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

main.cpp@18:cf1e07d82630, 2012-05-09 (annotated)

Committer:
Yo_Robot
Date:
Wed May 09 20:51:10 2012 +0000
Revision:
18:cf1e07d82630
Parent:
17:a4f380bc2516
Child:
19:c26cf8a48986
No se puede configurar ethernet aun, el objeto debe ser global...  espero q todavia se pueda...

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yo_Robot 4:552beeda4722 1 // GENERADOR DE FRECUENCIAS
Yo_Robot 3:8d5a9e3cd680 2
Yo_Robot 3:8d5a9e3cd680 3 #include "mbed.h"
Yo_Robot 3:8d5a9e3cd680 4 #include "setup.h"
Yo_Robot 8:958dfe5052b9 5 #include "EthernetNetIf.h"
Yo_Robot 8:958dfe5052b9 6 #include "HTTPServer.h"
Yo_Robot 8:958dfe5052b9 7 #include "RPCFunction.h"
Yo_Robot 8:958dfe5052b9 8 #include "RPCVariable.h"
Yo_Robot 18:cf1e07d82630 9 //#include "SerialRPCInterface.h"
Yo_Robot 9:6976ac1a430e 10
Yo_Robot 18:cf1e07d82630 11 Serial pc( USBTX, USBRX ); //Comunicacion Serial directa al computador
Yo_Robot 18:cf1e07d82630 12 Serial RS_232(p9, p10); //Comunicacion Serial para MAX232
Yo_Robot 18:cf1e07d82630 13 Serial encoder(p28, p27); //Comunicacion Serial para tarjeta del encoder
Yo_Robot 18:cf1e07d82630 14
Yo_Robot 18:cf1e07d82630 15 DigitalOut pin_son( p7 ); // SON
Yo_Robot 18:cf1e07d82630 16 DigitalOut pin_dir( p26 ); // SIGN+
Yo_Robot 18:cf1e07d82630 17 InterruptIn pin_alm( p8 ); // ALM
Yo_Robot 18:cf1e07d82630 18 AnalogOut aout( p18 ); // 0.0 a 1.0 float
Yo_Robot 9:6976ac1a430e 19
Yo_Robot 16:d50665706f21 20 DigitalIn isHTTP( p15 ); // Modo Ethernet/Serial
Yo_Robot 16:d50665706f21 21 DigitalIn isFast( p16 ); // Serial Alta velocidad/Baja Velocidad
Yo_Robot 18:cf1e07d82630 22 DigitalIn isPC ( p17 ); // Salida a compuador o MAX232
Yo_Robot 18:cf1e07d82630 23
Yo_Robot 18:cf1e07d82630 24 // Faltan las interrupciones del enconder.
Yo_Robot 18:cf1e07d82630 25
Yo_Robot 18:cf1e07d82630 26 EthernetNetIf eth;
Yo_Robot 18:cf1e07d82630 27 HTTPServer svr;
Yo_Robot 18:cf1e07d82630 28
Yo_Robot 13:649543aa8b1d 29
Yo_Robot 17:a4f380bc2516 30 LocalFileSystem fs("local");
Yo_Robot 5:c5aea1eb10bb 31
Yo_Robot 8:958dfe5052b9 32
Yo_Robot 13:649543aa8b1d 33 // Anadir funciones al Protocolo RPC
Yo_Robot 12:c02b08dacc45 34 RPCFunction SetFQ (&setPTO_eth, "PTO");
Yo_Robot 12:c02b08dacc45 35 RPCFunction SetAOUT(&setAout_eth, "AOUT");
Yo_Robot 12:c02b08dacc45 36 RPCFunction SetDIR (&setDir_eth, "DIR");
Yo_Robot 12:c02b08dacc45 37 RPCFunction SetSON (&setSON_eth, "SON");
Yo_Robot 16:d50665706f21 38 RPCFunction SetANG (&setANG_eth, "ANG");
Yo_Robot 16:d50665706f21 39 RPCFunction SetSpd (&setSPD_eth, "VAN");
Yo_Robot 16:d50665706f21 40 RPCFunction ReadSpd(&getENC_eth, "VLC");
Yo_Robot 8:958dfe5052b9 41
Yo_Robot 3:8d5a9e3cd680 42
Yo_Robot 3:8d5a9e3cd680 43 int main() {
Yo_Robot 8:958dfe5052b9 44
Yo_Robot 18:cf1e07d82630 45 //**********************************************************************************************//
Yo_Robot 13:649543aa8b1d 46 if( isHTTP ) //Configura Red Ethernet
Yo_Robot 13:649543aa8b1d 47 {
Yo_Robot 18:cf1e07d82630 48
Yo_Robot 13:649543aa8b1d 49 Base::add_rpc_class<AnalogIn>();
Yo_Robot 13:649543aa8b1d 50 Base::add_rpc_class<AnalogOut>();
Yo_Robot 13:649543aa8b1d 51 Base::add_rpc_class<DigitalIn>();
