Department of Electrical Eng University of Moratuwa / Mbed 2 deprecated Theekshana_AI_data

rtos sd encoder systems

Dependencies:   mbed

main.cpp@3:a921792d9913, 2019-08-30 (annotated)

Committer:
eembed
Date:
Fri Aug 30 11:55:47 2019 +0000
Revision:
3:a921792d9913
Parent:
1:db36f62f783b 
commit before edit; ~JKD;

Who changed what in which revision?

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eembed 3:a921792d9913 1 /*
eembed 3:a921792d9913 2 * Force Controlled Vibration Analysis -
eembed 3:a921792d9913 3 *
eembed 3:a921792d9913 4 * 22.08.2019
eembed 3:a921792d9913 5 * Theekshana
eembed 3:a921792d9913 6 */
eembed 3:a921792d9913 7
eembed 0:5459cdde6298 8 #include "mbed.h"
eembed 0:5459cdde6298 9 #include "rtos.h"
eembed 0:5459cdde6298 10 #include "SDFileSystem.h"
eembed 0:5459cdde6298 11 #include "qeihw.h"
eembed 3:a921792d9913 12
eembed 3:a921792d9913 13 //---------------------------=Communication Pins=-------------------------------
eembed 3:a921792d9913 14 //Serial pc(USBTX, USBRX);
eembed 1:db36f62f783b 15 DigitalOut led3(LED3);
eembed 1:db36f62f783b 16 DigitalOut led1(LED1);
eembed 1:db36f62f783b 17 SDFileSystem sd(p5, p6, p7, p8, "sd"); // pintout for sd card
eembed 3:a921792d9913 18
eembed 3:a921792d9913 19 //--------------------------=Motor Driver Controller Pin =-----------------------------
eembed 3:a921792d9913 20 DigitalOut Reset_AB(p29); // H bridge enable
eembed 3:a921792d9913 21 DigitalOut Reset_CD(p30);
eembed 3:a921792d9913 22 DigitalOut Reset_AB_s(p27);
eembed 3:a921792d9913 23 DigitalOut Reset_CD_s(p28);
eembed 3:a921792d9913 24
eembed 3:a921792d9913 25 PwmOut pwm_clk_s(p21); // clockwise rotation pwm pin for Slave
eembed 3:a921792d9913 26 PwmOut pwm_anticlk_s(p22);
eembed 3:a921792d9913 27 PwmOut pwm_clk(p23); // clockwise rotation pwm pin for Master
eembed 3:a921792d9913 28 PwmOut pwm_anticlk(p24);
eembed 3:a921792d9913 29
eembed 3:a921792d9913 30 //--------------------------=Current Sensor MBED Pins=--------------------------
eembed 3:a921792d9913 31 int Master_Direction=0;
eembed 3:a921792d9913 32 int slave_Direction=0;
eembed 3:a921792d9913 33
eembed 3:a921792d9913 34 DigitalIn M_Dir(p10);
eembed 3:a921792d9913 35 DigitalIn S_Dir(p9);
eembed 3:a921792d9913 36 AnalogIn current_sensor_s_p(p15); // current sensor input for MASTER positive
eembed 3:a921792d9913 37 AnalogIn current_sensor_s_n(p16);
eembed 3:a921792d9913 38 AnalogIn current_sensor_m_p(p17); // current sensor input for MASTER positive
eembed 3:a921792d9913 39 AnalogIn current_sensor_m_n(p18); // current sensor input for MASTER negative
eembed 3:a921792d9913 40
eembed 3:a921792d9913 41 float I_res_m = 0.0;
eembed 3:a921792d9913 42 float I1_act_m=0.0;
eembed 3:a921792d9913 43 float I_msrd=0.0;
eembed 3:a921792d9913 44 float G_Cfilter=30.0;
eembed 3:a921792d9913 45
eembed 3:a921792d9913 46 //--------------------------=Ethernet Variable=---------------------------------
eembed 3:a921792d9913 47 Ethernet eth;
eembed 3:a921792d9913 48
eembed 3:a921792d9913 49
eembed 3:a921792d9913 50 //--------------------------=Thread Variables=-----------------------------------
eembed 1:db36f62f783b 51 Ticker time_up;
