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@22:d5431fff164b, 2012-07-02 (annotated)

Committer:
Yo_Robot
Date:
Mon Jul 02 04:35:28 2012 +0000
Revision:
22:d5431fff164b
Parent:
21:353b0fe8fc54
Child:
23:2126e38bb48c
v1.9.9 Encoder escrito en cdigo, falta probar en la proto

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 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 22:d5431fff164b 20 extern I2C encoder;
Yo_Robot 19:c26cf8a48986 21 extern DigitalIn isPC;
Yo_Robot 12:c02b08dacc45 22 extern DigitalOut pin_son; // SON
Yo_Robot 12:c02b08dacc45 23 extern DigitalOut pin_dir; // SIGN+
Yo_Robot 12:c02b08dacc45 24 extern InterruptIn pin_alm; // ALM
Yo_Robot 12:c02b08dacc45 25 extern AnalogOut aout; // +-10V
Yo_Robot 22:d5431fff164b 26 extern DigitalOut led_verde; // Led verde del conector Ethernet
Yo_Robot 22:d5431fff164b 27 extern DigitalOut led_rojo; // Led naranja del conector Ethernet
Yo_Robot 3:8d5a9e3cd680 28
Yo_Robot 20:4b154134ab20 29
Yo_Robot 15:a1ffa32ce9d1 30 int fq_posicion = 10000; // Variable global donde se almacenara
Yo_Robot 15:a1ffa32ce9d1 31 // la velocidad de posicionamiento en Hz
Yo_Robot 15:a1ffa32ce9d1 32
Yo_Robot 22:d5431fff164b 33 const int addres = 0x36; // Direccion del enconder en modo esclavo
Yo_Robot 22:d5431fff164b 34
Yo_Robot 22:d5431fff164b 35 int read_encoder()
Yo_Robot 22:d5431fff164b 36 {
Yo_Robot 22:d5431fff164b 37 int count;
Yo_Robot 22:d5431fff164b 38
Yo_Robot 22:d5431fff164b 39 char buffer[4];
Yo_Robot 22:d5431fff164b 40 encoder.read( addres, buffer, 1 ); // 8bit por ahora
Yo_Robot 22:d5431fff164b 41 count = (int) buffer[0];
Yo_Robot 22:d5431fff164b 42
Yo_Robot 22:d5431fff164b 43 return count;
Yo_Robot 22:d5431fff164b 44 }
Yo_Robot 22:d5431fff164b 45
Yo_Robot 22:d5431fff164b 46 void clear_encoder()
Yo_Robot 22:d5431fff164b 47 {
Yo_Robot 22:d5431fff164b 48
Yo_Robot 22:d5431fff164b 49 char buffer[2];
Yo_Robot 22:d5431fff164b 50 buffer[0] = 0x01; //Comando para borrar el contador
Yo_Robot 22:d5431fff164b 51 buffer[1] = 0x02; // Comando para cambiar estado de led
Yo_Robot 22:d5431fff164b 52
Yo_Robot 22:d5431fff164b 53 encoder.write( addres, buffer, 1 );
Yo_Robot 22:d5431fff164b 54 }
Yo_Robot 22:d5431fff164b 55
Yo_Robot 4:552beeda4722 56 void setTimer2()
Yo_Robot 3:8d5a9e3cd680 57 {
Yo_Robot 3:8d5a9e3cd680 58 // Encender Timer2 (PCONP[22])
Yo_Robot 3:8d5a9e3cd680 59 LPC_SC->PCONP |= 1 << 22;
Yo_Robot 3:8d5a9e3cd680 60
Yo_Robot 3:8d5a9e3cd680 61 // Resetear y parar el Timer
Yo_Robot 3:8d5a9e3cd680 62 LPC_TIM2->TCR = 0x2;
Yo_Robot 3:8d5a9e3cd680 63 LPC_TIM2->CTCR = 0x0;
Yo_Robot 3:8d5a9e3cd680 64
Yo_Robot 4:552beeda4722 65 // Establecer el Preescaler en cero
Yo_Robot 4:552beeda4722 66 // SIn Preesclaer
Yo_Robot 4:552beeda4722 67 LPC_TIM2->PR = 0;
