Proyecto de Tesis en Mecatrónica. Universidad Técnica del Norte. Ernesto Palacios <mecatronica.mid@gmail.com>
Dependencies: EthernetNetIf HTTPServer QEI_hw RPCInterface mbed
setup.cpp@11:30408c8f722a, 2012-04-06 (annotated)
- Committer:
- Yo_Robot
- Date:
- Fri Apr 06 02:15:47 2012 +0000
- Revision:
- 11:30408c8f722a
- Parent:
- 10:0ebc4955cbe7
v0.3 Serial No RPC. Se igualan los archivos setup.h y setup.cpp para serial y ethernet
Who changed what in which revision?
User | Revision | Line number | New 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 | 3:8d5a9e3cd680 | 14 | #include "mbed.h" |
Yo_Robot | 3:8d5a9e3cd680 | 15 | |
Yo_Robot | 3:8d5a9e3cd680 | 16 | // Salida Serial de mbed |
Yo_Robot | 3:8d5a9e3cd680 | 17 | extern Serial pc; |
Yo_Robot | 7:d9aca501126f | 18 | extern DigitalOut pin_son; // SON |
Yo_Robot | 7:d9aca501126f | 19 | extern DigitalOut pin_dir; // SIGN+ |
Yo_Robot | 7:d9aca501126f | 20 | extern InterruptIn pin_alm; // ALM |
Yo_Robot | 7:d9aca501126f | 21 | extern AnalogOut aout; // +-10V |
Yo_Robot | 6:b4dae934e1ea | 22 | |
Yo_Robot | 3:8d5a9e3cd680 | 23 | |
Yo_Robot | 4:552beeda4722 | 24 | void setTimer2() |
Yo_Robot | 3:8d5a9e3cd680 | 25 | { |
Yo_Robot | 3:8d5a9e3cd680 | 26 | // Encender Timer2 (PCONP[22]) |
Yo_Robot | 3:8d5a9e3cd680 | 27 | LPC_SC->PCONP |= 1 << 22; |
Yo_Robot | 3:8d5a9e3cd680 | 28 | |
Yo_Robot | 3:8d5a9e3cd680 | 29 | // Resetear y parar el Timer |
Yo_Robot | 3:8d5a9e3cd680 | 30 | LPC_TIM2->TCR = 0x2; |
Yo_Robot | 3:8d5a9e3cd680 | 31 | LPC_TIM2->CTCR = 0x0; |
Yo_Robot | 3:8d5a9e3cd680 | 32 | |
Yo_Robot | 4:552beeda4722 | 33 | // Establecer el Preescaler en cero |
Yo_Robot | 4:552beeda4722 | 34 | // SIn Preesclaer |
Yo_Robot | 4:552beeda4722 | 35 | LPC_TIM2->PR = 0; |
Yo_Robot | 3:8d5a9e3cd680 | 36 | |
Yo_Robot | 4:552beeda4722 | 37 | // Calcular el periodo Inicial |
Yo_Robot | 4:552beeda4722 | 38 | uint32_t periodo = ( SystemCoreClock / 400 ); |
Yo_Robot | 3:8d5a9e3cd680 | 39 | |
Yo_Robot | 3:8d5a9e3cd680 | 40 | // Establecer los Registros de Coincidencia |
Yo_Robot | 3:8d5a9e3cd680 | 41 | // ( Match Register ) |
Yo_Robot | 3:8d5a9e3cd680 | 42 | LPC_TIM2->MR2 = periodo; |
Yo_Robot | 4:552beeda4722 | 43 | LPC_TIM2->MR3 = periodo; // Legacy, salidas identicas |
Yo_Robot | 3:8d5a9e3cd680 | 44 | |
Yo_Robot | 4:552beeda4722 | 45 | LPC_TIM2->MCR |= 1 << 7; // Resetear Timer en MR2 |
Yo_Robot | 3:8d5a9e3cd680 | 46 | |
Yo_Robot | 3:8d5a9e3cd680 | 47 | LPC_TIM2->EMR |= 15UL << 8; // Alternar Pin MAT2.2 |
Yo_Robot | 3:8d5a9e3cd680 | 48 | // y MAT2.3 |
Yo_Robot | 3:8d5a9e3cd680 | 49 | |
Yo_Robot | 3:8d5a9e3cd680 | 50 | LPC_PINCON->PINSEL0 |= 15UL << 16; //Activar MAT2.2 |
Yo_Robot | 11:30408c8f722a | 51 | // y MAT2.3 como salidas |
Yo_Robot | 11:30408c8f722a | 52 | |
Yo_Robot | 6:b4dae934e1ea | 53 | } |
Yo_Robot | 6:b4dae934e1ea | 54 | |
