newValue; // Para testear el programa.
Yo_Robot 22:d5431fff164b 343 }
Yo_Robot 22:d5431fff164b 344
Yo_Robot 22:d5431fff164b 345
Yo_Robot 22:d5431fff164b 346
Yo_Robot 22:d5431fff164b 347 void startTimer2()
Yo_Robot 22:d5431fff164b 348 {
Yo_Robot 22:d5431fff164b 349 // Arrancer el Timer 2
Yo_Robot 22:d5431fff164b 350 LPC_TIM2->TCR = 1;
Yo_Robot 22:d5431fff164b 351 }
Yo_Robot 22:d5431fff164b 352
Yo_Robot 22:d5431fff164b 353 void stopTimer2()
Yo_Robot 22:d5431fff164b 354 {
Yo_Robot 22:d5431fff164b 355 // Detener el Timer 2
Yo_Robot 22:d5431fff164b 356 LPC_TIM2->TCR = 0x2;
Yo_Robot 22:d5431fff164b 357 }
Yo_Robot 22:d5431fff164b 358
Yo_Robot 22:d5431fff164b 359 int getBaud()
Yo_Robot 22:d5431fff164b 360 {
Yo_Robot 22:d5431fff164b 361 int baudios = 115200; //Valor por defecto
Yo_Robot 22:d5431fff164b 362
Yo_Robot 22:d5431fff164b 363 FILE *fp = fopen("/local/config.mbd", "r"); // Abre el archivo y lo guarda en fp
Yo_Robot 22:d5431fff164b 364
Yo_Robot 22:d5431fff164b 365 if(!fp) // En caso de no encontrarse el archivo
Yo_Robot 22:d5431fff164b 366 {
Yo_Robot 22:d5431fff164b 367 printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n");
Yo_Robot 22:d5431fff164b 368 printf("Cree un archivo de texto: config.mbd dentro de la unidad Mbed\n");
Yo_Robot 22:d5431fff164b 369 printf("que contenga las lineas:\n\n");
Yo_Robot 22:d5431fff164b 370
Yo_Robot 22:d5431fff164b 371 printf(" 1\n");
Yo_Robot 22:d5431fff164b 372 printf(" 2\n");
Yo_Robot 22:d5431fff164b 373 printf(" 3\n");
Yo_Robot 22:d5431fff164b 374 printf(" 4\n");
Yo_Robot 22:d5431fff164b 375 printf(" baudios: 115200\n");
Yo_Robot 22:d5431fff164b 376
Yo_Robot 22:d5431fff164b 377 printf("Cambie el valor de 115200 por la velocidad a la que desea transmitir:\n");
Yo_Robot 22:d5431fff164b 378 printf("luego reinicie el microcontrolador\n");
Yo_Robot 22:d5431fff164b 379 exit(1);
Yo_Robot 22:d5431fff164b 380
Yo_Robot 22:d5431fff164b 381 }
Yo_Robot 22:d5431fff164b 382 else
Yo_Robot 22:d5431fff164b 383 {
Yo_Robot 22:d5431fff164b 384 // Cadenas de caracteres desde el Archivo config.mbd
Yo_Robot 22:d5431fff164b 385 char notstr [04]; // linea vacia
Yo_Robot 22:d5431fff164b 386 char baud [40]; // valor en baudios
Yo_Robot 22:d5431fff164b 387
Yo_Robot 22:d5431fff164b 388 // Leer linea a linea el archivo
Yo_Robot 22:d5431fff164b 389 // cuatro primeras lineas no sirven
Yo_Robot 22:d5431fff164b 390 fgets( notstr, 4, fp );
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( baud, 40, fp );
Yo_Robot 22:d5431fff164b 395 fclose(fp);
Yo_Robot 23:2126e38bb48c 396
Yo_Robot 22:d5431fff164b 397 // Extraer los valores numericos
Yo_Robot 22:d5431fff164b 398 sscanf( baud,"%*s %d",&baudios );
Yo_Robot 22:d5431fff164b 399
Yo_Robot 22:d5431fff164b 400
Yo_Robot 22:d5431fff164b 401 }
Yo_Robot 22:d5431fff164b 402
Yo_Robot 22:d5431fff164b 403 return baudios;
Yo_Robot 22:d5431fff164b 404 }
Yo_Robot 22:d5431fff164b 405
Yo_Robot 22:d5431fff164b 406 // **** Funciones Liberia Ethernet ***** //
Yo_Robot 12:c02b08dacc45 407 void setPTO_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 408 {
Yo_Robot 12:c02b08dacc45 409 int freq = atoi( input );
Yo_Robot 12:c02b08dacc45 410
Yo_Robot 12:c02b08dacc45 411 if( freq != 0 ){