Yo_Robot 3:8d5a9e3cd680 68
Yo_Robot 4:552beeda4722 69 // Calcular el periodo Inicial
Yo_Robot 4:552beeda4722 70 uint32_t periodo = ( SystemCoreClock / 400 );
Yo_Robot 3:8d5a9e3cd680 71
Yo_Robot 3:8d5a9e3cd680 72 // Establecer los Registros de Coincidencia
Yo_Robot 3:8d5a9e3cd680 73 // ( Match Register )
Yo_Robot 3:8d5a9e3cd680 74 LPC_TIM2->MR2 = periodo;
Yo_Robot 4:552beeda4722 75 LPC_TIM2->MR3 = periodo; // Legacy, salidas identicas
Yo_Robot 3:8d5a9e3cd680 76
Yo_Robot 4:552beeda4722 77 LPC_TIM2->MCR |= 1 << 7; // Resetear Timer en MR2
Yo_Robot 3:8d5a9e3cd680 78
Yo_Robot 3:8d5a9e3cd680 79 LPC_TIM2->EMR |= 15UL << 8; // Alternar Pin MAT2.2
Yo_Robot 3:8d5a9e3cd680 80 // y MAT2.3
Yo_Robot 3:8d5a9e3cd680 81
Yo_Robot 3:8d5a9e3cd680 82 LPC_PINCON->PINSEL0 |= 15UL << 16; //Activar MAT2.2
Yo_Robot 8:958dfe5052b9 83 // y MAT2.3 como salidas
Yo_Robot 8:958dfe5052b9 84
Yo_Robot 6:b4dae934e1ea 85 }
Yo_Robot 6:b4dae934e1ea 86
Yo_Robot 12:c02b08dacc45 87 void ISR_Serial()
Yo_Robot 12:c02b08dacc45 88 {
Yo_Robot 12:c02b08dacc45 89 int value; // Nuevo Valor
Yo_Robot 12:c02b08dacc45 90 char command; // Comando al que aplicar el nuevo valor
Yo_Robot 12:c02b08dacc45 91
Yo_Robot 19:c26cf8a48986 92 if( isPC )
Yo_Robot 19:c26cf8a48986 93 pc.scanf( "%d-%c", &value, &command ) ;
Yo_Robot 19:c26cf8a48986 94 else
Yo_Robot 19:c26cf8a48986 95 RS_232.scanf( "%d-%c", &value, &command ) ;
Yo_Robot 19:c26cf8a48986 96
Yo_Robot 12:c02b08dacc45 97 // Establecer nueva frecuencia
Yo_Robot 12:c02b08dacc45 98 if( command == 'H')
Yo_Robot 12:c02b08dacc45 99 setPTO( value );
Yo_Robot 12:c02b08dacc45 100
Yo_Robot 12:c02b08dacc45 101 else if( command == 'K' )
Yo_Robot 12:c02b08dacc45 102 setPTO( value * 1000 );
Yo_Robot 12:c02b08dacc45 103
Yo_Robot 12:c02b08dacc45 104 // Nuevo voltaje de salida
Yo_Robot 12:c02b08dacc45 105 // Alguna formula para calcular el Vout necesario
Yo_Robot 12:c02b08dacc45 106 // -100% a +100%
Yo_Robot 12:c02b08dacc45 107 else if( command == 'A')
Yo_Robot 14:039d070732d5 108 aout = (float)( value + 10000.0 ) / 20000.0;
Yo_Robot 12:c02b08dacc45 109
Yo_Robot 12:c02b08dacc45 110
Yo_Robot 12:c02b08dacc45 111 // Cambiar la direccion
Yo_Robot 12:c02b08dacc45 112 else if( command == 'D')
Yo_Robot 14:039d070732d5 113 {
Yo_Robot 14:039d070732d5 114 stopTimer2();
Yo_Robot 12:c02b08dacc45 115 pin_dir = value;
Yo_Robot 14:039d070732d5 116 wait_us( 2 );
Yo_Robot 14:039d070732d5 117 startTimer2();
Yo_Robot 14:039d070732d5 118 }
Yo_Robot 14:039d070732d5 119
Yo_Robot 12:c02b08dacc45 120
Yo_Robot 12:c02b08dacc45 121 //Encender el Servo
Yo_Robot 12:c02b08dacc45 122 else if( command == 'S')
Yo_Robot 12:c02b08dacc45 123 pin_son = value;
Yo_Robot 12:c02b08dacc45 124
Yo_Robot 22:d5431fff164b 125 //Setear la velocidad de Posicionamiento