eembed 1:db36f62f783b 52 float startTime=0.0;
eembed 1:db36f62f783b 53 float tempTime = 0.0;
eembed 1:db36f62f783b 54 float endTime=0.0;
eembed 1:db36f62f783b 55 Timer timer;
eembed 1:db36f62f783b 56 float preTime = 0.0;
eembed 3:a921792d9913 57
eembed 3:a921792d9913 58 //--------------------------=Velocity reading variables=-------------------------
eembed 1:db36f62f783b 59 char buf[0x600];
eembed 1:db36f62f783b 60 float recv_angle = 0.0;
eembed 1:db36f62f783b 61 float x_res = 0.0;
eembed 3:a921792d9913 62 float dt = 0.000001*200.0;
eembed 1:db36f62f783b 63 float ve_sum = 0.0;
eembed 1:db36f62f783b 64 float dx_res = 0.0;
eembed 3:a921792d9913 65 float G_filter_v = 150.0;
eembed 1:db36f62f783b 66 float duty = 0.0;
eembed 3:a921792d9913 67
eembed 3:a921792d9913 68 //--------------------------=DoB variables=--------------------------------------
eembed 1:db36f62f783b 69 float K_tn=0.135;
eembed 1:db36f62f783b 70 float J_n = 0.0000720;
eembed 3:a921792d9913 71 float B = 0.0;
eembed 3:a921792d9913 72
eembed 3:a921792d9913 73 float g_dis = 1.0;
eembed 1:db36f62f783b 74 float D_DoB = 0.0;
eembed 1:db36f62f783b 75 float D_BFilter = 0.0;
eembed 1:db36f62f783b 76 float D_AFilter = 0.0;
eembed 3:a921792d9913 77 float I_DoB = 0.0;
eembed 3:a921792d9913 78 float I_sin = 0.0;
eembed 3:a921792d9913 79 float I_sin_prev = 0.0;
eembed 3:a921792d9913 80 float I_DoB_prev = 0.0;
eembed 3:a921792d9913 81
eembed 3:a921792d9913 82 //--------------------------=RTOB Variables=-------------------------------------
eembed 3:a921792d9913 83 float RT_BFilter=0.0;
eembed 3:a921792d9913 84 float RT_AFilter = 0.0;
eembed 3:a921792d9913 85 float RTOB = 0.0;
eembed 3:a921792d9913 86
eembed 3:a921792d9913 87 //--------------------------=Force Controller Variables=-------------------------
eembed 3:a921792d9913 88
eembed 3:a921792d9913 89
eembed 3:a921792d9913 90 float T_f = 0.025;
eembed 3:a921792d9913 91 float K_pf = 500.0; // tested value for smooth oparation
eembed 3:a921792d9913 92 float K_df = 0.0;
eembed 3:a921792d9913 93 float K_if = 0.0;
eembed 3:a921792d9913 94 float I_error = 0.0;
eembed 3:a921792d9913 95 float I_err_sum = 0.0;
eembed 3:a921792d9913 96 float I_err_prev = 0.0;
eembed 3:a921792d9913 97 float I_cmd = 1.3;
eembed 3:a921792d9913 98 float I_PID = 0.0;
eembed 3:a921792d9913 99 float I_ref = 0.0;
eembed 3:a921792d9913 100
eembed 3:a921792d9913 101 //-------------------------=slave current controller variables=-----------------
eembed 3:a921792d9913 102 int count = 0;
eembed 3:a921792d9913 103 float f = 10.0;
eembed 3:a921792d9913 104 float K_pis =10.0;
eembed 3:a921792d9913 105 float K_dis = 0.0;
eembed 3:a921792d9913 106 float K_iis = 0.0;
eembed 3:a921792d9913 107
eembed 3:a921792d9913 108 float I_error_s = 0.0;
eembed 3:a921792d9913 109 float I_ref_s = 0.0;
eembed 3:a921792d9913 110 float I_err_sum_s = 0.0;
eembed 3:a921792d9913 111 float I_PID_s = 0.0;
eembed 3:a921792d9913 112 float I_err_prev_s = 0.0;
eembed 3:a921792d9913 113 float duty_s = 0.0;
eembed 3:a921792d9913 114 float I_sin_gen = 0.0;
eembed 3:a921792d9913 115 float I_res_s = 0.0;
eembed 3:a921792d9913 116 float I1_act_s = 0.0;