Yo_Robot 12:c02b08dacc45 412 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 12:c02b08dacc45 413 setMR2( getMRvalue( freq ) ); // Cambiar frefuencia
Yo_Robot 12:c02b08dacc45 414 startTimer2(); // Iniciar Timer
Yo_Robot 14:039d070732d5 415 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 416 sprintf( output,"OK\r\n" );
Yo_Robot 14:039d070732d5 417 else
Yo_Robot 14:039d070732d5 418 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 419 }else{
Yo_Robot 12:c02b08dacc45 420 stopTimer2();
Yo_Robot 12:c02b08dacc45 421 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 14:039d070732d5 422 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 423 sprintf( output,"OK\r\n" );
Yo_Robot 14:039d070732d5 424 else
Yo_Robot 14:039d070732d5 425 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 426 }
Yo_Robot 12:c02b08dacc45 427 }
Yo_Robot 12:c02b08dacc45 428
Yo_Robot 15:a1ffa32ce9d1 429 void setANG_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 430 {
Yo_Robot 15:a1ffa32ce9d1 431 long int pulsos = atol( input ); //Numero de pulsos a generar
Yo_Robot 23:2126e38bb48c 432 t_alto = pulsos / fq_posicion; //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 15:a1ffa32ce9d1 433
Yo_Robot 15:a1ffa32ce9d1 434 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 435 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 15:a1ffa32ce9d1 436 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 437 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 18:cf1e07d82630 438 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 15:a1ffa32ce9d1 439
Yo_Robot 15:a1ffa32ce9d1 440 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 441 sprintf( output,"OK\r\n" );
Yo_Robot 15:a1ffa32ce9d1 442 else
Yo_Robot 15:a1ffa32ce9d1 443 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 444
Yo_Robot 15:a1ffa32ce9d1 445 }
Yo_Robot 21:353b0fe8fc54 446
Yo_Robot 21:353b0fe8fc54 447
Yo_Robot 15:a1ffa32ce9d1 448 void setSPD_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 449 {
Yo_Robot 15:a1ffa32ce9d1 450 fq_posicion = atoi( input );
Yo_Robot 15:a1ffa32ce9d1 451 // Esta funcion cambia la velocidad con la que se
Yo_Robot 15:a1ffa32ce9d1 452 // posicionara el eje del motor en un angulo determinado
Yo_Robot 15:a1ffa32ce9d1 453 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 454 sprintf( output,"OK\r\n" );
Yo_Robot 15:a1ffa32ce9d1 455 else
Yo_Robot 15:a1ffa32ce9d1 456 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 457
Yo_Robot 15:a1ffa32ce9d1 458 }
Yo_Robot 21:353b0fe8fc54 459
Yo_Robot 12:c02b08dacc45 460 void setAout_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 461 {
Yo_Robot 12:c02b08dacc45 462 int vout = atoi( input );
Yo_Robot 14:039d070732d5 463 aout = (float)( vout + 10000 ) / 20000;
Yo_Robot 14:039d070732d5 464 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 465 sprintf( output,"OK\r\n" );
Yo_Robot 14:039d070732d5 466 else
Yo_Robot 14:039d070732d5 467 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 468 }
Yo_Robot 12:c02b08dacc45 469
Yo_Robot 12:c02b08dacc45 470
Yo_Robot 12:c02b08dacc45 471
Yo_Robot 12:c02b08dacc45 472 void setDir_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 473 {