Yo_Robot 18:cf1e07d82630 126 else if( command == 'V')
Yo_Robot 18:cf1e07d82630 127 fq_posicion = value;
Yo_Robot 22:d5431fff164b 128
Yo_Robot 22:d5431fff164b 129 // Generar un numero definido de pulsos a la velocidad de posicionamiento
Yo_Robot 18:cf1e07d82630 130 else if( command == 'G' )
Yo_Robot 18:cf1e07d82630 131 {
Yo_Robot 18:cf1e07d82630 132 int pulsos = value; //Numero de pulsos a generar
Yo_Robot 18:cf1e07d82630 133 float t_alto = pulsos / fq_posicion; //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 12:c02b08dacc45 134
Yo_Robot 18:cf1e07d82630 135 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 18:cf1e07d82630 136 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 18:cf1e07d82630 137 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 18:cf1e07d82630 138 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 18:cf1e07d82630 139 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 18:cf1e07d82630 140 }
Yo_Robot 22:d5431fff164b 141
Yo_Robot 22:d5431fff164b 142 //Leer encoder
Yo_Robot 22:d5431fff164b 143 else if( command == 'E' )
Yo_Robot 22:d5431fff164b 144 {
Yo_Robot 22:d5431fff164b 145 if( isPC )
Yo_Robot 22:d5431fff164b 146 pc.printf( "%d",read_encoder() );
Yo_Robot 22:d5431fff164b 147 else
Yo_Robot 22:d5431fff164b 148 RS_232.printf( "%d",read_encoder() );
Yo_Robot 22:d5431fff164b 149 }
Yo_Robot 22:d5431fff164b 150
Yo_Robot 22:d5431fff164b 151 //Limpiar contador encoder
Yo_Robot 22:d5431fff164b 152 else if( command == 'Z' )
Yo_Robot 22:d5431fff164b 153 clear_encoder();
Yo_Robot 12:c02b08dacc45 154 }
Yo_Robot 12:c02b08dacc45 155
Yo_Robot 12:c02b08dacc45 156
Yo_Robot 12:c02b08dacc45 157 void setPTO( int freq )
Yo_Robot 12:c02b08dacc45 158 {
Yo_Robot 12:c02b08dacc45 159 if( freq != 0 )
Yo_Robot 12:c02b08dacc45 160 {
Yo_Robot 12:c02b08dacc45 161 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 162 setMR2( getMRvalue( freq ) );
Yo_Robot 12:c02b08dacc45 163 startTimer2();
Yo_Robot 12:c02b08dacc45 164
Yo_Robot 12:c02b08dacc45 165 }else{
Yo_Robot 12:c02b08dacc45 166
Yo_Robot 12:c02b08dacc45 167 stopTimer2();
Yo_Robot 12:c02b08dacc45 168 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 169 }
Yo_Robot 12:c02b08dacc45 170 }
Yo_Robot 12:c02b08dacc45 171
Yo_Robot 22:d5431fff164b 172
Yo_Robot 22:d5431fff164b 173
Yo_Robot 22:d5431fff164b 174 void ISR_Alarm()
Yo_Robot 22:d5431fff164b 175 {
Yo_Robot 22:d5431fff164b 176 pin_son = 0 ;
Yo_Robot 22:d5431fff164b 177 stopTimer2();
Yo_Robot 22:d5431fff164b 178 aout = 0.5 ;
Yo_Robot 22:d5431fff164b 179
Yo_Robot 22:d5431fff164b 180 if(isPC)
Yo_Robot 22:d5431fff164b 181 pc.printf( "AL" ); //ALARMA! solo es AL para que
Yo_Robot 22:d5431fff164b 182 //sea conciso con el modo ETH y funcione
Yo_Robot 22:d5431fff164b 183 //bien en LabVIEW.
