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@27:b8254b76ec57, 2014-02-03 (annotated)

Committer:
Yo_Robot
Date:
Mon Feb 03 22:37:57 2014 +0000
Revision:
27:b8254b76ec57
Parent:
26:dad0b2031173
Child:
28:b7ded82ee7da
Se aumento parametros  P  para miles de pulsos y M para millones de pulsos

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 23:2126e38bb48c 177 int pulsos = value; //Numero de pulsos a generar
Yo_Robot 23:2126e38bb48c 178 t_alto = 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 27:b8254b76ec57 203 int pulsos = value * 1000; //Numero de pulsos a generar
Yo_Robot 27:b8254b76ec57 204 t_alto = 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 27:b8254b76ec57 229 int pulsos = value * 1000000; //Numero de pulsos a generar
Yo_Robot 27:b8254b76ec57 230 t_alto = 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 18:cf1e07d82630 284 }
Yo_Robot 23:2126e38bb48c 285
Yo_Robot 12:c02b08dacc45 286 }
Yo_Robot 12:c02b08dacc45 287
Yo_Robot 12:c02b08dacc45 288
Yo_Robot 12:c02b08dacc45 289 void setPTO( int freq )
Yo_Robot 12:c02b08dacc45 290 {
Yo_Robot 12:c02b08dacc45 291 if( freq != 0 )
Yo_Robot 12:c02b08dacc45 292 {
Yo_Robot 12:c02b08dacc45 293 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 294 setMR2( getMRvalue( freq ) );
Yo_Robot 12:c02b08dacc45 295 startTimer2();
Yo_Robot 12:c02b08dacc45 296
Yo_Robot 12:c02b08dacc45 297 }else{
Yo_Robot 12:c02b08dacc45 298
Yo_Robot 12:c02b08dacc45 299 stopTimer2();
Yo_Robot 12:c02b08dacc45 300 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 301 }
Yo_Robot 12:c02b08dacc45 302 }
Yo_Robot 12:c02b08dacc45 303
Yo_Robot 22:d5431fff164b 304
Yo_Robot 22:d5431fff164b 305
Yo_Robot 22:d5431fff164b 306 void ISR_Alarm()
Yo_Robot 22:d5431fff164b 307 {
Yo_Robot 22:d5431fff164b 308 pin_son = 0 ;
Yo_Robot 22:d5431fff164b 309 stopTimer2();
Yo_Robot 22:d5431fff164b 310 aout = 0.5 ;
Yo_Robot 22:d5431fff164b 311
Yo_Robot 22:d5431fff164b 312 if(isPC)
Yo_Robot 26:dad0b2031173 313 pc.printf( "AL\r\n" ); //ALARMA! solo es AL para que
Yo_Robot 22:d5431fff164b 314 //sea conciso con el modo ETH y funcione
Yo_Robot 22:d5431fff164b 315 //bien en LabVIEW.
Yo_Robot 22:d5431fff164b 316 else
Yo_Robot 26:dad0b2031173 317 RS_232.printf( "AL\r\n" );
Yo_Robot 22:d5431fff164b 318 }
Yo_Robot 22:d5431fff164b 319
Yo_Robot 22:d5431fff164b 320 int getMRvalue( int fout )
Yo_Robot 22:d5431fff164b 321 {
Yo_Robot 22:d5431fff164b 322 int toRegister;
Yo_Robot 22:d5431fff164b 323
Yo_Robot 22:d5431fff164b 324 toRegister = (24000000 /(fout*2.0) ) -1;
Yo_Robot 22:d5431fff164b 325 return toRegister;
Yo_Robot 22:d5431fff164b 326 }
Yo_Robot 22:d5431fff164b 327
Yo_Robot 22:d5431fff164b 328
Yo_Robot 22:d5431fff164b 329 void setMR2( int newValue )
Yo_Robot 22:d5431fff164b 330 {
Yo_Robot 22:d5431fff164b 331 LPC_TIM2->MR2 = newValue; // Las dos salidas son identicas
Yo_Robot 22:d5431fff164b 332 LPC_TIM2->MR3 = newValue; // Para testear el programa.