eembed 3:a921792d9913 117 float I_msrd_s = 0.0;
eembed 3:a921792d9913 118
eembed 0:5459cdde6298 119
eembed 3:a921792d9913 120 //--------------------------=Fucion declaration=--------------------------------
eembed 3:a921792d9913 121 void controlLoop();
eembed 3:a921792d9913 122 void readVelocity();
eembed 3:a921792d9913 123 void readCurrent();
eembed 3:a921792d9913 124 void CController();
eembed 3:a921792d9913 125 void DoB();
eembed 3:a921792d9913 126 void motorPWM_init();
eembed 3:a921792d9913 127 void motorPWM();
eembed 3:a921792d9913 128
eembed 3:a921792d9913 129 void slaveCurrentRead();
eembed 3:a921792d9913 130 void slaveCurrentController();
eembed 3:a921792d9913 131 void motorpwm_s();
eembed 3:a921792d9913 132
eembed 3:a921792d9913 133 void thread_2(void const *argument);
eembed 3:a921792d9913 134 void sd_card_write_test();
eembed 3:a921792d9913 135 void sd_card_write();
eembed 3:a921792d9913 136 void ethernet_init();
eembed 3:a921792d9913 137
eembed 3:a921792d9913 138
eembed 3:a921792d9913 139
eembed 3:a921792d9913 140
eembed 3:a921792d9913 141 //----------------------------------=Main Loop=---------------------------------
eembed 3:a921792d9913 142 int main()
eembed 3:a921792d9913 143 {
eembed 3:a921792d9913 144 sd_card_write_test();
eembed 3:a921792d9913 145 ethernet_init();
eembed 3:a921792d9913 146 motorPWM_init();
eembed 3:a921792d9913 147 timer.start();
eembed 3:a921792d9913 148 time_up.attach(&controlLoop, dt);
eembed 3:a921792d9913 149 Thread thread(*thread_2,NULL,osPriorityAboveNormal,DEFAULT_STACK_SIZE*10.0,NULL);
eembed 3:a921792d9913 150 }
eembed 3:a921792d9913 151
eembed 3:a921792d9913 152 //--------------------------=Main Control Loop=---------------------------------
eembed 3:a921792d9913 153 void controlLoop(){
eembed 3:a921792d9913 154 /*if (x_res>0.0)
eembed 3:a921792d9913 155 {
eembed 3:a921792d9913 156 T_f = -0.025;
eembed 3:a921792d9913 157 }
eembed 3:a921792d9913 158 else
eembed 3:a921792d9913 159 {
eembed 3:a921792d9913 160 T_f = 0.025;
eembed 3:a921792d9913 161 }*/
eembed 3:a921792d9913 162 count = count+1;
eembed 3:a921792d9913 163 I_sin_gen = 0.25*sin(2*3.14159*dt*f*count);
eembed 3:a921792d9913 164 readVelocity();
eembed 3:a921792d9913 165 readCurrent();
eembed 3:a921792d9913 166 CController();
eembed 3:a921792d9913 167 DoB();
eembed 3:a921792d9913 168 motorPWM();
eembed 3:a921792d9913 169 slaveCurrentRead();
eembed 3:a921792d9913 170 slaveCurrentController();
eembed 3:a921792d9913 171 motorpwm_s();
eembed 3:a921792d9913 172 }
eembed 3:a921792d9913 173
eembed 3:a921792d9913 174 //--------------------------=Read Velocity=-------------------------------------
eembed 1:db36f62f783b 175 void readVelocity(){
eembed 3:a921792d9913 176 int size2 = eth.receive();
eembed 3:a921792d9913 177 if(size2 > 0)
eembed 3:a921792d9913 178 {
eembed 3:a921792d9913 179 eth.read(buf, size2);
eembed 3:a921792d9913 180 memcpy(&recv_angle, buf, sizeof(float));
eembed 3:a921792d9913 181 x_res = -1*recv_angle;
eembed 3:a921792d9913 182 }
eembed 3:a921792d9913 183 ve_sum += dx_res*dt;
eembed 3:a921792d9913 184 dx_res =G_filter_v*( x_res-ve_sum);
eembed 3:a921792d9913 185 }
eembed 3:a921792d9913 186