Yo_Robot 22:d5431fff164b 184 else
Yo_Robot 22:d5431fff164b 185 RS_232.printf( "AL" );
Yo_Robot 22:d5431fff164b 186 }
Yo_Robot 22:d5431fff164b 187
Yo_Robot 22:d5431fff164b 188 int getMRvalue( int fout )
Yo_Robot 22:d5431fff164b 189 {
Yo_Robot 22:d5431fff164b 190 int toRegister;
Yo_Robot 22:d5431fff164b 191
Yo_Robot 22:d5431fff164b 192 toRegister = (24000000 /(fout*2.0) ) -1;
Yo_Robot 22:d5431fff164b 193 return toRegister;
Yo_Robot 22:d5431fff164b 194 }
Yo_Robot 22:d5431fff164b 195
Yo_Robot 22:d5431fff164b 196
Yo_Robot 22:d5431fff164b 197 void setMR2( int newValue )
Yo_Robot 22:d5431fff164b 198 {
Yo_Robot 22:d5431fff164b 199 LPC_TIM2->MR2 = newValue; // Las dos salidas son identicas
Yo_Robot 22:d5431fff164b 200 LPC_TIM2->MR3 = newValue; // Para testear el programa.
Yo_Robot 22:d5431fff164b 201 }
Yo_Robot 22:d5431fff164b 202
Yo_Robot 22:d5431fff164b 203
Yo_Robot 22:d5431fff164b 204
Yo_Robot 22:d5431fff164b 205 void startTimer2()
Yo_Robot 22:d5431fff164b 206 {
Yo_Robot 22:d5431fff164b 207 // Arrancer el Timer 2
Yo_Robot 22:d5431fff164b 208 LPC_TIM2->TCR = 1;
Yo_Robot 22:d5431fff164b 209 }
Yo_Robot 22:d5431fff164b 210
Yo_Robot 22:d5431fff164b 211 void stopTimer2()
Yo_Robot 22:d5431fff164b 212 {
Yo_Robot 22:d5431fff164b 213 // Detener el Timer 2
Yo_Robot 22:d5431fff164b 214 LPC_TIM2->TCR = 0x2;
Yo_Robot 22:d5431fff164b 215 }
Yo_Robot 22:d5431fff164b 216
Yo_Robot 22:d5431fff164b 217 int getBaud()
Yo_Robot 22:d5431fff164b 218 {
Yo_Robot 22:d5431fff164b 219 int baudios = 115200; //Valor por defecto
Yo_Robot 22:d5431fff164b 220
Yo_Robot 22:d5431fff164b 221 FILE *fp = fopen("/local/config.mbd", "r"); // Abre el archivo y lo guarda en fp
Yo_Robot 22:d5431fff164b 222
Yo_Robot 22:d5431fff164b 223 if(!fp) // En caso de no encontrarse el archivo
Yo_Robot 22:d5431fff164b 224 {
Yo_Robot 22:d5431fff164b 225 printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n");
Yo_Robot 22:d5431fff164b 226 printf("Cree un archivo de texto: config.mbd dentro de la unidad Mbed\n");
Yo_Robot 22:d5431fff164b 227 printf("que contenga las lineas:\n\n");
Yo_Robot 22:d5431fff164b 228
Yo_Robot 22:d5431fff164b 229 printf(" 1\n");
Yo_Robot 22:d5431fff164b 230 printf(" 2\n");
Yo_Robot 22:d5431fff164b 231 printf(" 3\n");
Yo_Robot 22:d5431fff164b 232 printf(" 4\n");
Yo_Robot 22:d5431fff164b 233 printf(" baudios: 115200\n");
Yo_Robot 22:d5431fff164b 234
Yo_Robot 22:d5431fff164b 235 printf("Cambie el valor de 115200 por la velocidad a la que desea transmitir:\n");
Yo_Robot 22:d5431fff164b 236 printf("luego reinicie el microcontrolador\n");
Yo_Robot 22:d5431fff164b 237 exit(1);
Yo_Robot 22:d5431fff164b 238
Yo_Robot 22:d5431fff164b 239 }
Yo_Robot 22:d5431fff164b 240 else
Yo_Robot 22:d5431fff164b 241 {
Yo_Robot 22:d5431fff164b 242 // Cadenas de caracteres desde el Archivo config.mbd
Yo_Robot 22:d5431fff164b 243 char notstr [04]; // linea vacia
Yo_Robot 22:d5431fff164b 244 char baud [40]; // valor en baudios
Yo_Robot 22:d5431fff164b 245
Yo_Robot 22:d5431fff164b 246 // Leer linea a linea el archivo
Yo_Robot 22:d5431fff164b 247 // cuatro primeras lineas no sirven
Yo_Robot 22:d5431fff164b 248 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 249 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 250 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 251 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 252