Yo_Robot | 6:b4dae934e1ea | 55 | void ISR_Serial() |
Yo_Robot | 6:b4dae934e1ea | 56 | { |
Yo_Robot | 7:d9aca501126f | 57 | int value; // Nuevo Valor |
Yo_Robot | 7:d9aca501126f | 58 | char command; // Comando al que aplicar el nuevo valor |
Yo_Robot | 6:b4dae934e1ea | 59 | |
Yo_Robot | 7:d9aca501126f | 60 | pc.scanf( "%d-%c", &value, &command ) ; |
Yo_Robot | 7:d9aca501126f | 61 | pc.printf("\n %d-%c \n", value, command ); |
Yo_Robot | 6:b4dae934e1ea | 62 | |
Yo_Robot | 6:b4dae934e1ea | 63 | // Establecer nueva frecuencia |
Yo_Robot | 7:d9aca501126f | 64 | if( command == 'H') |
Yo_Robot | 7:d9aca501126f | 65 | setPTO( value ); |
Yo_Robot | 7:d9aca501126f | 66 | |
Yo_Robot | 7:d9aca501126f | 67 | else if( command == 'K' ) |
Yo_Robot | 7:d9aca501126f | 68 | setPTO( value * 1000 ); |
Yo_Robot | 7:d9aca501126f | 69 | |
Yo_Robot | 7:d9aca501126f | 70 | // Nuevo voltaje de salida |
Yo_Robot | 7:d9aca501126f | 71 | // Alguna formula para calcular el Vout necesario |
Yo_Robot | 7:d9aca501126f | 72 | // -100% a +100% |
Yo_Robot | 7:d9aca501126f | 73 | else if( command == 'A') |
Yo_Robot | 10:0ebc4955cbe7 | 74 | aout = (float)( value + 100.0 ) / 200.0; |
Yo_Robot | 7:d9aca501126f | 75 | |
Yo_Robot | 7:d9aca501126f | 76 | |
Yo_Robot | 7:d9aca501126f | 77 | // Cambiar la direccion |
Yo_Robot | 7:d9aca501126f | 78 | else if( command == 'D') |
Yo_Robot | 7:d9aca501126f | 79 | pin_dir = value; |
Yo_Robot | 7:d9aca501126f | 80 | |
Yo_Robot | 7:d9aca501126f | 81 | |
Yo_Robot | 7:d9aca501126f | 82 | //Encender el Servo |
Yo_Robot | 7:d9aca501126f | 83 | else if( command == 'S') |
Yo_Robot | 7:d9aca501126f | 84 | pin_son = value; |
Yo_Robot | 7:d9aca501126f | 85 | |
Yo_Robot | 7:d9aca501126f | 86 | //else if( command == 'E') |
Yo_Robot | 7:d9aca501126f | 87 | // setDir( value ); |
Yo_Robot | 6:b4dae934e1ea | 88 | |
Yo_Robot | 7:d9aca501126f | 89 | } |
Yo_Robot | 7:d9aca501126f | 90 | |
Yo_Robot | 7:d9aca501126f | 91 | |
Yo_Robot | 7:d9aca501126f | 92 | void setPTO( int freq ) |
Yo_Robot | 7:d9aca501126f | 93 | { |
Yo_Robot | 7:d9aca501126f | 94 | if( freq != 0 ) |
Yo_Robot | 7:d9aca501126f | 95 | { |
Yo_Robot | 7:d9aca501126f | 96 | LPC_TIM2->TC = 0x00; //Resetear Timer |
Yo_Robot | 7:d9aca501126f | 97 | setMR2( getMRvalue( freq ) ); |
Yo_Robot | 7:d9aca501126f | 98 | startTimer2(); |
Yo_Robot | 7:d9aca501126f | 99 | |
Yo_Robot | 7:d9aca501126f | 100 | }else{ |
Yo_Robot | 6:b4dae934e1ea | 101 | |
Yo_Robot | 7:d9aca501126f | 102 | stopTimer2(); |
Yo_Robot | 7:d9aca501126f | 103 | LPC_TIM2->TC = 0x00; //Resetear Timer |
Yo_Robot | 7:d9aca501126f | 104 | } |
Yo_Robot | 7:d9aca501126f | 105 | } |
Yo_Robot | 7:d9aca501126f | 106 | |
Yo_Robot | 11:30408c8f722a | 107 | void setPTO_eth( char * input, char * output ) |
Yo_Robot | 11:30408c8f722a | 108 | { |
