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@33:e6ff02c3e0f5, 2014-06-24 (annotated)

Committer:
Yo_Robot
Date:
Tue Jun 24 17:42:25 2014 +0000
Revision:
33:e6ff02c3e0f5
Parent:
32:4483d6c225e5
Child:
34:bdf918bc9b59
Al parecer el problema es la vibraci?n... ahora hay q solucionar el control de posici?n.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Yo_Robot 20:4b154134ab20 1 /*******************************************************************\
Yo_Robot 20:4b154134ab20 2 * *
Yo_Robot 20:4b154134ab20 3 * DESLIZADOR LINEAL UTN *
Yo_Robot 20:4b154134ab20 4 * *
Yo_Robot 20:4b154134ab20 5 * Archivo: main.cpp *
Yo_Robot 20:4b154134ab20 6 * Autor: Ernesto Palacios <meacatronica.mid@gmail.com> *
Yo_Robot 30:413d1a6648b5 7 * Version: v2.3 *
Yo_Robot 20:4b154134ab20 8 * Dependencias: setup.h, setup.cpp *
Yo_Robot 22:d5431fff164b 9 * Descripcion: Este es el archivo principal para el microcon- *
Yo_Robot 23:2126e38bb48c 10 * trolador mbed para la comunicacion y control *
Yo_Robot 20:4b154134ab20 11 * del deslizador *
Yo_Robot 20:4b154134ab20 12 * Fecha: Ibarra, 05 de junio de 2012 *
Yo_Robot 20:4b154134ab20 13 * *
Yo_Robot 20:4b154134ab20 14 *******************************************************************/
Yo_Robot 3:8d5a9e3cd680 15
Yo_Robot 3:8d5a9e3cd680 16 #include "mbed.h"
Yo_Robot 25:1910a55ff0a3 17 #include "qeihw.h"
Yo_Robot 3:8d5a9e3cd680 18 #include "setup.h"
Yo_Robot 8:958dfe5052b9 19 #include "EthernetNetIf.h"
Yo_Robot 8:958dfe5052b9 20 #include "HTTPServer.h"
Yo_Robot 8:958dfe5052b9 21 #include "RPCFunction.h"
Yo_Robot 8:958dfe5052b9 22 #include "RPCVariable.h"
Yo_Robot 20:4b154134ab20 23
Yo_Robot 30:413d1a6648b5 24
Yo_Robot 23:2126e38bb48c 25 // Configuraci&#65533;n de Entradas / Salidas
Yo_Robot 9:6976ac1a430e 26
Yo_Robot 25:1910a55ff0a3 27 Serial pc( USBTX, USBRX ); //Comunicacion Serial directa al computador
Yo_Robot 25:1910a55ff0a3 28 Serial RS_232(p13, p14); //Comunicacion Serial para MAX232
Yo_Robot 31:7e2cdd547cb2 29
Yo_Robot 32:4483d6c225e5 30 QEIHW encoder( QEI_DIRINV_CMPL, // CW = postive; CCW = negative
Yo_Robot 31:7e2cdd547cb2 31 QEI_SIGNALMODE_QUAD, // Absolute encoder
Yo_Robot 33:e6ff02c3e0f5 32 QEI_CAPMODE_2X, // PhA anb PhB
Yo_Robot 31:7e2cdd547cb2 33 QEI_INVINX_NONE // Not inverted index
Yo_Robot 31:7e2cdd547cb2 34 );
Yo_Robot 31:7e2cdd547cb2 35
Yo_Robot 23:2126e38bb48c 36 Timer crono; // Reloj Interno de mbed
Yo_Robot 18:cf1e07d82630 37
Yo_Robot 18:cf1e07d82630 38 DigitalOut pin_son( p7 ); // SON
Yo_Robot 18:cf1e07d82630 39 DigitalOut pin_dir( p26 ); // SIGN+
Yo_Robot 18:cf1e07d82630 40 InterruptIn pin_alm( p8 ); // ALM
Yo_Robot 20:4b154134ab20 41 AnalogOut aout( p18 ); // VOUT
Yo_Robot 24:a1d16835201c 42 //PIN_06 pto_generator // PULS+
Yo_Robot 9:6976ac1a430e 43