Yo_Robot 12:c02b08dacc45 474 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 475
Yo_Robot 12:c02b08dacc45 476 pin_dir = value;
Yo_Robot 12:c02b08dacc45 477
Yo_Robot 14:039d070732d5 478 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 479 sprintf( output,"OK\r\n" );
Yo_Robot 12:c02b08dacc45 480 else
Yo_Robot 14:039d070732d5 481 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 482 }
Yo_Robot 12:c02b08dacc45 483
Yo_Robot 12:c02b08dacc45 484
Yo_Robot 12:c02b08dacc45 485
Yo_Robot 12:c02b08dacc45 486 void setSON_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 487 {
Yo_Robot 12:c02b08dacc45 488 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 489
Yo_Robot 12:c02b08dacc45 490 pin_son = value;
Yo_Robot 12:c02b08dacc45 491
Yo_Robot 14:039d070732d5 492 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 493 sprintf( output,"OK\r\n" );
Yo_Robot 12:c02b08dacc45 494 else
Yo_Robot 14:039d070732d5 495 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 496
Yo_Robot 12:c02b08dacc45 497 }
Yo_Robot 12:c02b08dacc45 498
Yo_Robot 12:c02b08dacc45 499
Yo_Robot 22:d5431fff164b 500 void getENC_eth( char * input, char * output )
Yo_Robot 20:4b154134ab20 501 {
Yo_Robot 22:d5431fff164b 502 if( pin_alm == 0 )
Yo_Robot 22:d5431fff164b 503 sprintf( output,"%d", read_encoder() );
Yo_Robot 22:d5431fff164b 504 else
Yo_Robot 22:d5431fff164b 505 sprintf( output,"AL" );
Yo_Robot 22:d5431fff164b 506 }
Yo_Robot 21:353b0fe8fc54 507
Yo_Robot 21:353b0fe8fc54 508
Yo_Robot 22:d5431fff164b 509 void setENC_eth( char * input, char * output )
Yo_Robot 22:d5431fff164b 510 {
Yo_Robot 22:d5431fff164b 511 clear_encoder();
Yo_Robot 22:d5431fff164b 512
Yo_Robot 22:d5431fff164b 513 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 514 sprintf( output,"OK\r\n" );
Yo_Robot 22:d5431fff164b 515 else
Yo_Robot 22:d5431fff164b 516 sprintf( output,"AL" );
Yo_Robot 22:d5431fff164b 517
Yo_Robot 20:4b154134ab20 518 }
Yo_Robot 12:c02b08dacc45 519
Yo_Robot 23:2126e38bb48c 520 void getRPM_eth( char * input, char * output )
Yo_Robot 23:2126e38bb48c 521 {
Yo_Robot 23:2126e38bb48c 522 float rpm;
Yo_Robot 23:2126e38bb48c 523
Yo_Robot 25:1910a55ff0a3 524 rpm = encoder.CalculateRPM( encoder.GetVelocityCap() , // ultima velocidad leida desde el encoder
Yo_Robot 25:1910a55ff0a3 525 360 // numero de revoluciones por vuelta del encoder
Yo_Robot 25:1910a55ff0a3 526 );
Yo_Robot 25:1910a55ff0a3 527
Yo_Robot 23:2126e38bb48c 528
Yo_Robot 23:2126e38bb48c 529 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 530 sprintf( output,"OK\r\n" );
Yo_Robot 23:2126e38bb48c 531 else
Yo_Robot 23:2126e38bb48c 532 sprintf( output,"%f", rpm );
Yo_Robot 23:2126e38bb48c 533
Yo_Robot 23:2126e38bb48c 534
Yo_Robot 23:2126e38bb48c 535 }
Yo_Robot 23:2126e38bb48c 536
Yo_Robot 21:353b0fe8fc54 537
Yo_Robot 22:d5431fff164b 538
Yo_Robot 22:d5431fff164b 539
Yo_Robot 22:d5431fff164b 540
Yo_Robot 4:552beeda4722 541 /* LEGACY FUNCTIONS
Yo_Robot 4:552beeda4722 542 *
Yo_Robot 20:4b154134ab20 543 * El siguiente codigo no es utilizado por el
Yo_Robot 20:4b154134ab20 544 * programa. Sin embargo pueden servir como
Yo_Robot 20:4b154134ab20 545 * futuras referencias.