Yo_Robot | 11:30408c8f722a | 109 | int freq = atoi( input ); |
Yo_Robot | 11:30408c8f722a | 110 | |
Yo_Robot | 11:30408c8f722a | 111 | if( freq != 0 ){ |
Yo_Robot | 11:30408c8f722a | 112 | LPC_TIM2->TC = 0x00; // Resetear Timer |
Yo_Robot | 11:30408c8f722a | 113 | setMR2( getMRvalue( freq ) ); // Cambiar frefuencia |
Yo_Robot | 11:30408c8f722a | 114 | startTimer2(); // Iniciar Timer |
Yo_Robot | 11:30408c8f722a | 115 | sprintf( output, "Ok, Freq = %d", freq ); |
Yo_Robot | 11:30408c8f722a | 116 | |
Yo_Robot | 11:30408c8f722a | 117 | }else{ |
Yo_Robot | 11:30408c8f722a | 118 | stopTimer2(); |
Yo_Robot | 11:30408c8f722a | 119 | LPC_TIM2->TC = 0x00; // Resetear Timer |
Yo_Robot | 11:30408c8f722a | 120 | sprintf( output, "Ok, ALTO" ); |
Yo_Robot | 11:30408c8f722a | 121 | } |
Yo_Robot | 11:30408c8f722a | 122 | } |
Yo_Robot | 11:30408c8f722a | 123 | |
Yo_Robot | 11:30408c8f722a | 124 | |
Yo_Robot | 7:d9aca501126f | 125 | void ISR_Alarm() |
Yo_Robot | 7:d9aca501126f | 126 | { |
Yo_Robot | 7:d9aca501126f | 127 | pin_son = 0 ; |
Yo_Robot | 7:d9aca501126f | 128 | stopTimer2(); |
Yo_Robot | 7:d9aca501126f | 129 | aout = 0.5 ; |
Yo_Robot | 7:d9aca501126f | 130 | |
Yo_Robot | 7:d9aca501126f | 131 | pc.printf( "\n\n ERROR: ALARMA \n\n " ); |
Yo_Robot | 7:d9aca501126f | 132 | |
Yo_Robot | 6:b4dae934e1ea | 133 | } |
Yo_Robot | 6:b4dae934e1ea | 134 | |
Yo_Robot | 4:552beeda4722 | 135 | int getMRvalue( int fout ) |
Yo_Robot | 3:8d5a9e3cd680 | 136 | { |
Yo_Robot | 4:552beeda4722 | 137 | int toRegister; |
Yo_Robot | 4:552beeda4722 | 138 | |
Yo_Robot | 11:30408c8f722a | 139 | toRegister = (24000000 /(fout*2.0) ) -1; |
Yo_Robot | 4:552beeda4722 | 140 | return toRegister; |
Yo_Robot | 3:8d5a9e3cd680 | 141 | } |
Yo_Robot | 3:8d5a9e3cd680 | 142 | |
Yo_Robot | 3:8d5a9e3cd680 | 143 | |
Yo_Robot | 3:8d5a9e3cd680 | 144 | void setMR2( int newValue ) |
Yo_Robot | 3:8d5a9e3cd680 | 145 | { |
Yo_Robot | 4:552beeda4722 | 146 | LPC_TIM2->MR2 = newValue; // Las dos salidas son identicas |
Yo_Robot | 4:552beeda4722 | 147 | LPC_TIM2->MR3 = newValue; // Para testear el programa. |
Yo_Robot | 3:8d5a9e3cd680 | 148 | } |
Yo_Robot | 3:8d5a9e3cd680 | 149 | |
Yo_Robot | 3:8d5a9e3cd680 | 150 | |
Yo_Robot | 3:8d5a9e3cd680 | 151 | |
Yo_Robot | 3:8d5a9e3cd680 | 152 | void startTimer2() |
Yo_Robot | 3:8d5a9e3cd680 | 153 | { |
Yo_Robot | 11:30408c8f722a | 154 | // Arrancer el Timer 2 |
Yo_Robot | 3:8d5a9e3cd680 | 155 | LPC_TIM2->TCR = 1; |
Yo_Robot | 3:8d5a9e3cd680 | 156 | } |
Yo_Robot | 3:8d5a9e3cd680 | 157 | |
Yo_Robot | 3:8d5a9e3cd680 | 158 | void stopTimer2() |
Yo_Robot | 3:8d5a9e3cd680 | 159 | { |
Yo_Robot | 4:552beeda4722 | 160 | // Detener el Timer 2 |
Yo_Robot | 3:8d5a9e3cd680 | 161 | LPC_TIM2->TCR = 0x2; |
Yo_Robot | 4:552beeda4722 | 162 | } |
Yo_Robot | 4:552beeda4722 | 163 | |
Yo_Robot | 6:b4dae934e1ea | 164 | |