Yo_Robot 22:d5431fff164b 333 }
Yo_Robot 22:d5431fff164b 334
Yo_Robot 22:d5431fff164b 335
Yo_Robot 22:d5431fff164b 336
Yo_Robot 22:d5431fff164b 337 void startTimer2()
Yo_Robot 22:d5431fff164b 338 {
Yo_Robot 22:d5431fff164b 339 // Arrancer el Timer 2
Yo_Robot 22:d5431fff164b 340 LPC_TIM2->TCR = 1;
Yo_Robot 22:d5431fff164b 341 }
Yo_Robot 22:d5431fff164b 342
Yo_Robot 22:d5431fff164b 343 void stopTimer2()
Yo_Robot 22:d5431fff164b 344 {
Yo_Robot 22:d5431fff164b 345 // Detener el Timer 2
Yo_Robot 22:d5431fff164b 346 LPC_TIM2->TCR = 0x2;
Yo_Robot 22:d5431fff164b 347 }
Yo_Robot 22:d5431fff164b 348
Yo_Robot 22:d5431fff164b 349 int getBaud()
Yo_Robot 22:d5431fff164b 350 {
Yo_Robot 22:d5431fff164b 351 int baudios = 115200; //Valor por defecto
Yo_Robot 22:d5431fff164b 352
Yo_Robot 22:d5431fff164b 353 FILE *fp = fopen("/local/config.mbd", "r"); // Abre el archivo y lo guarda en fp
Yo_Robot 22:d5431fff164b 354
Yo_Robot 22:d5431fff164b 355 if(!fp) // En caso de no encontrarse el archivo
Yo_Robot 22:d5431fff164b 356 {
Yo_Robot 22:d5431fff164b 357 printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n");
Yo_Robot 22:d5431fff164b 358 printf("Cree un archivo de texto: config.mbd dentro de la unidad Mbed\n");
Yo_Robot 22:d5431fff164b 359 printf("que contenga las lineas:\n\n");
Yo_Robot 22:d5431fff164b 360
Yo_Robot 22:d5431fff164b 361 printf(" 1\n");
Yo_Robot 22:d5431fff164b 362 printf(" 2\n");
Yo_Robot 22:d5431fff164b 363 printf(" 3\n");
Yo_Robot 22:d5431fff164b 364 printf(" 4\n");
Yo_Robot 22:d5431fff164b 365 printf(" baudios: 115200\n");
Yo_Robot 22:d5431fff164b 366
Yo_Robot 22:d5431fff164b 367 printf("Cambie el valor de 115200 por la velocidad a la que desea transmitir:\n");
Yo_Robot 22:d5431fff164b 368 printf("luego reinicie el microcontrolador\n");
Yo_Robot 22:d5431fff164b 369 exit(1);
Yo_Robot 22:d5431fff164b 370
Yo_Robot 22:d5431fff164b 371 }
Yo_Robot 22:d5431fff164b 372 else
Yo_Robot 22:d5431fff164b 373 {
Yo_Robot 22:d5431fff164b 374 // Cadenas de caracteres desde el Archivo config.mbd
Yo_Robot 22:d5431fff164b 375 char notstr [04]; // linea vacia
Yo_Robot 22:d5431fff164b 376 char baud [40]; // valor en baudios
Yo_Robot 22:d5431fff164b 377
Yo_Robot 22:d5431fff164b 378 // Leer linea a linea el archivo
Yo_Robot 22:d5431fff164b 379 // cuatro primeras lineas no sirven
Yo_Robot 22:d5431fff164b 380 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 381 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 382 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 383 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 384 fgets( baud, 40, fp );
Yo_Robot 22:d5431fff164b 385 fclose(fp);
Yo_Robot 23:2126e38bb48c 386
Yo_Robot 22:d5431fff164b 387 // Extraer los valores numericos
Yo_Robot 22:d5431fff164b 388 sscanf( baud,"%*s %d",&baudios );
Yo_Robot 22:d5431fff164b 389
Yo_Robot 22:d5431fff164b 390
Yo_Robot 22:d5431fff164b 391 }
Yo_Robot 22:d5431fff164b 392
Yo_Robot 22:d5431fff164b 393 return baudios;
Yo_Robot 22:d5431fff164b 394 }
Yo_Robot 22:d5431fff164b 395
Yo_Robot 22:d5431fff164b 396 // **** Funciones Liberia Ethernet ***** //
Yo_Robot 12:c02b08dacc45 397 void setPTO_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 398 {