Yo_Robot 16:d50665706f21 44 DigitalIn isHTTP( p15 ); // Modo Ethernet/Serial
Yo_Robot 16:d50665706f21 45 DigitalIn isFast( p16 ); // Serial Alta velocidad/Baja Velocidad
Yo_Robot 18:cf1e07d82630 46 DigitalIn isPC ( p17 ); // Salida a compuador o MAX232
Yo_Robot 18:cf1e07d82630 47
Yo_Robot 19:c26cf8a48986 48 DigitalOut led_verde( p21 ); // Led verde del conector Ethernet
Yo_Robot 19:c26cf8a48986 49 DigitalOut led_rojo( p22 ); // Led naranja del conector Ethernet
Yo_Robot 19:c26cf8a48986 50
Yo_Robot 30:413d1a6648b5 51 // Alarmas en los optoacopladores
Yo_Robot 30:413d1a6648b5 52 InterruptIn limite_1( p23 );
Yo_Robot 31:7e2cdd547cb2 53 InterruptIn limite_2( p24 );
Yo_Robot 31:7e2cdd547cb2 54 InterruptIn limite_3( p25 );
Yo_Robot 30:413d1a6648b5 55 InterruptIn limite_4( p29 );
Yo_Robot 30:413d1a6648b5 56
Yo_Robot 30:413d1a6648b5 57
Yo_Robot 20:4b154134ab20 58 // Objetos Ethernet
Yo_Robot 18:cf1e07d82630 59
Yo_Robot 18:cf1e07d82630 60 EthernetNetIf eth;
Yo_Robot 18:cf1e07d82630 61 HTTPServer svr;
Yo_Robot 17:a4f380bc2516 62 LocalFileSystem fs("local");
Yo_Robot 5:c5aea1eb10bb 63
Yo_Robot 8:958dfe5052b9 64
Yo_Robot 20:4b154134ab20 65 // Anadir funciones al Protocolo RPC:
Yo_Robot 20:4b154134ab20 66 //
Yo_Robot 20:4b154134ab20 67 // estas son las funciones de acceso de la libreria HTTP_ASM sobre
Yo_Robot 20:4b154134ab20 68 // el Protocolo RPC
Yo_Robot 12:c02b08dacc45 69 RPCFunction SetFQ (&setPTO_eth, "PTO");
Yo_Robot 12:c02b08dacc45 70 RPCFunction SetAOUT(&setAout_eth, "AOUT");
Yo_Robot 12:c02b08dacc45 71 RPCFunction SetDIR (&setDir_eth, "DIR");
Yo_Robot 12:c02b08dacc45 72 RPCFunction SetSON (&setSON_eth, "SON");
Yo_Robot 16:d50665706f21 73 RPCFunction SetANG (&setANG_eth, "ANG");
Yo_Robot 16:d50665706f21 74 RPCFunction SetSpd (&setSPD_eth, "VAN");
Yo_Robot 22:d5431fff164b 75 RPCFunction ReadEnc(&getENC_eth, "ENC");
Yo_Robot 22:d5431fff164b 76 RPCFunction ClrEnc (&setENC_eth, "CLR");
Yo_Robot 23:2126e38bb48c 77 RPCFunction ReadRPM(&getRPM_eth, "RPM");
Yo_Robot 32:4483d6c225e5 78 RPCFunction GoHome(&setHOME_eth, "INI");
Yo_Robot 3:8d5a9e3cd680 79
Yo_Robot 30:413d1a6648b5 80
Yo_Robot 3:8d5a9e3cd680 81 int main() {
Yo_Robot 30:413d1a6648b5 82
Yo_Robot 31:7e2cdd547cb2 83 pin_alm.fall( &ISR_Alarm ); // Entrada de la alarma driver
Yo_Robot 31:7e2cdd547cb2 84
Yo_Robot 32:4483d6c225e5 85 limite_1.rise( &ISR_Alm_encoder ); // Alarma de colisión 1
Yo_Robot 32:4483d6c225e5 86 limite_2.rise( &ISR_Adv_encoder ); // Alarma de colisión 1
Yo_Robot 32:4483d6c225e5 87 limite_3.rise( &ISR_Adv_motor ); // Alarma de colisión 1
Yo_Robot 32:4483d6c225e5 88 limite_4.rise( &ISR_Alm_motor ); // Alarma de colisión 1
Yo_Robot 31:7e2cdd547cb2 89
Yo_Robot 31:7e2cdd547cb2 90 encoder.SetDigiFilter(480UL); // number of clock cycles the signal must be at high to sense it