Yo_Robot | 11:30408c8f722a | 165 | // **** Funciones Liberia Ethernet ***** // |
Yo_Robot | 11:30408c8f722a | 166 | |
Yo_Robot | 11:30408c8f722a | 167 | void setAout_eth( char * input, char * output ) |
Yo_Robot | 11:30408c8f722a | 168 | { |
Yo_Robot | 11:30408c8f722a | 169 | int vout = atoi( input ); |
Yo_Robot | 11:30408c8f722a | 170 | aout = (float)( vout + 100 ) / 200; |
Yo_Robot | 11:30408c8f722a | 171 | sprintf( output, " Ok, Aout = %f ", aout.read() ); |
Yo_Robot | 11:30408c8f722a | 172 | } |
Yo_Robot | 11:30408c8f722a | 173 | |
Yo_Robot | 11:30408c8f722a | 174 | |
Yo_Robot | 11:30408c8f722a | 175 | |
Yo_Robot | 11:30408c8f722a | 176 | void setDir_eth ( char * input, char * output ) |
Yo_Robot | 11:30408c8f722a | 177 | { |
Yo_Robot | 11:30408c8f722a | 178 | int value = atoi( input ); |
Yo_Robot | 11:30408c8f722a | 179 | |
Yo_Robot | 11:30408c8f722a | 180 | pin_dir = value; |
Yo_Robot | 11:30408c8f722a | 181 | |
Yo_Robot | 11:30408c8f722a | 182 | if( value == 0 ) |
Yo_Robot | 11:30408c8f722a | 183 | sprintf( output,"Derecha" ); |
Yo_Robot | 11:30408c8f722a | 184 | else |
Yo_Robot | 11:30408c8f722a | 185 | sprintf( output,"Izquierda" ); |
Yo_Robot | 11:30408c8f722a | 186 | } |
Yo_Robot | 11:30408c8f722a | 187 | |
Yo_Robot | 11:30408c8f722a | 188 | |
Yo_Robot | 11:30408c8f722a | 189 | |
Yo_Robot | 11:30408c8f722a | 190 | void setSON_eth ( char * input, char * output ) |
Yo_Robot | 11:30408c8f722a | 191 | { |
Yo_Robot | 11:30408c8f722a | 192 | int value = atoi( input ); |
Yo_Robot | 11:30408c8f722a | 193 | |
Yo_Robot | 11:30408c8f722a | 194 | pin_son = value; |
Yo_Robot | 11:30408c8f722a | 195 | |
Yo_Robot | 11:30408c8f722a | 196 | if( value == 0 ) |
Yo_Robot | 11:30408c8f722a | 197 | sprintf( output,"Servo OFF" ); |
Yo_Robot | 11:30408c8f722a | 198 | else |
Yo_Robot | 11:30408c8f722a | 199 | sprintf( output,"Servo ON" ); |
Yo_Robot | 11:30408c8f722a | 200 | |
Yo_Robot | 11:30408c8f722a | 201 | } |
Yo_Robot | 6:b4dae934e1ea | 202 | |
Yo_Robot | 6:b4dae934e1ea | 203 | |
Yo_Robot | 6:b4dae934e1ea | 204 | |
Yo_Robot | 4:552beeda4722 | 205 | /* LEGACY FUNCTIONS |
Yo_Robot | 4:552beeda4722 | 206 | * |
Yo_Robot | 5:c5aea1eb10bb | 207 | * El codigo actual no hace referencia a estas funciones |
Yo_Robot | 5:c5aea1eb10bb | 208 | * sin embargo no hay problema en definirlas. |
Yo_Robot | 4:552beeda4722 | 209 | */ |
Yo_Robot | 4:552beeda4722 | 210 | void setMR3( int newValue ) |
Yo_Robot | 4:552beeda4722 | 211 | { |
Yo_Robot | 4:552beeda4722 | 212 | LPC_TIM2->MR3 = newValue; |
Yo_Robot | 4:552beeda4722 | 213 | } |
Yo_Robot | 4:552beeda4722 | 214 | |
Yo_Robot | 4:552beeda4722 | 215 | |
Yo_Robot | 4:552beeda4722 | 216 | void setPrescaler( int newValue) |
Yo_Robot | 4:552beeda4722 | 217 | { |
Yo_Robot | 4:552beeda4722 | 218 | LPC_TIM2->PR = newValue; |
Yo_Robot | 4:552beeda4722 | 219 | } |