eembed 3:a921792d9913 187 //--------------------------=Current Meassurement=------------------------------
eembed 3:a921792d9913 188 void readCurrent()
eembed 3:a921792d9913 189 {
eembed 1:db36f62f783b 190 Master_Direction = M_Dir.read();
eembed 3:a921792d9913 191 //master clockwise
eembed 3:a921792d9913 192 if(Master_Direction == 0)
eembed 3:a921792d9913 193 {
eembed 0:5459cdde6298 194 I_res_m = current_sensor_m_p.read();
eembed 1:db36f62f783b 195 I1_act_m = -1.0*((I_res_m*3.3/0.7) ); //0.74787687701613 //0.717075441532258
eembed 0:5459cdde6298 196
eembed 0:5459cdde6298 197 }else if(Master_Direction == 1) { //master anticlockwise
eembed 0:5459cdde6298 198 I_res_m = current_sensor_m_n.read();
eembed 1:db36f62f783b 199 I1_act_m = 1.0*((I_res_m*3.3)/0.7); //0.713239227822580
eembed 0:5459cdde6298 200 }
eembed 1:db36f62f783b 201 I_msrd += G_Cfilter*(I1_act_m-I_msrd)*dt;
eembed 3:a921792d9913 202 }
eembed 3:a921792d9913 203
eembed 3:a921792d9913 204
eembed 3:a921792d9913 205
eembed 3:a921792d9913 206 //--------------------------=Velocity Controller=-------------------------------
eembed 3:a921792d9913 207 void CController()
eembed 3:a921792d9913 208 {
eembed 3:a921792d9913 209 I_ref = I_cmd;// -I_sin_gen;
eembed 1:db36f62f783b 210 I_error = I_ref - I_msrd;
eembed 3:a921792d9913 211 I_err_sum += I_error*dt;
eembed 3:a921792d9913 212 I_PID = (K_pf*I_error)+(K_df*(I_error-I_err_prev)/dt) + (K_if*I_err_sum);
eembed 1:db36f62f783b 213 I_err_prev = I_error;
eembed 3:a921792d9913 214 }
eembed 3:a921792d9913 215
eembed 3:a921792d9913 216 //--------------------------=Distarbance Observer=------------------------------
eembed 3:a921792d9913 217 void DoB()
eembed 3:a921792d9913 218 {
eembed 3:a921792d9913 219 D_BFilter=(I_msrd*K_tn) + (dx_res*J_n*g_dis);
eembed 3:a921792d9913 220 D_AFilter += g_dis*(D_BFilter-D_AFilter)*dt;
eembed 3:a921792d9913 221 D_DoB = D_AFilter - (dx_res*J_n*g_dis);
eembed 3:a921792d9913 222 I_DoB = D_DoB/K_tn;
eembed 3:a921792d9913 223 I_sin = I_DoB-I_DoB_prev+ 0.999998*I_sin_prev;
eembed 3:a921792d9913 224 I_DoB_prev = I_DoB;
eembed 3:a921792d9913 225 I_sin_prev = I_sin;
eembed 3:a921792d9913 226 //--------------------------=Reaction Force Observer=------------------------------
eembed 3:a921792d9913 227 RT_BFilter = D_BFilter - (T_f+B*dx_res);
eembed 3:a921792d9913 228 RT_AFilter += g_dis*(RT_BFilter-RT_AFilter)*dt;
eembed 3:a921792d9913 229 RTOB = RT_AFilter - (dx_res*J_n*g_dis);
eembed 3:a921792d9913 230 }
eembed 3:a921792d9913 231
eembed 3:a921792d9913 232
eembed 3:a921792d9913 233 //--------------------------=Motor PWM Initialization=--------------------------
eembed 3:a921792d9913 234 void motorPWM_init()
eembed 3:a921792d9913 235 {
eembed 1:db36f62f783b 236 pwm_clk.period_us(10);
eembed 3:a921792d9913 237 pwm_clk_s.period_us(10);
eembed 3:a921792d9913 238 pwm_anticlk_s.period_us(10);
eembed 1:db36f62f783b 239 pwm_anticlk.period_us(10);
eembed 1:db36f62f783b 240 pwm_clk.write(0.0f);
eembed 1:db36f62f783b 241 pwm_anticlk.write(0.0f);
eembed 3:a921792d9913 242 pwm_clk_s.write(0.0f);
eembed 3:a921792d9913 243 pwm_anticlk_s.write(0.0f);
eembed 1:db36f62f783b 244 Reset_AB = 1;