Yo_Robot 31:7e2cdd547cb2 91 encoder.SetMaxPosition(0xFFFFFFFF); // max number before overflow - may be changed for 360 or a multiple
Yo_Robot 33:e6ff02c3e0f5 92 encoder.SetVelocityTimerReload( 0xFFFFF );
Yo_Robot 30:413d1a6648b5 93
Yo_Robot 30:413d1a6648b5 94
Yo_Robot 20:4b154134ab20 95 //*************** Configura Red Ethernet **************************************************//
Yo_Robot 20:4b154134ab20 96 if( isHTTP )
Yo_Robot 13:649543aa8b1d 97 {
Yo_Robot 20:4b154134ab20 98
Yo_Robot 22:d5431fff164b 99 // Anade clases base al protocolo RPC
Yo_Robot 13:649543aa8b1d 100 Base::add_rpc_class<AnalogIn>();
Yo_Robot 13:649543aa8b1d 101 Base::add_rpc_class<AnalogOut>();
Yo_Robot 13:649543aa8b1d 102 Base::add_rpc_class<DigitalIn>();
Yo_Robot 13:649543aa8b1d 103 Base::add_rpc_class<DigitalOut>();
Yo_Robot 13:649543aa8b1d 104 Base::add_rpc_class<DigitalInOut>();
Yo_Robot 13:649543aa8b1d 105 Base::add_rpc_class<PwmOut>();
Yo_Robot 13:649543aa8b1d 106 Base::add_rpc_class<Timer>();
Yo_Robot 13:649543aa8b1d 107 Base::add_rpc_class<BusOut>();
Yo_Robot 13:649543aa8b1d 108 Base::add_rpc_class<BusIn>();
Yo_Robot 13:649543aa8b1d 109 Base::add_rpc_class<BusInOut>();
Yo_Robot 13:649543aa8b1d 110 Base::add_rpc_class<Serial>();
Yo_Robot 17:a4f380bc2516 111
Yo_Robot 24:a1d16835201c 112 led_verde = 0; //Esperando configuracion
Yo_Robot 24:a1d16835201c 113 led_rojo = 1;
Yo_Robot 24:a1d16835201c 114
Yo_Robot 22:d5431fff164b 115 // Configura conexion Ethernet
Yo_Robot 19:c26cf8a48986 116 printf("Configurando...\n");
Yo_Robot 18:cf1e07d82630 117 EthernetErr ethErr = eth.setup();
Yo_Robot 18:cf1e07d82630 118 if(ethErr)
Yo_Robot 13:649543aa8b1d 119 {
Yo_Robot 21:353b0fe8fc54 120 printf("Error %d en la configuracion.\n", ethErr);
Yo_Robot 24:a1d16835201c 121 led_rojo = 0;
Yo_Robot 18:cf1e07d82630 122 return -1;
Yo_Robot 18:cf1e07d82630 123 }
Yo_Robot 24:a1d16835201c 124 printf("Configuracion correcta!\n");
Yo_Robot 24:a1d16835201c 125
Yo_Robot 24:a1d16835201c 126 led_verde = 1; //Configuracion correcta led verde encendido
Yo_Robot 24:a1d16835201c 127 led_rojo = 0;
Yo_Robot 24:a1d16835201c 128
Yo_Robot 18:cf1e07d82630 129 FSHandler::mount("/local", "/files"); //Monta /local en /files que es el directorio web
Yo_Robot 18:cf1e07d82630 130 FSHandler::mount("/local", "/"); //Mount /local en / que es el directorio raiz
Yo_Robot 13:649543aa8b1d 131
Yo_Robot 18:cf1e07d82630 132 //Handles para la comunicacion
Yo_Robot 13:649543aa8b1d 133 svr.addHandler<SimpleHandler>("/hello");
Yo_Robot 13:649543aa8b1d 134 svr.addHandler<RPCHandler>("/rpc");
Yo_Robot 13:649543aa8b1d 135 svr.addHandler<FSHandler>("/files");
Yo_Robot 18:cf1e07d82630 136 svr.addHandler<FSHandler>("/");
Yo_Robot 18:cf1e07d82630 137
Yo_Robot 18:cf1e07d82630 138 svr.bind(80); // Puerto de comunicacion.