Yo_Robot 13:649543aa8b1d 52 Base::add_rpc_class<DigitalOut>();
Yo_Robot 13:649543aa8b1d 53 Base::add_rpc_class<DigitalInOut>();
Yo_Robot 13:649543aa8b1d 54 Base::add_rpc_class<PwmOut>();
Yo_Robot 13:649543aa8b1d 55 Base::add_rpc_class<Timer>();
Yo_Robot 13:649543aa8b1d 56 Base::add_rpc_class<BusOut>();
Yo_Robot 13:649543aa8b1d 57 Base::add_rpc_class<BusIn>();
Yo_Robot 13:649543aa8b1d 58 Base::add_rpc_class<BusInOut>();
Yo_Robot 13:649543aa8b1d 59 Base::add_rpc_class<Serial>();
Yo_Robot 17:a4f380bc2516 60
Yo_Robot 18:cf1e07d82630 61 printf("Setting up...\n");
Yo_Robot 18:cf1e07d82630 62 EthernetErr ethErr = eth.setup();
Yo_Robot 18:cf1e07d82630 63 if(ethErr)
Yo_Robot 13:649543aa8b1d 64 {
Yo_Robot 18:cf1e07d82630 65 printf("Error %d in setup.\n", ethErr);
Yo_Robot 18:cf1e07d82630 66 return -1;
Yo_Robot 18:cf1e07d82630 67 }
Yo_Robot 18:cf1e07d82630 68 printf("Setup OK\n");
Yo_Robot 18:cf1e07d82630 69
Yo_Robot 18:cf1e07d82630 70
Yo_Robot 18:cf1e07d82630 71 FSHandler::mount("/local", "/files"); //Monta /local en /files que es el directorio web
Yo_Robot 18:cf1e07d82630 72 FSHandler::mount("/local", "/"); //Mount /local en / que es el directorio raiz
Yo_Robot 13:649543aa8b1d 73
Yo_Robot 18:cf1e07d82630 74 //Handles para la comunicacion
Yo_Robot 13:649543aa8b1d 75 svr.addHandler<SimpleHandler>("/hello");
Yo_Robot 13:649543aa8b1d 76 svr.addHandler<RPCHandler>("/rpc");
Yo_Robot 13:649543aa8b1d 77 svr.addHandler<FSHandler>("/files");
Yo_Robot 18:cf1e07d82630 78 svr.addHandler<FSHandler>("/");
Yo_Robot 18:cf1e07d82630 79
Yo_Robot 18:cf1e07d82630 80 svr.bind(80); // Puerto de comunicacion.
Yo_Robot 18:cf1e07d82630 81
Yo_Robot 18:cf1e07d82630 82 printf("Listo para comunicacion...\n");
Yo_Robot 13:649543aa8b1d 83
Yo_Robot 18:cf1e07d82630 84 // Para probar la correcta configuracion acceder a mbed.htm
Yo_Robot 18:cf1e07d82630 85 // http://a.b.c.d/mbed.htm or http://a.b.c.d/files/mbed.htm
Yo_Robot 18:cf1e07d82630 86
Yo_Robot 13:649543aa8b1d 87 }
Yo_Robot 18:cf1e07d82630 88 //**********************************************************************************************************//
Yo_Robot 18:cf1e07d82630 89
Yo_Robot 17:a4f380bc2516 90
Yo_Robot 15:a1ffa32ce9d1 91 else // Caso Contrario Anadir modo Serial
Yo_Robot 8:958dfe5052b9 92 {
Yo_Robot 13:649543aa8b1d 93 pc.attach( &ISR_Serial );
Yo_Robot 13:649543aa8b1d 94 if( isFast ) //Configurar Serial a alta velocidad
Yo_Robot 13:649543aa8b1d 95 pc.baud( 115200 );
Yo_Robot 8:958dfe5052b9 96 }
Yo_Robot 8:958dfe5052b9 97
Yo_Robot 17:a4f380bc2516 98 // Ajustes iniciales del Driver
Yo_Robot 13:649543aa8b1d 99 setTimer2(); // Configurar PTO
Yo_Robot 13:649543aa8b1d 100 pin_son = 0; // Servo Apagado por defecto
Yo_Robot 13:649543aa8b1d 101 aout = 0.5; // Voltaje de salida 0V por defecto( +-10V! )
Yo_Robot 8:958dfe5052b9 102
Yo_Robot 14:039d070732d5 103 pin_alm.rise( &ISR_Alarm ); //Entrada de la alarma
Yo_Robot 14:039d070732d5 104
Yo_Robot 13:649543aa8b1d 105 while(1)
Yo_Robot 13:649543aa8b1d 106 {
Yo_Robot 13:649543aa8b1d 107 if( isHTTP )
Yo_Robot 15:a1ffa32ce9d1 108 Net::poll(); // Revisa la red solo si la coneccion es HTTP
Yo_Robot 13:649543aa8b1d 109 }
Yo_Robot 8:958dfe5052b9 110 }
Yo_Robot 8:958dfe5052b9 111