Yo_Robot 12:c02b08dacc45 399 int freq = atoi( input );
Yo_Robot 12:c02b08dacc45 400
Yo_Robot 12:c02b08dacc45 401 if( freq != 0 ){
Yo_Robot 12:c02b08dacc45 402 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 12:c02b08dacc45 403 setMR2( getMRvalue( freq ) ); // Cambiar frefuencia
Yo_Robot 12:c02b08dacc45 404 startTimer2(); // Iniciar Timer
Yo_Robot 14:039d070732d5 405 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 406 sprintf( output,"OK\r\n" );
Yo_Robot 14:039d070732d5 407 else
Yo_Robot 14:039d070732d5 408 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 409 }else{
Yo_Robot 12:c02b08dacc45 410 stopTimer2();
Yo_Robot 12:c02b08dacc45 411 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 14:039d070732d5 412 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 413 sprintf( output,"OK\r\n" );
Yo_Robot 14:039d070732d5 414 else
Yo_Robot 14:039d070732d5 415 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 416 }
Yo_Robot 12:c02b08dacc45 417 }
Yo_Robot 12:c02b08dacc45 418
Yo_Robot 15:a1ffa32ce9d1 419 void setANG_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 420 {
Yo_Robot 15:a1ffa32ce9d1 421 long int pulsos = atol( input ); //Numero de pulsos a generar
Yo_Robot 23:2126e38bb48c 422 t_alto = pulsos / fq_posicion; //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 15:a1ffa32ce9d1 423
Yo_Robot 15:a1ffa32ce9d1 424 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 425 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 15:a1ffa32ce9d1 426 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 427 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 18:cf1e07d82630 428 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 15:a1ffa32ce9d1 429
Yo_Robot 15:a1ffa32ce9d1 430 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 431 sprintf( output,"OK\r\n" );
Yo_Robot 15:a1ffa32ce9d1 432 else
Yo_Robot 15:a1ffa32ce9d1 433 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 434
Yo_Robot 15:a1ffa32ce9d1 435 }
Yo_Robot 21:353b0fe8fc54 436
Yo_Robot 21:353b0fe8fc54 437
Yo_Robot 15:a1ffa32ce9d1 438 void setSPD_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 439 {
Yo_Robot 15:a1ffa32ce9d1 440 fq_posicion = atoi( input );
Yo_Robot 15:a1ffa32ce9d1 441 // Esta funcion cambia la velocidad con la que se
Yo_Robot 15:a1ffa32ce9d1 442 // posicionara el eje del motor en un angulo determinado
Yo_Robot 15:a1ffa32ce9d1 443 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 444 sprintf( output,"OK\r\n" );
Yo_Robot 15:a1ffa32ce9d1 445 else
Yo_Robot 15:a1ffa32ce9d1 446 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 447
Yo_Robot 15:a1ffa32ce9d1 448 }
Yo_Robot 21:353b0fe8fc54 449
Yo_Robot 12:c02b08dacc45 450 void setAout_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 451 {
Yo_Robot 12:c02b08dacc45 452 int vout = atoi( input );
Yo_Robot 14:039d070732d5 453 aout = (float)( vout + 10000 ) / 20000;
Yo_Robot 14:039d070732d5 454 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 455 sprintf( output,"OK\r\n" );
Yo_Robot 14:039d070732d5 456 else
Yo_Robot 14:039d070732d5 457 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 458 }
Yo_Robot 12:c02b08dacc45 459
Yo_Robot 12:c02b08dacc45 460
Yo_Robot 12:c02b08dacc45 461
