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@19:c26cf8a48986, 2012-05-23 (annotated)

Committer:
Yo_Robot
Date:
Wed May 23 17:09:28 2012 +0000
Revision:
19:c26cf8a48986
Parent:
18:cf1e07d82630
Child:
20:4b154134ab20
Version 1.5 El Switch de configuracin funciona bien. Archivo de configuracin aun no se prueba. El conector ethernet tiene problemas en la placa 1.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yo_Robot 4:552beeda4722 1 /**
Yo_Robot 4:552beeda4722 2 * @brief Tren de impulsos con Timer2
Yo_Robot 4:552beeda4722 3 * @file setup.cpp
Yo_Robot 4:552beeda4722 4 * @author Ernesto Palacios
Yo_Robot 4:552beeda4722 5 *
Yo_Robot 4:552beeda4722 6 * Created on 25 de Marzo de 2012
Yo_Robot 4:552beeda4722 7 *
Yo_Robot 4:552beeda4722 8 * Licencia GPL v3.0
Yo_Robot 4:552beeda4722 9 * http://www.gnu.org/licenses/gpl-3.0.html
Yo_Robot 4:552beeda4722 10 */
Yo_Robot 4:552beeda4722 11
Yo_Robot 3:8d5a9e3cd680 12
Yo_Robot 3:8d5a9e3cd680 13 #include "setup.h"
Yo_Robot 18:cf1e07d82630 14 #include "EthernetNetIf.h"
Yo_Robot 3:8d5a9e3cd680 15 #include "mbed.h"
Yo_Robot 3:8d5a9e3cd680 16
Yo_Robot 3:8d5a9e3cd680 17 // Salida Serial de mbed
Yo_Robot 19:c26cf8a48986 18 extern Serial pc;
Yo_Robot 19:c26cf8a48986 19 extern Serial RS_232;
Yo_Robot 19:c26cf8a48986 20 extern DigitalIn isPC;
Yo_Robot 12:c02b08dacc45 21 extern DigitalOut pin_son; // SON
Yo_Robot 12:c02b08dacc45 22 extern DigitalOut pin_dir; // SIGN+
Yo_Robot 12:c02b08dacc45 23 extern InterruptIn pin_alm; // ALM
Yo_Robot 12:c02b08dacc45 24 extern AnalogOut aout; // +-10V
Yo_Robot 3:8d5a9e3cd680 25
Yo_Robot 15:a1ffa32ce9d1 26 int fq_posicion = 10000; // Variable global donde se almacenara
Yo_Robot 15:a1ffa32ce9d1 27 // la velocidad de posicionamiento en Hz
Yo_Robot 15:a1ffa32ce9d1 28
Yo_Robot 3:8d5a9e3cd680 29
Yo_Robot 18:cf1e07d82630 30 EthernetNetIf configurarEthernet()
Yo_Robot 18:cf1e07d82630 31 {
Yo_Robot 18:cf1e07d82630 32 //____________ *** ARCHIVO DE CONFIGURACION ***_______________________ //
Yo_Robot 18:cf1e07d82630 33
Yo_Robot 18:cf1e07d82630 34 printf("\n *** CONFIGURACION ETHERNET DE MBED ***\n");
Yo_Robot 18:cf1e07d82630 35 printf("Leyendo archivo de configuracion...\n\n");
Yo_Robot 18:cf1e07d82630 36
Yo_Robot 18:cf1e07d82630 37 FILE *fp = fopen("/local/config.txt", "r"); // Abre el archivo y lo guarda en fp
Yo_Robot 18:cf1e07d82630 38
Yo_Robot 18:cf1e07d82630 39 if(!fp) // En caso de no encontrarse el archivo
Yo_Robot 18:cf1e07d82630 40 {
Yo_Robot 18:cf1e07d82630 41 printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n");
Yo_Robot 18:cf1e07d82630 42 exit(1);
Yo_Robot 18:cf1e07d82630 43
Yo_Robot 18:cf1e07d82630 44 }
Yo_Robot 18:cf1e07d82630 45 else
Yo_Robot 18:cf1e07d82630 46 {