Yo_Robot 18:cf1e07d82630 139
Yo_Robot 18:cf1e07d82630 140 printf("Listo para comunicacion...\n");
Yo_Robot 13:649543aa8b1d 141
Yo_Robot 18:cf1e07d82630 142 // Para probar la correcta configuracion acceder a mbed.htm
Yo_Robot 18:cf1e07d82630 143 // http://a.b.c.d/mbed.htm or http://a.b.c.d/files/mbed.htm
Yo_Robot 18:cf1e07d82630 144
Yo_Robot 13:649543aa8b1d 145 }
Yo_Robot 20:4b154134ab20 146
Yo_Robot 20:4b154134ab20 147
Yo_Robot 20:4b154134ab20 148 //*************** Configura Comunicacion Serial **************************************************//
Yo_Robot 15:a1ffa32ce9d1 149 else // Caso Contrario Anadir modo Serial
Yo_Robot 8:958dfe5052b9 150 {
Yo_Robot 22:d5431fff164b 151 int fast_baud = getBaud();
Yo_Robot 20:4b154134ab20 152 if( isPC ) // Utiliza el Puerto Virtual Incluido.
Yo_Robot 19:c26cf8a48986 153 {
Yo_Robot 19:c26cf8a48986 154 pc.attach( &ISR_Serial );
Yo_Robot 20:4b154134ab20 155 if( isFast ) //Configurar Serial a alta velocidad
Yo_Robot 21:353b0fe8fc54 156 pc.baud( fast_baud );
Yo_Robot 19:c26cf8a48986 157 }
Yo_Robot 20:4b154134ab20 158 else // Utiiliza el puerto serial hacia MAX232
Yo_Robot 19:c26cf8a48986 159 {
Yo_Robot 19:c26cf8a48986 160 RS_232.attach( &ISR_Serial );
Yo_Robot 20:4b154134ab20 161 if( isFast ) //Configurar Serial a alta velocidad
Yo_Robot 21:353b0fe8fc54 162 RS_232.baud( fast_baud );
Yo_Robot 19:c26cf8a48986 163 }
Yo_Robot 8:958dfe5052b9 164 }
Yo_Robot 8:958dfe5052b9 165
Yo_Robot 20:4b154134ab20 166 //*******************************************************************************************************//
Yo_Robot 20:4b154134ab20 167
Yo_Robot 20:4b154134ab20 168
Yo_Robot 24:a1d16835201c 169 //________ Ajustes iniciales del Driver _________//
Yo_Robot 24:a1d16835201c 170
Yo_Robot 30:413d1a6648b5 171
Yo_Robot 30:413d1a6648b5 172
Yo_Robot 20:4b154134ab20 173 setTimer2(); // Configurar PTO
Yo_Robot 20:4b154134ab20 174 pin_son = 0; // Servo Apagado por defecto
Yo_Robot 13:649543aa8b1d 175 aout = 0.5; // Voltaje de salida 0V por defecto( +-10V! )
Yo_Robot 33:e6ff02c3e0f5 176
Yo_Robot 30:413d1a6648b5 177
Yo_Robot 13:649543aa8b1d 178 while(1)
Yo_Robot 13:649543aa8b1d 179 {
Yo_Robot 13:649543aa8b1d 180 if( isHTTP )
Yo_Robot 24:a1d16835201c 181 {
Yo_Robot 15:a1ffa32ce9d1 182 Net::poll(); // Revisa la red solo si la coneccion es HTTP
Yo_Robot 24:a1d16835201c 183 led_verde = led_verde ^ 1; // Toggle Led Verde... esperando transmicion
Yo_Robot 24:a1d16835201c 184 }
Yo_Robot 13:649543aa8b1d 185 }
Yo_Robot 8:958dfe5052b9 186 }