Yo_Robot 12:c02b08dacc45 462 void setDir_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 463 {
Yo_Robot 12:c02b08dacc45 464 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 465
Yo_Robot 12:c02b08dacc45 466 pin_dir = value;
Yo_Robot 12:c02b08dacc45 467
Yo_Robot 14:039d070732d5 468 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 469 sprintf( output,"OK\r\n" );
Yo_Robot 12:c02b08dacc45 470 else
Yo_Robot 14:039d070732d5 471 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 472 }
Yo_Robot 12:c02b08dacc45 473
Yo_Robot 12:c02b08dacc45 474
Yo_Robot 12:c02b08dacc45 475
Yo_Robot 12:c02b08dacc45 476 void setSON_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 477 {
Yo_Robot 12:c02b08dacc45 478 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 479
Yo_Robot 12:c02b08dacc45 480 pin_son = value;
Yo_Robot 12:c02b08dacc45 481
Yo_Robot 14:039d070732d5 482 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 483 sprintf( output,"OK\r\n" );
Yo_Robot 12:c02b08dacc45 484 else
Yo_Robot 14:039d070732d5 485 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 486
Yo_Robot 12:c02b08dacc45 487 }
Yo_Robot 12:c02b08dacc45 488
Yo_Robot 12:c02b08dacc45 489
Yo_Robot 22:d5431fff164b 490 void getENC_eth( char * input, char * output )
Yo_Robot 20:4b154134ab20 491 {
Yo_Robot 22:d5431fff164b 492 if( pin_alm == 0 )
Yo_Robot 22:d5431fff164b 493 sprintf( output,"%d", read_encoder() );
Yo_Robot 22:d5431fff164b 494 else
Yo_Robot 22:d5431fff164b 495 sprintf( output,"AL" );
Yo_Robot 22:d5431fff164b 496 }
Yo_Robot 21:353b0fe8fc54 497
Yo_Robot 21:353b0fe8fc54 498
Yo_Robot 22:d5431fff164b 499 void setENC_eth( char * input, char * output )
Yo_Robot 22:d5431fff164b 500 {
Yo_Robot 22:d5431fff164b 501 clear_encoder();
Yo_Robot 22:d5431fff164b 502
Yo_Robot 22:d5431fff164b 503 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 504 sprintf( output,"OK\r\n" );
Yo_Robot 22:d5431fff164b 505 else
Yo_Robot 22:d5431fff164b 506 sprintf( output,"AL" );
Yo_Robot 22:d5431fff164b 507
Yo_Robot 20:4b154134ab20 508 }
Yo_Robot 12:c02b08dacc45 509
Yo_Robot 23:2126e38bb48c 510 void getRPM_eth( char * input, char * output )
Yo_Robot 23:2126e38bb48c 511 {
Yo_Robot 23:2126e38bb48c 512 float rpm;
Yo_Robot 23:2126e38bb48c 513
Yo_Robot 25:1910a55ff0a3 514 rpm = encoder.CalculateRPM( encoder.GetVelocityCap() , // ultima velocidad leida desde el encoder
Yo_Robot 25:1910a55ff0a3 515 360 // numero de revoluciones por vuelta del encoder
Yo_Robot 25:1910a55ff0a3 516 );
Yo_Robot 25:1910a55ff0a3 517
Yo_Robot 23:2126e38bb48c 518
Yo_Robot 23:2126e38bb48c 519 if( pin_alm == 0 )
Yo_Robot 26:dad0b2031173 520 sprintf( output,"OK\r\n" );
Yo_Robot 23:2126e38bb48c 521 else
Yo_Robot 23:2126e38bb48c 522 sprintf( output,"%f", rpm );
Yo_Robot 23:2126e38bb48c 523
Yo_Robot 23:2126e38bb48c 524
Yo_Robot 23:2126e38bb48c 525 }
Yo_Robot 23:2126e38bb48c 526
Yo_Robot 21:353b0fe8fc54 527
Yo_Robot 22:d5431fff164b 528
Yo_Robot 22:d5431fff164b 529
Yo_Robot 22:d5431fff164b 530
Yo_Robot 4:552beeda4722 531 /* LEGACY FUNCTIONS
Yo_Robot 4:552beeda4722 532 *
Yo_Robot 20:4b154134ab20 533 * El siguiente codigo no es utilizado por el
Yo_Robot 20:4b154134ab20 534 * programa. Sin embargo pueden servir como
Yo_Robot 20:4b154134ab20 535 * futuras referencias.