Yo_Robot 18:cf1e07d82630 47 // Cadenas de caracteres desde el Archivo config.txt
Yo_Robot 18:cf1e07d82630 48 char isDHCP [15]; //Modo Automatico o Manual
Yo_Robot 18:cf1e07d82630 49 char empty [2]; // Linea vacia
Yo_Robot 18:cf1e07d82630 50 char ip [40]; // Direccion IP
Yo_Robot 18:cf1e07d82630 51 char mask [40]; // Mascara de Subred
Yo_Robot 18:cf1e07d82630 52 char gate [40]; // Puerta de enlace
Yo_Robot 18:cf1e07d82630 53 char dns [40]; // Direccion DNS
Yo_Robot 18:cf1e07d82630 54
Yo_Robot 18:cf1e07d82630 55 // Valores 'int' para agregar a la configuracion manual
Yo_Robot 18:cf1e07d82630 56 int DHCP;
Yo_Robot 18:cf1e07d82630 57 int n_ip[4];
Yo_Robot 18:cf1e07d82630 58 int n_mask[4];
Yo_Robot 18:cf1e07d82630 59 int n_gate[4];
Yo_Robot 18:cf1e07d82630 60 int n_dns[4];
Yo_Robot 18:cf1e07d82630 61
Yo_Robot 18:cf1e07d82630 62
Yo_Robot 18:cf1e07d82630 63 // Leer linea a linea el archivo
Yo_Robot 18:cf1e07d82630 64 fgets( isDHCP, 15, fp );
Yo_Robot 18:cf1e07d82630 65 fgets( empty, 2, fp );
Yo_Robot 18:cf1e07d82630 66 fgets( ip, 40, fp );
Yo_Robot 18:cf1e07d82630 67 fgets( mask, 40, fp );
Yo_Robot 18:cf1e07d82630 68 fgets( gate, 40, fp );
Yo_Robot 18:cf1e07d82630 69 fgets( dns, 40, fp );
Yo_Robot 18:cf1e07d82630 70
Yo_Robot 18:cf1e07d82630 71 printf("Cerrando archivo...\n");
Yo_Robot 18:cf1e07d82630 72 fclose(fp);
Yo_Robot 18:cf1e07d82630 73
Yo_Robot 18:cf1e07d82630 74 // Extraer los valores numericos
Yo_Robot 18:cf1e07d82630 75 sscanf( isDHCP,"%*s %d",&DHCP );
Yo_Robot 18:cf1e07d82630 76
Yo_Robot 18:cf1e07d82630 77 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0],&n_ip[1],&n_ip[2],&n_ip[3] );
Yo_Robot 18:cf1e07d82630 78 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 18:cf1e07d82630 79 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 18:cf1e07d82630 80 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0],&n_dns[1],&n_dns[2],&n_dns[3] );
Yo_Robot 18:cf1e07d82630 81
Yo_Robot 18:cf1e07d82630 82
Yo_Robot 18:cf1e07d82630 83 if(DHCP) //En caso de modo DHCP
Yo_Robot 18:cf1e07d82630 84 {
Yo_Robot 18:cf1e07d82630 85 printf("\n Configurar red de manera automatica\n");
Yo_Robot 18:cf1e07d82630 86 EthernetNetIf eth; //Crea la interfaz
Yo_Robot 18:cf1e07d82630 87 EthernetErr ethErr = eth.setup();
Yo_Robot 18:cf1e07d82630 88 if( ethErr )
Yo_Robot 18:cf1e07d82630 89 {
Yo_Robot 18:cf1e07d82630 90 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 18:cf1e07d82630 91 exit(1);
Yo_Robot 18:cf1e07d82630 92 }
Yo_Robot 18:cf1e07d82630 93
Yo_Robot 18:cf1e07d82630 94 printf("Configuracion Correcta\n\n");
Yo_Robot 18:cf1e07d82630 95 return eth;
Yo_Robot 18:cf1e07d82630 96 }
Yo_Robot 18:cf1e07d82630 97 else
Yo_Robot 18:cf1e07d82630 98 {