eembed 1:db36f62f783b 245 Reset_CD = 1;
eembed 3:a921792d9913 246 Reset_AB_s =1;
eembed 3:a921792d9913 247 Reset_CD_s =1;
eembed 3:a921792d9913 248 }
eembed 3:a921792d9913 249
eembed 3:a921792d9913 250 //--------------------------=Motor PWM Generation=------------------------------
eembed 3:a921792d9913 251 void motorPWM()
eembed 3:a921792d9913 252 {
eembed 1:db36f62f783b 253 duty = I_PID;
eembed 3:a921792d9913 254 if (duty> 0.0)
eembed 3:a921792d9913 255 {
eembed 3:a921792d9913 256 if (duty > 0.9)
eembed 3:a921792d9913 257 {
eembed 3:a921792d9913 258 duty = 0.9;
eembed 1:db36f62f783b 259 }
eembed 1:db36f62f783b 260 pwm_clk = 0.0;
eembed 1:db36f62f783b 261 pwm_anticlk = duty;
eembed 1:db36f62f783b 262 }
eembed 0:5459cdde6298 263
eembed 3:a921792d9913 264 if (duty < 0.0)
eembed 3:a921792d9913 265 {
eembed 3:a921792d9913 266 if (duty< -0.9)
eembed 3:a921792d9913 267 {
eembed 3:a921792d9913 268 duty = -0.9;
eembed 1:db36f62f783b 269 }
eembed 1:db36f62f783b 270 pwm_anticlk = 0.0;
eembed 1:db36f62f783b 271 pwm_clk = -1.0 * duty;
eembed 1:db36f62f783b 272 }
eembed 3:a921792d9913 273 }
eembed 3:a921792d9913 274
eembed 3:a921792d9913 275 //---------------------------=Slave motor=--------------------------------------
eembed 3:a921792d9913 276 //---------------------------=Slave motor current reading=----------------------
eembed 3:a921792d9913 277 void slaveCurrentRead()
eembed 3:a921792d9913 278 {
eembed 3:a921792d9913 279 slave_Direction = S_Dir.read();
eembed 3:a921792d9913 280
eembed 3:a921792d9913 281 if(slave_Direction == 0)
eembed 3:a921792d9913 282 {
eembed 3:a921792d9913 283 I_res_s = current_sensor_s_p.read();
eembed 3:a921792d9913 284 I1_act_s = -1.0*((I_res_s*3.3/0.7) );//0.74787687701613 //0.717075441532258
eembed 3:a921792d9913 285
eembed 3:a921792d9913 286 }else if(slave_Direction == 1) { //master anticlockwise
eembed 3:a921792d9913 287 I_res_s = current_sensor_s_n.read();
eembed 3:a921792d9913 288 I1_act_s = 1.0*((I_res_s*3.3)/0.7); //0.713239227822580
eembed 1:db36f62f783b 289 }
eembed 3:a921792d9913 290 I_msrd_s += G_Cfilter*(I1_act_s-I_msrd_s)*dt;
eembed 3:a921792d9913 291
eembed 3:a921792d9913 292 }
eembed 3:a921792d9913 293
eembed 3:a921792d9913 294 //-----------------------=slaveCurrentController=-------------------------------
eembed 3:a921792d9913 295 void slaveCurrentController()
eembed 3:a921792d9913 296 {
eembed 3:a921792d9913 297 I_ref_s = I_sin_gen; // 2 x PI x t x
eembed 3:a921792d9913 298 I_error_s = I_ref_s - I_msrd_s;
eembed 3:a921792d9913 299 I_err_sum_s += I_error_s*dt;
eembed 3:a921792d9913 300 I_PID_s = (K_pis*I_error_s)+(K_dis*(I_error_s-I_err_prev_s)/dt) + (K_iis*I_err_sum_s);
eembed 3:a921792d9913 301 I_err_prev_s = I_error_s;
eembed 1:db36f62f783b 302 }
eembed 3:a921792d9913 303
eembed 3:a921792d9913 304 //----------------------=Slave Motor run=---------------------------------------
eembed 3:a921792d9913 305 void motorpwm_s(){
eembed 3:a921792d9913 306 duty_s = I_PID_s;
eembed 3:a921792d9913 307 if (duty_s> 0.0)
eembed 3:a921792d9913 308 {
eembed 3:a921792d9913 309 if (duty_s > 0.9)
eembed 3:a921792d9913 310 {
eembed 3:a921792d9913 311 duty_s = 0.9;