Yo_Robot 22:d5431fff164b 253 fgets( baud, 40, fp );
Yo_Robot 22:d5431fff164b 254
Yo_Robot 22:d5431fff164b 255 printf("Cerrando archivo...\n");
Yo_Robot 22:d5431fff164b 256 fclose(fp);
Yo_Robot 22:d5431fff164b 257
Yo_Robot 22:d5431fff164b 258
Yo_Robot 22:d5431fff164b 259 // Extraer los valores numericos
Yo_Robot 22:d5431fff164b 260 sscanf( baud,"%*s %d",&baudios );
Yo_Robot 22:d5431fff164b 261
Yo_Robot 22:d5431fff164b 262
Yo_Robot 22:d5431fff164b 263 }
Yo_Robot 22:d5431fff164b 264
Yo_Robot 22:d5431fff164b 265 return baudios;
Yo_Robot 22:d5431fff164b 266 }
Yo_Robot 22:d5431fff164b 267
Yo_Robot 22:d5431fff164b 268 // **** Funciones Liberia Ethernet ***** //
Yo_Robot 12:c02b08dacc45 269 void setPTO_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 270 {
Yo_Robot 12:c02b08dacc45 271 int freq = atoi( input );
Yo_Robot 12:c02b08dacc45 272
Yo_Robot 12:c02b08dacc45 273 if( freq != 0 ){
Yo_Robot 12:c02b08dacc45 274 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 12:c02b08dacc45 275 setMR2( getMRvalue( freq ) ); // Cambiar frefuencia
Yo_Robot 12:c02b08dacc45 276 startTimer2(); // Iniciar Timer
Yo_Robot 14:039d070732d5 277 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 278 sprintf( output,"Ok" );
Yo_Robot 14:039d070732d5 279 else
Yo_Robot 14:039d070732d5 280 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 281 }else{
Yo_Robot 12:c02b08dacc45 282 stopTimer2();
Yo_Robot 12:c02b08dacc45 283 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 14:039d070732d5 284 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 285 sprintf( output,"Ok" );
Yo_Robot 14:039d070732d5 286 else
Yo_Robot 14:039d070732d5 287 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 288 }
Yo_Robot 12:c02b08dacc45 289 }
Yo_Robot 12:c02b08dacc45 290
Yo_Robot 15:a1ffa32ce9d1 291 void setANG_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 292 {
Yo_Robot 15:a1ffa32ce9d1 293 long int pulsos = atol( input ); //Numero de pulsos a generar
Yo_Robot 15:a1ffa32ce9d1 294 float t_alto = pulsos / fq_posicion; //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 15:a1ffa32ce9d1 295
Yo_Robot 15:a1ffa32ce9d1 296 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 297 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 15:a1ffa32ce9d1 298 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 299 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 18:cf1e07d82630 300 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 15:a1ffa32ce9d1 301
Yo_Robot 15:a1ffa32ce9d1 302 if( pin_alm == 0 )
Yo_Robot 15:a1ffa32ce9d1 303 sprintf( output,"Ok" );
Yo_Robot 15:a1ffa32ce9d1 304 else
Yo_Robot 15:a1ffa32ce9d1 305 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 306
Yo_Robot 15:a1ffa32ce9d1 307 }
Yo_Robot 21:353b0fe8fc54 308
Yo_Robot 21:353b0fe8fc54 309
Yo_Robot 15:a1ffa32ce9d1 310 void setSPD_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 311 {
Yo_Robot 15:a1ffa32ce9d1 312 fq_posicion = atoi( input );
Yo_Robot 15:a1ffa32ce9d1 313 // Esta funcion cambia la velocidad con la que se
Yo_Robot 15:a1ffa32ce9d1 314 // posicionara el eje del motor en un angulo determinado
Yo_Robot 15:a1ffa32ce9d1 315 if( pin_alm == 0 )