Yo_Robot 4:552beeda4722 536 */
Yo_Robot 4:552beeda4722 537 void setMR3( int newValue )
Yo_Robot 4:552beeda4722 538 {
Yo_Robot 4:552beeda4722 539 LPC_TIM2->MR3 = newValue;
Yo_Robot 4:552beeda4722 540 }
Yo_Robot 4:552beeda4722 541
Yo_Robot 4:552beeda4722 542
Yo_Robot 4:552beeda4722 543 void setPrescaler( int newValue)
Yo_Robot 4:552beeda4722 544 {
Yo_Robot 4:552beeda4722 545 LPC_TIM2->PR = newValue;
Yo_Robot 4:552beeda4722 546 }
Yo_Robot 20:4b154134ab20 547
Yo_Robot 20:4b154134ab20 548
Yo_Robot 20:4b154134ab20 549 EthernetNetIf configurarEthernet()
Yo_Robot 20:4b154134ab20 550 {
Yo_Robot 20:4b154134ab20 551 //____________ *** ARCHIVO DE CONFIGURACION ***_______________________ //
Yo_Robot 20:4b154134ab20 552
Yo_Robot 20:4b154134ab20 553 printf("\n *** CONFIGURACION ETHERNET DE MBED ***\n");
Yo_Robot 20:4b154134ab20 554 printf("Leyendo archivo de configuracion...\n\n");
Yo_Robot 20:4b154134ab20 555
Yo_Robot 20:4b154134ab20 556 FILE *fp = fopen("/local/config.txt", "r"); // Abre el archivo y lo guarda en fp
Yo_Robot 20:4b154134ab20 557
Yo_Robot 20:4b154134ab20 558 if(!fp) // En caso de no encontrarse el archivo
Yo_Robot 20:4b154134ab20 559 {
Yo_Robot 20:4b154134ab20 560 printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n");
Yo_Robot 20:4b154134ab20 561 exit(1);
Yo_Robot 20:4b154134ab20 562
Yo_Robot 20:4b154134ab20 563 }
Yo_Robot 20:4b154134ab20 564 else
Yo_Robot 20:4b154134ab20 565 {
Yo_Robot 20:4b154134ab20 566 // Cadenas de caracteres desde el Archivo config.txt
Yo_Robot 20:4b154134ab20 567 char isDHCP [15]; //Modo Automatico o Manual
Yo_Robot 20:4b154134ab20 568 char empty [2]; // Linea vacia
Yo_Robot 20:4b154134ab20 569 char ip [40]; // Direccion IP
Yo_Robot 20:4b154134ab20 570 char mask [40]; // Mascara de Subred
Yo_Robot 20:4b154134ab20 571 char gate [40]; // Puerta de enlace
Yo_Robot 20:4b154134ab20 572 char dns [40]; // Direccion DNS
Yo_Robot 20:4b154134ab20 573
Yo_Robot 20:4b154134ab20 574 // Valores 'int' para agregar a la configuracion manual
Yo_Robot 20:4b154134ab20 575 int DHCP;
Yo_Robot 20:4b154134ab20 576 int n_ip[4];
Yo_Robot 20:4b154134ab20 577 int n_mask[4];
Yo_Robot 20:4b154134ab20 578 int n_gate[4];
Yo_Robot 20:4b154134ab20 579 int n_dns[4];
Yo_Robot 20:4b154134ab20 580
Yo_Robot 20:4b154134ab20 581
Yo_Robot 20:4b154134ab20 582 // Leer linea a linea el archivo
Yo_Robot 20:4b154134ab20 583 fgets( isDHCP, 15, fp );
Yo_Robot 20:4b154134ab20 584 fgets( empty, 2, fp );
Yo_Robot 20:4b154134ab20 585 fgets( ip, 40, fp );
Yo_Robot 20:4b154134ab20 586 fgets( mask, 40, fp );
Yo_Robot 20:4b154134ab20 587 fgets( gate, 40, fp );
Yo_Robot 20:4b154134ab20 588 fgets( dns, 40, fp );
Yo_Robot 20:4b154134ab20 589
Yo_Robot 20:4b154134ab20 590 printf("Cerrando archivo...\n");
Yo_Robot 20:4b154134ab20 591 fclose(fp);
Yo_Robot 20:4b154134ab20 592
Yo_Robot 20:4b154134ab20 593 // Extraer los valores numericos
Yo_Robot 20:4b154134ab20 594 sscanf( isDHCP,"%*s %d",&DHCP );