Yo_Robot 18:cf1e07d82630 99 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0], &n_ip[1], &n_ip[2], &n_ip[3] );
Yo_Robot 18:cf1e07d82630 100 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 18:cf1e07d82630 101 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 18:cf1e07d82630 102 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0], &n_dns[1], &n_dns[2], &n_dns[3] );
Yo_Robot 18:cf1e07d82630 103 printf(" %s %s %s %s %s\n " , isDHCP, ip, mask, gate, dns );
Yo_Robot 18:cf1e07d82630 104
Yo_Robot 18:cf1e07d82630 105 printf("\n Configurar red de manera manual\n");
Yo_Robot 18:cf1e07d82630 106 EthernetNetIf eth(
Yo_Robot 18:cf1e07d82630 107 IpAddr( n_ip[0], n_ip[1], n_ip[2], n_ip[3]), //IP Address
Yo_Robot 18:cf1e07d82630 108 IpAddr( n_mask[0],n_mask[1],n_mask[2],n_mask[3]), //Network Mask
Yo_Robot 18:cf1e07d82630 109 IpAddr( n_gate[0],n_gate[1],n_gate[2],n_gate[3]), //Gateway
Yo_Robot 18:cf1e07d82630 110 IpAddr( n_dns[0], n_dns[1], n_dns[2], n_dns[3] ) //DNS
Yo_Robot 18:cf1e07d82630 111 );
Yo_Robot 18:cf1e07d82630 112
Yo_Robot 18:cf1e07d82630 113 EthernetErr ethErr = eth.setup();
Yo_Robot 18:cf1e07d82630 114 if( ethErr )
Yo_Robot 18:cf1e07d82630 115 {
Yo_Robot 18:cf1e07d82630 116 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 18:cf1e07d82630 117 exit(1);
Yo_Robot 18:cf1e07d82630 118 }
Yo_Robot 18:cf1e07d82630 119
Yo_Robot 18:cf1e07d82630 120 printf("Configuracion Correcta\n\n");
Yo_Robot 18:cf1e07d82630 121 return eth;
Yo_Robot 18:cf1e07d82630 122 }
Yo_Robot 18:cf1e07d82630 123
Yo_Robot 18:cf1e07d82630 124 }
Yo_Robot 19:c26cf8a48986 125
Yo_Robot 18:cf1e07d82630 126 EthernetNetIf eth;
Yo_Robot 18:cf1e07d82630 127 return eth;
Yo_Robot 18:cf1e07d82630 128 }
Yo_Robot 18:cf1e07d82630 129
Yo_Robot 18:cf1e07d82630 130
Yo_Robot 4:552beeda4722 131 void setTimer2()
Yo_Robot 3:8d5a9e3cd680 132 {
Yo_Robot 3:8d5a9e3cd680 133 // Encender Timer2 (PCONP[22])
Yo_Robot 3:8d5a9e3cd680 134 LPC_SC->PCONP |= 1 << 22;
Yo_Robot 3:8d5a9e3cd680 135
Yo_Robot 3:8d5a9e3cd680 136 // Resetear y parar el Timer
Yo_Robot 3:8d5a9e3cd680 137 LPC_TIM2->TCR = 0x2;
Yo_Robot 3:8d5a9e3cd680 138 LPC_TIM2->CTCR = 0x0;
Yo_Robot 3:8d5a9e3cd680 139
Yo_Robot 4:552beeda4722 140 // Establecer el Preescaler en cero
Yo_Robot 4:552beeda4722 141 // SIn Preesclaer
Yo_Robot 4:552beeda4722 142 LPC_TIM2->PR = 0;
Yo_Robot 3:8d5a9e3cd680 143
Yo_Robot 4:552beeda4722 144 // Calcular el periodo Inicial
Yo_Robot 4:552beeda4722 145 uint32_t periodo = ( SystemCoreClock / 400 );
Yo_Robot 3:8d5a9e3cd680 146
Yo_Robot 3:8d5a9e3cd680 147 // Establecer los Registros de Coincidencia
Yo_Robot 3:8d5a9e3cd680 148 // ( Match Register )
Yo_Robot 3:8d5a9e3cd680 149 LPC_TIM2->MR2 = periodo;
Yo_Robot 4:552beeda4722 150 LPC_TIM2->MR3 = periodo; // Legacy, salidas identicas