Yo_Robot 4:552beeda4722 546 */
Yo_Robot 4:552beeda4722 547 void setMR3( int newValue )
Yo_Robot 4:552beeda4722 548 {
Yo_Robot 4:552beeda4722 549 LPC_TIM2->MR3 = newValue;
Yo_Robot 4:552beeda4722 550 }
Yo_Robot 4:552beeda4722 551
Yo_Robot 4:552beeda4722 552
Yo_Robot 4:552beeda4722 553 void setPrescaler( int newValue)
Yo_Robot 4:552beeda4722 554 {
Yo_Robot 4:552beeda4722 555 LPC_TIM2->PR = newValue;
Yo_Robot 4:552beeda4722 556 }
Yo_Robot 20:4b154134ab20 557
Yo_Robot 20:4b154134ab20 558
Yo_Robot 20:4b154134ab20 559 EthernetNetIf configurarEthernet()
Yo_Robot 20:4b154134ab20 560 {
Yo_Robot 20:4b154134ab20 561 //____________ *** ARCHIVO DE CONFIGURACION ***_______________________ //
Yo_Robot 20:4b154134ab20 562
Yo_Robot 20:4b154134ab20 563 printf("\n *** CONFIGURACION ETHERNET DE MBED ***\n");
Yo_Robot 20:4b154134ab20 564 printf("Leyendo archivo de configuracion...\n\n");
Yo_Robot 20:4b154134ab20 565
Yo_Robot 20:4b154134ab20 566 FILE *fp = fopen("/local/config.txt", "r"); // Abre el archivo y lo guarda en fp
Yo_Robot 20:4b154134ab20 567
Yo_Robot 20:4b154134ab20 568 if(!fp) // En caso de no encontrarse el archivo
Yo_Robot 20:4b154134ab20 569 {
Yo_Robot 20:4b154134ab20 570 printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n");
Yo_Robot 20:4b154134ab20 571 exit(1);
Yo_Robot 20:4b154134ab20 572
Yo_Robot 20:4b154134ab20 573 }
Yo_Robot 20:4b154134ab20 574 else
Yo_Robot 20:4b154134ab20 575 {
Yo_Robot 20:4b154134ab20 576 // Cadenas de caracteres desde el Archivo config.txt
Yo_Robot 20:4b154134ab20 577 char isDHCP [15]; //Modo Automatico o Manual
Yo_Robot 20:4b154134ab20 578 char empty [2]; // Linea vacia
Yo_Robot 20:4b154134ab20 579 char ip [40]; // Direccion IP
Yo_Robot 20:4b154134ab20 580 char mask [40]; // Mascara de Subred
Yo_Robot 20:4b154134ab20 581 char gate [40]; // Puerta de enlace
Yo_Robot 20:4b154134ab20 582 char dns [40]; // Direccion DNS
Yo_Robot 20:4b154134ab20 583
Yo_Robot 20:4b154134ab20 584 // Valores 'int' para agregar a la configuracion manual
Yo_Robot 20:4b154134ab20 585 int DHCP;
Yo_Robot 20:4b154134ab20 586 int n_ip[4];
Yo_Robot 20:4b154134ab20 587 int n_mask[4];
Yo_Robot 20:4b154134ab20 588 int n_gate[4];
Yo_Robot 20:4b154134ab20 589 int n_dns[4];
Yo_Robot 20:4b154134ab20 590
Yo_Robot 20:4b154134ab20 591
Yo_Robot 20:4b154134ab20 592 // Leer linea a linea el archivo
Yo_Robot 20:4b154134ab20 593 fgets( isDHCP, 15, fp );
Yo_Robot 20:4b154134ab20 594 fgets( empty, 2, fp );
Yo_Robot 20:4b154134ab20 595 fgets( ip, 40, fp );
Yo_Robot 20:4b154134ab20 596 fgets( mask, 40, fp );
Yo_Robot 20:4b154134ab20 597 fgets( gate, 40, fp );
Yo_Robot 20:4b154134ab20 598 fgets( dns, 40, fp );
Yo_Robot 20:4b154134ab20 599
Yo_Robot 20:4b154134ab20 600 printf("Cerrando archivo...\n");
Yo_Robot 20:4b154134ab20 601 fclose(fp);
Yo_Robot 20:4b154134ab20 602
Yo_Robot 20:4b154134ab20 603 // Extraer los valores numericos
Yo_Robot 20:4b154134ab20 604 sscanf( isDHCP,"%*s %d",&DHCP );