Yo_Robot 15:a1ffa32ce9d1 316 sprintf( output,"Ok" );
Yo_Robot 15:a1ffa32ce9d1 317 else
Yo_Robot 15:a1ffa32ce9d1 318 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 319
Yo_Robot 15:a1ffa32ce9d1 320 }
Yo_Robot 21:353b0fe8fc54 321
Yo_Robot 12:c02b08dacc45 322 void setAout_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 323 {
Yo_Robot 12:c02b08dacc45 324 int vout = atoi( input );
Yo_Robot 14:039d070732d5 325 aout = (float)( vout + 10000 ) / 20000;
Yo_Robot 14:039d070732d5 326 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 327 sprintf( output,"Ok" );
Yo_Robot 14:039d070732d5 328 else
Yo_Robot 14:039d070732d5 329 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 330 }
Yo_Robot 12:c02b08dacc45 331
Yo_Robot 12:c02b08dacc45 332
Yo_Robot 12:c02b08dacc45 333
Yo_Robot 12:c02b08dacc45 334 void setDir_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 335 {
Yo_Robot 12:c02b08dacc45 336 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 337
Yo_Robot 12:c02b08dacc45 338 pin_dir = value;
Yo_Robot 12:c02b08dacc45 339
Yo_Robot 14:039d070732d5 340 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 341 sprintf( output,"Ok" );
Yo_Robot 12:c02b08dacc45 342 else
Yo_Robot 14:039d070732d5 343 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 344 }
Yo_Robot 12:c02b08dacc45 345
Yo_Robot 12:c02b08dacc45 346
Yo_Robot 12:c02b08dacc45 347
Yo_Robot 12:c02b08dacc45 348 void setSON_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 349 {
Yo_Robot 12:c02b08dacc45 350 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 351
Yo_Robot 12:c02b08dacc45 352 pin_son = value;
Yo_Robot 12:c02b08dacc45 353
Yo_Robot 14:039d070732d5 354 if( pin_alm == 0 )
Yo_Robot 14:039d070732d5 355 sprintf( output,"Ok" );
Yo_Robot 12:c02b08dacc45 356 else
Yo_Robot 14:039d070732d5 357 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 358
Yo_Robot 12:c02b08dacc45 359 }
Yo_Robot 12:c02b08dacc45 360
Yo_Robot 12:c02b08dacc45 361
Yo_Robot 22:d5431fff164b 362 void getENC_eth( char * input, char * output )
Yo_Robot 20:4b154134ab20 363 {
Yo_Robot 22:d5431fff164b 364 if( pin_alm == 0 )
Yo_Robot 22:d5431fff164b 365 sprintf( output,"%d", read_encoder() );
Yo_Robot 22:d5431fff164b 366 else
Yo_Robot 22:d5431fff164b 367 sprintf( output,"AL" );
Yo_Robot 22:d5431fff164b 368
Yo_Robot 22:d5431fff164b 369 }
Yo_Robot 21:353b0fe8fc54 370
Yo_Robot 21:353b0fe8fc54 371
Yo_Robot 22:d5431fff164b 372 void setENC_eth( char * input, char * output )
Yo_Robot 22:d5431fff164b 373 {
Yo_Robot 22:d5431fff164b 374 clear_encoder();
Yo_Robot 22:d5431fff164b 375
Yo_Robot 22:d5431fff164b 376 if( pin_alm == 0 )
Yo_Robot 22:d5431fff164b 377 sprintf( output,"Ok" );
Yo_Robot 22:d5431fff164b 378 else
Yo_Robot 22:d5431fff164b 379 sprintf( output,"AL" );
Yo_Robot 22:d5431fff164b 380
Yo_Robot 20:4b154134ab20 381 }
Yo_Robot 12:c02b08dacc45 382
Yo_Robot 21:353b0fe8fc54 383
Yo_Robot 22:d5431fff164b 384
Yo_Robot 22:d5431fff164b 385
Yo_Robot 22:d5431fff164b 386
Yo_Robot 4:552beeda4722 387 /* LEGACY FUNCTIONS
Yo_Robot 4:552beeda4722 388 *
Yo_Robot 20:4b154134ab20 389 * El siguiente codigo no es utilizado por el
Yo_Robot 20:4b154134ab20 390 * programa. Sin embargo pueden servir como
Yo_Robot 20:4b154134ab20 391 * futuras referencias.