Yo_Robot 3:8d5a9e3cd680 151
Yo_Robot 4:552beeda4722 152 LPC_TIM2->MCR |= 1 << 7; // Resetear Timer en MR2
Yo_Robot 3:8d5a9e3cd680 153
Yo_Robot 3:8d5a9e3cd680 154 LPC_TIM2->EMR |= 15UL << 8; // Alternar Pin MAT2.2
Yo_Robot 3:8d5a9e3cd680 155 // y MAT2.3
Yo_Robot 3:8d5a9e3cd680 156
Yo_Robot 3:8d5a9e3cd680 157 LPC_PINCON->PINSEL0 |= 15UL << 16; //Activar MAT2.2
Yo_Robot 8:958dfe5052b9 158 // y MAT2.3 como salidas
Yo_Robot 8:958dfe5052b9 159
Yo_Robot 6:b4dae934e1ea 160 }
Yo_Robot 6:b4dae934e1ea 161
Yo_Robot 12:c02b08dacc45 162 void ISR_Serial()
Yo_Robot 12:c02b08dacc45 163 {
Yo_Robot 12:c02b08dacc45 164 int value; // Nuevo Valor
Yo_Robot 12:c02b08dacc45 165 char command; // Comando al que aplicar el nuevo valor
Yo_Robot 12:c02b08dacc45 166
Yo_Robot 19:c26cf8a48986 167 if( isPC )
Yo_Robot 19:c26cf8a48986 168 pc.scanf( "%d-%c", &value, &command ) ;
Yo_Robot 19:c26cf8a48986 169 else
Yo_Robot 19:c26cf8a48986 170 RS_232.scanf( "%d-%c", &value, &command ) ;
Yo_Robot 19:c26cf8a48986 171
Yo_Robot 12:c02b08dacc45 172 // Establecer nueva frecuencia
Yo_Robot 12:c02b08dacc45 173 if( command == 'H')
Yo_Robot 12:c02b08dacc45 174 setPTO( value );
Yo_Robot 12:c02b08dacc45 175
Yo_Robot 12:c02b08dacc45 176 else if( command == 'K' )
Yo_Robot 12:c02b08dacc45 177 setPTO( value * 1000 );
Yo_Robot 12:c02b08dacc45 178
Yo_Robot 12:c02b08dacc45 179 // Nuevo voltaje de salida
Yo_Robot 12:c02b08dacc45 180 // Alguna formula para calcular el Vout necesario
Yo_Robot 12:c02b08dacc45 181 // -100% a +100%
Yo_Robot 12:c02b08dacc45 182 else if( command == 'A')
Yo_Robot 14:039d070732d5 183 aout = (float)( value + 10000.0 ) / 20000.0;
Yo_Robot 12:c02b08dacc45 184
Yo_Robot 12:c02b08dacc45 185
Yo_Robot 12:c02b08dacc45 186 // Cambiar la direccion
Yo_Robot 12:c02b08dacc45 187 else if( command == 'D')
Yo_Robot 14:039d070732d5 188 {
Yo_Robot 14:039d070732d5 189 stopTimer2();
Yo_Robot 12:c02b08dacc45 190 pin_dir = value;
Yo_Robot 14:039d070732d5 191 wait_us( 2 );
Yo_Robot 14:039d070732d5 192 startTimer2();
Yo_Robot 14:039d070732d5 193 }
Yo_Robot 14:039d070732d5 194
Yo_Robot 12:c02b08dacc45 195
Yo_Robot 12:c02b08dacc45 196 //Encender el Servo
Yo_Robot 12:c02b08dacc45 197 else if( command == 'S')
Yo_Robot 12:c02b08dacc45 198 pin_son = value;
Yo_Robot 12:c02b08dacc45 199
Yo_Robot 18:cf1e07d82630 200 else if( command == 'V')
Yo_Robot 18:cf1e07d82630 201 fq_posicion = value;
Yo_Robot 18:cf1e07d82630 202
Yo_Robot 18:cf1e07d82630 203 else if( command == 'G' )
Yo_Robot 18:cf1e07d82630 204 {
Yo_Robot 18:cf1e07d82630 205 int pulsos = value; //Numero de pulsos a generar
Yo_Robot 18:cf1e07d82630 206 float t_alto = pulsos / fq_posicion; //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 12:c02b08dacc45 207