Yo_Robot 20:4b154134ab20 605
Yo_Robot 20:4b154134ab20 606 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0],&n_ip[1],&n_ip[2],&n_ip[3] );
Yo_Robot 20:4b154134ab20 607 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 20:4b154134ab20 608 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 20:4b154134ab20 609 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0],&n_dns[1],&n_dns[2],&n_dns[3] );
Yo_Robot 20:4b154134ab20 610
Yo_Robot 20:4b154134ab20 611
Yo_Robot 20:4b154134ab20 612 if(DHCP) //En caso de modo DHCP
Yo_Robot 20:4b154134ab20 613 {
Yo_Robot 20:4b154134ab20 614 printf("\n Configurar red de manera automatica\n");
Yo_Robot 20:4b154134ab20 615 EthernetNetIf eth; //Crea la interfaz
Yo_Robot 20:4b154134ab20 616 EthernetErr ethErr = eth.setup();
Yo_Robot 20:4b154134ab20 617 if( ethErr )
Yo_Robot 20:4b154134ab20 618 {
Yo_Robot 20:4b154134ab20 619 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 20:4b154134ab20 620 exit(1);
Yo_Robot 20:4b154134ab20 621 }
Yo_Robot 20:4b154134ab20 622
Yo_Robot 20:4b154134ab20 623 printf("Configuracion Correcta\n\n");
Yo_Robot 20:4b154134ab20 624 return eth;
Yo_Robot 20:4b154134ab20 625 }
Yo_Robot 20:4b154134ab20 626 else
Yo_Robot 20:4b154134ab20 627 {
Yo_Robot 20:4b154134ab20 628 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0], &n_ip[1], &n_ip[2], &n_ip[3] );
Yo_Robot 20:4b154134ab20 629 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 20:4b154134ab20 630 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 20:4b154134ab20 631 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0], &n_dns[1], &n_dns[2], &n_dns[3] );
Yo_Robot 20:4b154134ab20 632 printf(" %s %s %s %s %s\n " , isDHCP, ip, mask, gate, dns );
Yo_Robot 20:4b154134ab20 633
Yo_Robot 20:4b154134ab20 634 printf("\n Configurar red de manera manual\n");
Yo_Robot 20:4b154134ab20 635 EthernetNetIf eth(
Yo_Robot 20:4b154134ab20 636 IpAddr( n_ip[0], n_ip[1], n_ip[2], n_ip[3]), //IP Address
Yo_Robot 20:4b154134ab20 637 IpAddr( n_mask[0],n_mask[1],n_mask[2],n_mask[3]), //Network Mask
Yo_Robot 20:4b154134ab20 638 IpAddr( n_gate[0],n_gate[1],n_gate[2],n_gate[3]), //Gateway
Yo_Robot 20:4b154134ab20 639 IpAddr( n_dns[0], n_dns[1], n_dns[2], n_dns[3] ) //DNS
Yo_Robot 20:4b154134ab20 640 );
Yo_Robot 20:4b154134ab20 641
Yo_Robot 20:4b154134ab20 642 EthernetErr ethErr = eth.setup();
Yo_Robot 20:4b154134ab20 643 if( ethErr )
Yo_Robot 20:4b154134ab20 644 {
Yo_Robot 20:4b154134ab20 645 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 20:4b154134ab20 646 exit(1);
Yo_Robot 20:4b154134ab20 647 }
Yo_Robot 20:4b154134ab20 648
Yo_Robot 20:4b154134ab20 649 printf("Configuracion Correcta\n\n");
Yo_Robot 20:4b154134ab20 650 return eth;
Yo_Robot 20:4b154134ab20 651 }
Yo_Robot 20:4b154134ab20 652
Yo_Robot 20:4b154134ab20 653 }
Yo_Robot 20:4b154134ab20 654
Yo_Robot 20:4b154134ab20 655 EthernetNetIf eth;
Yo_Robot 20:4b154134ab20 656 return eth;
Yo_Robot 20:4b154134ab20 657 }