Yo_Robot 4:552beeda4722 392 */
Yo_Robot 4:552beeda4722 393 void setMR3( int newValue )
Yo_Robot 4:552beeda4722 394 {
Yo_Robot 4:552beeda4722 395 LPC_TIM2->MR3 = newValue;
Yo_Robot 4:552beeda4722 396 }
Yo_Robot 4:552beeda4722 397
Yo_Robot 4:552beeda4722 398
Yo_Robot 4:552beeda4722 399 void setPrescaler( int newValue)
Yo_Robot 4:552beeda4722 400 {
Yo_Robot 4:552beeda4722 401 LPC_TIM2->PR = newValue;
Yo_Robot 4:552beeda4722 402 }
Yo_Robot 20:4b154134ab20 403
Yo_Robot 20:4b154134ab20 404
Yo_Robot 20:4b154134ab20 405 EthernetNetIf configurarEthernet()
Yo_Robot 20:4b154134ab20 406 {
Yo_Robot 20:4b154134ab20 407 //____________ *** ARCHIVO DE CONFIGURACION ***_______________________ //
Yo_Robot 20:4b154134ab20 408
Yo_Robot 20:4b154134ab20 409 printf("\n *** CONFIGURACION ETHERNET DE MBED ***\n");
Yo_Robot 20:4b154134ab20 410 printf("Leyendo archivo de configuracion...\n\n");
Yo_Robot 20:4b154134ab20 411
Yo_Robot 20:4b154134ab20 412 FILE *fp = fopen("/local/config.txt", "r"); // Abre el archivo y lo guarda en fp
Yo_Robot 20:4b154134ab20 413
Yo_Robot 20:4b154134ab20 414 if(!fp) // En caso de no encontrarse el archivo
Yo_Robot 20:4b154134ab20 415 {
Yo_Robot 20:4b154134ab20 416 printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n");
Yo_Robot 20:4b154134ab20 417 exit(1);
Yo_Robot 20:4b154134ab20 418
Yo_Robot 20:4b154134ab20 419 }
Yo_Robot 20:4b154134ab20 420 else
Yo_Robot 20:4b154134ab20 421 {
Yo_Robot 20:4b154134ab20 422 // Cadenas de caracteres desde el Archivo config.txt
Yo_Robot 20:4b154134ab20 423 char isDHCP [15]; //Modo Automatico o Manual
Yo_Robot 20:4b154134ab20 424 char empty [2]; // Linea vacia
Yo_Robot 20:4b154134ab20 425 char ip [40]; // Direccion IP
Yo_Robot 20:4b154134ab20 426 char mask [40]; // Mascara de Subred
Yo_Robot 20:4b154134ab20 427 char gate [40]; // Puerta de enlace
Yo_Robot 20:4b154134ab20 428 char dns [40]; // Direccion DNS
Yo_Robot 20:4b154134ab20 429
Yo_Robot 20:4b154134ab20 430 // Valores 'int' para agregar a la configuracion manual
Yo_Robot 20:4b154134ab20 431 int DHCP;
Yo_Robot 20:4b154134ab20 432 int n_ip[4];
Yo_Robot 20:4b154134ab20 433 int n_mask[4];
Yo_Robot 20:4b154134ab20 434 int n_gate[4];
Yo_Robot 20:4b154134ab20 435 int n_dns[4];
Yo_Robot 20:4b154134ab20 436
Yo_Robot 20:4b154134ab20 437
Yo_Robot 20:4b154134ab20 438 // Leer linea a linea el archivo
Yo_Robot 20:4b154134ab20 439 fgets( isDHCP, 15, fp );
Yo_Robot 20:4b154134ab20 440 fgets( empty, 2, fp );
Yo_Robot 20:4b154134ab20 441 fgets( ip, 40, fp );
Yo_Robot 20:4b154134ab20 442 fgets( mask, 40, fp );
Yo_Robot 20:4b154134ab20 443 fgets( gate, 40, fp );
Yo_Robot 20:4b154134ab20 444 fgets( dns, 40, fp );
Yo_Robot 20:4b154134ab20 445
Yo_Robot 20:4b154134ab20 446 printf("Cerrando archivo...\n");
Yo_Robot 20:4b154134ab20 447 fclose(fp);
Yo_Robot 20:4b154134ab20 448
Yo_Robot 20:4b154134ab20 449 // Extraer los valores numericos
Yo_Robot 20:4b154134ab20 450 sscanf( isDHCP,"%*s %d",&DHCP );