Yo_Robot 18:cf1e07d82630 208 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 18:cf1e07d82630 209 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 18:cf1e07d82630 210 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 18:cf1e07d82630 211 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 18:cf1e07d82630 212 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 18:cf1e07d82630 213 }
Yo_Robot 12:c02b08dacc45 214 }
Yo_Robot 12:c02b08dacc45 215
Yo_Robot 12:c02b08dacc45 216
Yo_Robot 12:c02b08dacc45 217 void setPTO( int freq )
Yo_Robot 12:c02b08dacc45 218 {
Yo_Robot 12:c02b08dacc45 219 if( freq != 0 )
Yo_Robot 12:c02b08dacc45 220 {
Yo_Robot 12:c02b08dacc45 221 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 222 setMR2( getMRvalue( freq ) );
Yo_Robot 12:c02b08dacc45 223 startTimer2();
Yo_Robot 12:c02b08dacc45 224
Yo_Robot 12:c02b08dacc45 225 }else{
Yo_Robot 12:c02b08dacc45 226
Yo_Robot 12:c02b08dacc45 227 stopTimer2();
Yo_Robot 12:c02b08dacc45 228 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 229 }
Yo_Robot 12:c02b08dacc45 230 }
Yo_Robot 12:c02b08dacc45 231
Yo_Robot 12:c02b08dacc45 232 void setPTO_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 233 {
Yo_Robot 12:c02b08dacc45 234 int freq = atoi( input );
Yo_Robot 12:c02b08dacc45 235
Yo_Robot 12:c02b08dacc45 236 if( freq != 0 ){
Yo_Robot 12:c02b08dacc45 237 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 12:c02b08dacc45 238 setMR2( getMRvalue( freq ) ); // Cambiar frefuencia
Yo_Robot 12:c02b08dacc45 239 startTimer2(); // Iniciar Timer
Yo_Robot 14:039d070732d5 240 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 241 sprintf( output,"Ok" );
Yo_Robot 14:039d070732d5 242 else
Yo_Robot 14:039d070732d5 243 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 244 }else{
Yo_Robot 12:c02b08dacc45 245 stopTimer2();
Yo_Robot 12:c02b08dacc45 246 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 14:039d070732d5 247 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 248 sprintf( output,"Ok" );
Yo_Robot 14:039d070732d5 249 else
Yo_Robot 14:039d070732d5 250 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 251 }
Yo_Robot 12:c02b08dacc45 252 }
Yo_Robot 12:c02b08dacc45 253
Yo_Robot 15:a1ffa32ce9d1 254 void setANG_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 255 {
Yo_Robot 15:a1ffa32ce9d1 256 long int pulsos = atol( input ); //Numero de pulsos a generar
Yo_Robot 15:a1ffa32ce9d1 257 float t_alto = pulsos / fq_posicion; //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 15:a1ffa32ce9d1 258
Yo_Robot 15:a1ffa32ce9d1 259 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 260 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 15:a1ffa32ce9d1 261 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 262 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 18:cf1e07d82630 263 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 15:a1ffa32ce9d1 264