Yo_Robot 20:4b154134ab20 595
Yo_Robot 20:4b154134ab20 596 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0],&n_ip[1],&n_ip[2],&n_ip[3] );
Yo_Robot 20:4b154134ab20 597 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 20:4b154134ab20 598 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 20:4b154134ab20 599 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0],&n_dns[1],&n_dns[2],&n_dns[3] );
Yo_Robot 20:4b154134ab20 600
Yo_Robot 20:4b154134ab20 601
Yo_Robot 20:4b154134ab20 602 if(DHCP) //En caso de modo DHCP
Yo_Robot 20:4b154134ab20 603 {
Yo_Robot 20:4b154134ab20 604 printf("\n Configurar red de manera automatica\n");
Yo_Robot 20:4b154134ab20 605 EthernetNetIf eth; //Crea la interfaz
Yo_Robot 20:4b154134ab20 606 EthernetErr ethErr = eth.setup();
Yo_Robot 20:4b154134ab20 607 if( ethErr )
Yo_Robot 20:4b154134ab20 608 {
Yo_Robot 20:4b154134ab20 609 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 20:4b154134ab20 610 exit(1);
Yo_Robot 20:4b154134ab20 611 }
Yo_Robot 20:4b154134ab20 612
Yo_Robot 20:4b154134ab20 613 printf("Configuracion Correcta\n\n");
Yo_Robot 20:4b154134ab20 614 return eth;
Yo_Robot 20:4b154134ab20 615 }
Yo_Robot 20:4b154134ab20 616 else
Yo_Robot 20:4b154134ab20 617 {
Yo_Robot 20:4b154134ab20 618 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0], &n_ip[1], &n_ip[2], &n_ip[3] );
Yo_Robot 20:4b154134ab20 619 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 20:4b154134ab20 620 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 20:4b154134ab20 621 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0], &n_dns[1], &n_dns[2], &n_dns[3] );
Yo_Robot 20:4b154134ab20 622 printf(" %s %s %s %s %s\n " , isDHCP, ip, mask, gate, dns );
Yo_Robot 20:4b154134ab20 623
Yo_Robot 20:4b154134ab20 624 printf("\n Configurar red de manera manual\n");
Yo_Robot 20:4b154134ab20 625 EthernetNetIf eth(
Yo_Robot 20:4b154134ab20 626 IpAddr( n_ip[0], n_ip[1], n_ip[2], n_ip[3]), //IP Address
Yo_Robot 20:4b154134ab20 627 IpAddr( n_mask[0],n_mask[1],n_mask[2],n_mask[3]), //Network Mask
Yo_Robot 20:4b154134ab20 628 IpAddr( n_gate[0],n_gate[1],n_gate[2],n_gate[3]), //Gateway
Yo_Robot 20:4b154134ab20 629 IpAddr( n_dns[0], n_dns[1], n_dns[2], n_dns[3] ) //DNS
Yo_Robot 20:4b154134ab20 630 );
Yo_Robot 20:4b154134ab20 631
Yo_Robot 20:4b154134ab20 632 EthernetErr ethErr = eth.setup();
Yo_Robot 20:4b154134ab20 633 if( ethErr )
Yo_Robot 20:4b154134ab20 634 {
Yo_Robot 20:4b154134ab20 635 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 20:4b154134ab20 636 exit(1);
Yo_Robot 20:4b154134ab20 637 }
Yo_Robot 20:4b154134ab20 638
Yo_Robot 20:4b154134ab20 639 printf("Configuracion Correcta\n\n");
Yo_Robot 20:4b154134ab20 640 return eth;
Yo_Robot 20:4b154134ab20 641 }
Yo_Robot 20:4b154134ab20 642
Yo_Robot 20:4b154134ab20 643 }
Yo_Robot 20:4b154134ab20 644
Yo_Robot 20:4b154134ab20 645 EthernetNetIf eth;
Yo_Robot 20:4b154134ab20 646 return eth;
Yo_Robot 20:4b154134ab20 647 }