Yo_Robot 20:4b154134ab20 451
Yo_Robot 20:4b154134ab20 452 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0],&n_ip[1],&n_ip[2],&n_ip[3] );
Yo_Robot 20:4b154134ab20 453 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 20:4b154134ab20 454 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 20:4b154134ab20 455 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0],&n_dns[1],&n_dns[2],&n_dns[3] );
Yo_Robot 20:4b154134ab20 456
Yo_Robot 20:4b154134ab20 457
Yo_Robot 20:4b154134ab20 458 if(DHCP) //En caso de modo DHCP
Yo_Robot 20:4b154134ab20 459 {
Yo_Robot 20:4b154134ab20 460 printf("\n Configurar red de manera automatica\n");
Yo_Robot 20:4b154134ab20 461 EthernetNetIf eth; //Crea la interfaz
Yo_Robot 20:4b154134ab20 462 EthernetErr ethErr = eth.setup();
Yo_Robot 20:4b154134ab20 463 if( ethErr )
Yo_Robot 20:4b154134ab20 464 {
Yo_Robot 20:4b154134ab20 465 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 20:4b154134ab20 466 exit(1);
Yo_Robot 20:4b154134ab20 467 }
Yo_Robot 20:4b154134ab20 468
Yo_Robot 20:4b154134ab20 469 printf("Configuracion Correcta\n\n");
Yo_Robot 20:4b154134ab20 470 return eth;
Yo_Robot 20:4b154134ab20 471 }
Yo_Robot 20:4b154134ab20 472 else
Yo_Robot 20:4b154134ab20 473 {
Yo_Robot 20:4b154134ab20 474 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0], &n_ip[1], &n_ip[2], &n_ip[3] );
Yo_Robot 20:4b154134ab20 475 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 20:4b154134ab20 476 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 20:4b154134ab20 477 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0], &n_dns[1], &n_dns[2], &n_dns[3] );
Yo_Robot 20:4b154134ab20 478 printf(" %s %s %s %s %s\n " , isDHCP, ip, mask, gate, dns );
Yo_Robot 20:4b154134ab20 479
Yo_Robot 20:4b154134ab20 480 printf("\n Configurar red de manera manual\n");
Yo_Robot 20:4b154134ab20 481 EthernetNetIf eth(
Yo_Robot 20:4b154134ab20 482 IpAddr( n_ip[0], n_ip[1], n_ip[2], n_ip[3]), //IP Address
Yo_Robot 20:4b154134ab20 483 IpAddr( n_mask[0],n_mask[1],n_mask[2],n_mask[3]), //Network Mask
Yo_Robot 20:4b154134ab20 484 IpAddr( n_gate[0],n_gate[1],n_gate[2],n_gate[3]), //Gateway
Yo_Robot 20:4b154134ab20 485 IpAddr( n_dns[0], n_dns[1], n_dns[2], n_dns[3] ) //DNS
Yo_Robot 20:4b154134ab20 486 );
Yo_Robot 20:4b154134ab20 487
Yo_Robot 20:4b154134ab20 488 EthernetErr ethErr = eth.setup();
Yo_Robot 20:4b154134ab20 489 if( ethErr )
Yo_Robot 20:4b154134ab20 490 {
Yo_Robot 20:4b154134ab20 491 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 20:4b154134ab20 492 exit(1);
Yo_Robot 20:4b154134ab20 493 }
Yo_Robot 20:4b154134ab20 494
Yo_Robot 20:4b154134ab20 495 printf("Configuracion Correcta\n\n");
Yo_Robot 20:4b154134ab20 496 return eth;
Yo_Robot 20:4b154134ab20 497 }
Yo_Robot 20:4b154134ab20 498
Yo_Robot 20:4b154134ab20 499 }
Yo_Robot 20:4b154134ab20 500
Yo_Robot 20:4b154134ab20 501 EthernetNetIf eth;
Yo_Robot 20:4b154134ab20 502 return eth;
Yo_Robot 20:4b154134ab20 503 }