Yo_Robot 15:a1ffa32ce9d1 265 if( pin_alm == 0 )
Yo_Robot 15:a1ffa32ce9d1 266 sprintf( output,"Ok" );
Yo_Robot 15:a1ffa32ce9d1 267 else
Yo_Robot 15:a1ffa32ce9d1 268 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 269
Yo_Robot 15:a1ffa32ce9d1 270 }
Yo_Robot 15:a1ffa32ce9d1 271 void setSPD_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 272 {
Yo_Robot 15:a1ffa32ce9d1 273 fq_posicion = atoi( input );
Yo_Robot 15:a1ffa32ce9d1 274 // Esta funcion cambia la velocidad con la que se
Yo_Robot 15:a1ffa32ce9d1 275 // posicionara el eje del motor en un angulo determinado
Yo_Robot 15:a1ffa32ce9d1 276 if( pin_alm == 0 )
Yo_Robot 15:a1ffa32ce9d1 277 sprintf( output,"Ok" );
Yo_Robot 15:a1ffa32ce9d1 278 else
Yo_Robot 15:a1ffa32ce9d1 279 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 280
Yo_Robot 15:a1ffa32ce9d1 281 }
Yo_Robot 15:a1ffa32ce9d1 282 void getENC_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 283 {
Yo_Robot 15:a1ffa32ce9d1 284 //Leer el Encoder ******* F A L T A
Yo_Robot 15:a1ffa32ce9d1 285 if( pin_alm == 0 )
Yo_Robot 15:a1ffa32ce9d1 286 sprintf( output,"Ok" );
Yo_Robot 15:a1ffa32ce9d1 287 else
Yo_Robot 15:a1ffa32ce9d1 288 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 289
Yo_Robot 15:a1ffa32ce9d1 290 }
Yo_Robot 15:a1ffa32ce9d1 291
Yo_Robot 12:c02b08dacc45 292
Yo_Robot 12:c02b08dacc45 293 void ISR_Alarm()
Yo_Robot 12:c02b08dacc45 294 {
Yo_Robot 12:c02b08dacc45 295 pin_son = 0 ;
Yo_Robot 12:c02b08dacc45 296 stopTimer2();
Yo_Robot 12:c02b08dacc45 297 aout = 0.5 ;
Yo_Robot 12:c02b08dacc45 298
Yo_Robot 19:c26cf8a48986 299 if(isPC)
Yo_Robot 19:c26cf8a48986 300 pc.printf( "AL" ); //ALARMA! solo es AL para que
Yo_Robot 19:c26cf8a48986 301 //sea conciso con el modo ETH y funcione
Yo_Robot 19:c26cf8a48986 302 //bien en LabVIEW.
Yo_Robot 19:c26cf8a48986 303 else
Yo_Robot 19:c26cf8a48986 304 RS_232.printf( "AL" );
Yo_Robot 12:c02b08dacc45 305 }
Yo_Robot 6:b4dae934e1ea 306
Yo_Robot 4:552beeda4722 307 int getMRvalue( int fout )
Yo_Robot 3:8d5a9e3cd680 308 {
Yo_Robot 4:552beeda4722 309 int toRegister;
Yo_Robot 4:552beeda4722 310
Yo_Robot 12:c02b08dacc45 311 toRegister = (24000000 /(fout*2.0) ) -1;
Yo_Robot 4:552beeda4722 312 return toRegister;
Yo_Robot 3:8d5a9e3cd680 313 }
Yo_Robot 3:8d5a9e3cd680 314
Yo_Robot 3:8d5a9e3cd680 315
Yo_Robot 3:8d5a9e3cd680 316 void setMR2( int newValue )
Yo_Robot 3:8d5a9e3cd680 317 {
Yo_Robot 4:552beeda4722 318 LPC_TIM2->MR2 = newValue; // Las dos salidas son identicas
Yo_Robot 4:552beeda4722 319 LPC_TIM2->MR3 = newValue; // Para testear el programa.