eembed 3:a921792d9913 312 }
eembed 3:a921792d9913 313 pwm_clk_s = 0.0;
eembed 3:a921792d9913 314 pwm_anticlk_s = duty_s;
eembed 3:a921792d9913 315 }
eembed 3:a921792d9913 316
eembed 3:a921792d9913 317 if (duty_s < 0.0)
eembed 3:a921792d9913 318 {
eembed 3:a921792d9913 319 if (duty_s< -0.9)
eembed 3:a921792d9913 320 {
eembed 3:a921792d9913 321 duty_s = -0.9;
eembed 3:a921792d9913 322 }
eembed 3:a921792d9913 323 pwm_anticlk_s = 0.0;
eembed 3:a921792d9913 324 pwm_clk_s = -1.0 * duty_s;
eembed 3:a921792d9913 325 }
eembed 3:a921792d9913 326 }
eembed 3:a921792d9913 327
eembed 3:a921792d9913 328
eembed 3:a921792d9913 329 //--------------------------=Data writting to file=-----------------------------
eembed 3:a921792d9913 330 //--------------------------=Printing to a file=--------------------------------
eembed 3:a921792d9913 331 void thread_2(void const *argument)
eembed 3:a921792d9913 332 {
eembed 3:a921792d9913 333 while(1)
eembed 3:a921792d9913 334 {
eembed 3:a921792d9913 335
eembed 3:a921792d9913 336 //pc.printf("%f %f\n",I1_act_m,I_msrd);
eembed 3:a921792d9913 337 //pc.printf("%d\t %f\t %f\t %f\t %f\t\r\n",count,I_cmd,I_ref,I_msrd,x_res);
eembed 3:a921792d9913 338 sd_card_write();
eembed 3:a921792d9913 339 }
eembed 3:a921792d9913 340 }
eembed 3:a921792d9913 341
eembed 3:a921792d9913 342
eembed 3:a921792d9913 343 //--------------------------=File print test=-----------------------------------
eembed 1:db36f62f783b 344 void sd_card_write_test()
eembed 1:db36f62f783b 345 {
eembed 1:db36f62f783b 346 mkdir("/sd/mydir", 0777);
eembed 1:db36f62f783b 347
eembed 1:db36f62f783b 348 FILE *fp = fopen("/sd/mydir/sdtest.txt", "w");
eembed 1:db36f62f783b 349 if(fp == NULL) {
eembed 1:db36f62f783b 350 error("Could not open file for write\n");
eembed 1:db36f62f783b 351 }
eembed 3:a921792d9913 352 fprintf(fp, "count \t x_res\t RTOB \n");
eembed 3:a921792d9913 353 fclose(fp);
eembed 1:db36f62f783b 354
eembed 1:db36f62f783b 355 //fprintf(fp,"startTime\t I_ref\t I_msrd\t dx_res\t\n");
eembed 0:5459cdde6298 356 }
eembed 0:5459cdde6298 357
eembed 3:a921792d9913 358 //--------------------------=File print=----------------------------------------
eembed 1:db36f62f783b 359 void sd_card_write()
eembed 1:db36f62f783b 360 {
eembed 3:a921792d9913 361 //led1=!led1;
eembed 1:db36f62f783b 362 FILE *fp = fopen("/sd/mydir/sdtest.txt","a");
eembed 3:a921792d9913 363 fprintf(fp,"%d\t %f\t %f\t \r\n",count,I_sin,I_sin_gen);
eembed 1:db36f62f783b 364 fclose(fp);
eembed 0:5459cdde6298 365 }
eembed 0:5459cdde6298 366
eembed 3:a921792d9913 367 //--------------------------=Ethernet Initialization=---------------------------
eembed 3:a921792d9913 368
eembed 1:db36f62f783b 369 void ethernet_init()
eembed 1:db36f62f783b 370 {
eembed 1:db36f62f783b 371 eth.set_link(Ethernet::HalfDuplex100);
eembed 1:db36f62f783b 372 wait_ms(1000); // Needed after startup.
eembed 1:db36f62f783b 373 if(eth.link())
eembed 1:db36f62f783b 374 {
eembed 1:db36f62f783b 375 for(int i=0;i<3;i++)
eembed 1:db36f62f783b 376 {
eembed 1:db36f62f783b 377 led3=!led3;
eembed 1:db36f62f783b 378 wait(1.0);
eembed 1:db36f62f783b 379 }
eembed 0:5459cdde6298 380 }
eembed 0:5459cdde6298 381 }