Yo_Robot 3:8d5a9e3cd680 320 }
Yo_Robot 3:8d5a9e3cd680 321
Yo_Robot 3:8d5a9e3cd680 322
Yo_Robot 3:8d5a9e3cd680 323
Yo_Robot 3:8d5a9e3cd680 324 void startTimer2()
Yo_Robot 3:8d5a9e3cd680 325 {
Yo_Robot 8:958dfe5052b9 326 // Arrancer el Timer 2
Yo_Robot 3:8d5a9e3cd680 327 LPC_TIM2->TCR = 1;
Yo_Robot 3:8d5a9e3cd680 328 }
Yo_Robot 3:8d5a9e3cd680 329
Yo_Robot 3:8d5a9e3cd680 330 void stopTimer2()
Yo_Robot 3:8d5a9e3cd680 331 {
Yo_Robot 4:552beeda4722 332 // Detener el Timer 2
Yo_Robot 3:8d5a9e3cd680 333 LPC_TIM2->TCR = 0x2;
Yo_Robot 4:552beeda4722 334 }
Yo_Robot 4:552beeda4722 335
Yo_Robot 12:c02b08dacc45 336
Yo_Robot 12:c02b08dacc45 337 // **** Funciones Liberia Ethernet ***** //
Yo_Robot 12:c02b08dacc45 338
Yo_Robot 12:c02b08dacc45 339 void setAout_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 340 {
Yo_Robot 12:c02b08dacc45 341 int vout = atoi( input );
Yo_Robot 14:039d070732d5 342 aout = (float)( vout + 10000 ) / 20000;
Yo_Robot 14:039d070732d5 343 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 344 sprintf( output,"Ok" );
Yo_Robot 14:039d070732d5 345 else
Yo_Robot 14:039d070732d5 346 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 347 }
Yo_Robot 12:c02b08dacc45 348
Yo_Robot 12:c02b08dacc45 349
Yo_Robot 12:c02b08dacc45 350
Yo_Robot 12:c02b08dacc45 351 void setDir_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 352 {
Yo_Robot 12:c02b08dacc45 353 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 354
Yo_Robot 12:c02b08dacc45 355 pin_dir = value;
Yo_Robot 12:c02b08dacc45 356
Yo_Robot 14:039d070732d5 357 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 358 sprintf( output,"Ok" );
Yo_Robot 12:c02b08dacc45 359 else
Yo_Robot 14:039d070732d5 360 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 361 }
Yo_Robot 12:c02b08dacc45 362
Yo_Robot 12:c02b08dacc45 363
Yo_Robot 12:c02b08dacc45 364
Yo_Robot 12:c02b08dacc45 365 void setSON_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 366 {
Yo_Robot 12:c02b08dacc45 367 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 368
Yo_Robot 12:c02b08dacc45 369 pin_son = value;
Yo_Robot 12:c02b08dacc45 370
Yo_Robot 14:039d070732d5 371 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 372 sprintf( output,"Ok" );
Yo_Robot 12:c02b08dacc45 373 else
Yo_Robot 14:039d070732d5 374 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 375
Yo_Robot 12:c02b08dacc45 376 }
Yo_Robot 12:c02b08dacc45 377
Yo_Robot 12:c02b08dacc45 378
Yo_Robot 12:c02b08dacc45 379
Yo_Robot 4:552beeda4722 380 /* LEGACY FUNCTIONS
Yo_Robot 4:552beeda4722 381 *
Yo_Robot 5:c5aea1eb10bb 382 * El codigo actual no hace referencia a estas funciones
Yo_Robot 5:c5aea1eb10bb 383 * sin embargo no hay problema en definirlas.
Yo_Robot 4:552beeda4722 384 */
Yo_Robot 4:552beeda4722 385 void setMR3( int newValue )
Yo_Robot 4:552beeda4722 386 {
Yo_Robot 4:552beeda4722 387 LPC_TIM2->MR3 = newValue;
Yo_Robot 4:552beeda4722 388 }
Yo_Robot 4:552beeda4722 389
Yo_Robot 4:552beeda4722 390
Yo_Robot 4:552beeda4722 391 void setPrescaler( int newValue)
Yo_Robot 4:552beeda4722 392 {
Yo_Robot 4:552beeda4722 393 LPC_TIM2->PR = newValue;
Yo_Robot 4:552beeda4722 394 }