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@35:92b0f1b75a51, 2014-07-07 (annotated)

Committer:
Yo_Robot
Date:
Mon Jul 07 15:41:20 2014 +0000
Revision:
35:92b0f1b75a51
Parent:
34:bdf918bc9b59 
Intento de que el mbed devuelva los pulsos... no funciona, mejor implementar la misma funcionalidad en LabVIEW, pero aun se debe poder detener la generaci?n de pulsos.

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 25:1910a55ff0a3 12 #include "mbed.h"
Yo_Robot 25:1910a55ff0a3 13 #include "qeihw.h"
Yo_Robot 3:8d5a9e3cd680 14 #include "setup.h"
Yo_Robot 18:cf1e07d82630 15 #include "EthernetNetIf.h"
Yo_Robot 25:1910a55ff0a3 16
Yo_Robot 3:8d5a9e3cd680 17
Yo_Robot 24:a1d16835201c 18 extern Serial pc; // Salida Serial de mbed
Yo_Robot 24:a1d16835201c 19 extern Serial RS_232; // Salida Serial a MAX232
Yo_Robot 25:1910a55ff0a3 20 extern QEIHW encoder;
Yo_Robot 35:92b0f1b75a51 21 extern Timer cronometro; // Cronometro interno del microcontrolador
Yo_Robot 35:92b0f1b75a51 22 extern Timeout temporizador; // temporizador para
Yo_Robot 24:a1d16835201c 23 extern DigitalIn isPC; // Bit de configuracion serial en la placa
Yo_Robot 12:c02b08dacc45 24 extern DigitalOut pin_son; // SON
Yo_Robot 12:c02b08dacc45 25 extern DigitalOut pin_dir; // SIGN+
Yo_Robot 12:c02b08dacc45 26 extern InterruptIn pin_alm; // ALM
Yo_Robot 12:c02b08dacc45 27 extern AnalogOut aout; // +-10V
Yo_Robot 22:d5431fff164b 28 extern DigitalOut led_verde; // Led verde del conector Ethernet
Yo_Robot 24:a1d16835201c 29 extern DigitalOut led_rojo; // Led naranja del conector Ethernet
Yo_Robot 30:413d1a6648b5 30 extern InterruptIn limite_1;
Yo_Robot 30:413d1a6648b5 31 extern InterruptIn limite_2;
Yo_Robot 30:413d1a6648b5 32 extern InterruptIn limite_3;
Yo_Robot 30:413d1a6648b5 33 extern InterruptIn limite_4;
Yo_Robot 20:4b154134ab20 34
Yo_Robot 35:92b0f1b75a51 35 extern int bandera_pulsos; //bandera del contador de PULSOS GENERADOS
Yo_Robot 35:92b0f1b75a51 36 extern int num_pulsos; // Numero de pulsos generados
Yo_Robot 35:92b0f1b75a51 37
Yo_Robot 35:92b0f1b75a51 38
Yo_Robot 15:a1ffa32ce9d1 39 int fq_posicion = 10000; // Variable global donde se almacenara
Yo_Robot 15:a1ffa32ce9d1 40 // la velocidad de posicionamiento en Hz
Yo_Robot 24:a1d16835201c 41 float t_alto; // para el posicionamiento del motor
Yo_Robot 23:2126e38bb48c 42
Yo_Robot 26:dad0b2031173 43 int fq_actual = 0; // Ultimo valor seteado para el tren de pulsos
Yo_Robot 22:d5431fff164b 44
Yo_Robot 35:92b0f1b75a51 45 int bandera_inicio = 0; //bandera de ir a inicio HOME
Yo_Robot 35:92b0f1b75a51 46
Yo_Robot 33:e6ff02c3e0f5 47
Yo_Robot 35:92b0f1b75a51 48
Yo_Robot 35:92b0f1b75a51 49 void posicion_ok()
Yo_Robot 35:92b0f1b75a51 50 {
Yo_Robot 35:92b0f1b75a51 51 cronometro.stop();
Yo_Robot 35:92b0f1b75a51 52 stopTimer2(); //Detener tren de pulsos
Yo_Robot 35:92b0f1b75a51 53 float tiempo_pulsos_generados = cronometro.read_ms();
Yo_Robot 35:92b0f1b75a51 54 int num_pulsos = (int) (fq_posicion * tiempo_pulsos_generados) / 1000;
Yo_Robot 35:92b0f1b75a51 55
Yo_Robot 35:92b0f1b75a51 56 bandera_pulsos = 1; // En la funcion main() se imprimiran los resultados;
Yo_Robot 35:92b0f1b75a51 57
Yo_Robot 35:92b0f1b75a51 58 }
Yo_Robot 35:92b0f1b75a51 59
Yo_Robot 29:52932326c45a 60 int velocidad_rpm()
Yo_Robot 22:d5431fff164b 61 {
Yo_Robot 33:e6ff02c3e0f5 62 return encoder.GetVelocityCap();
Yo_Robot 22:d5431fff164b 63 }
Yo_Robot 22:d5431fff164b 64
Yo_Robot 22:d5431fff164b 65 void clear_encoder()
Yo_Robot 22:d5431fff164b 66 {
Yo_Robot 25:1910a55ff0a3 67 encoder.Reset( QEI_RESET_POS ); // reset position
Yo_Robot 22:d5431fff164b 68 }
Yo_Robot 22:d5431fff164b 69
Yo_Robot 4:552beeda4722 70 void setTimer2()
Yo_Robot 3:8d5a9e3cd680 71 {
Yo_Robot 3:8d5a9e3cd680 72 // Encender Timer2 (PCONP[22])
Yo_Robot 3:8d5a9e3cd680 73 LPC_SC->PCONP |= 1 << 22;
Yo_Robot 3:8d5a9e3cd680 74
Yo_Robot 3:8d5a9e3cd680 75 // Resetear y parar el Timer
Yo_Robot 3:8d5a9e3cd680 76 LPC_TIM2->TCR = 0x2;
Yo_Robot 3:8d5a9e3cd680 77 LPC_TIM2->CTCR = 0x0;
Yo_Robot 3:8d5a9e3cd680 78
Yo_Robot 4:552beeda4722 79 // Establecer el Preescaler en cero
Yo_Robot 4:552beeda4722 80 // SIn Preesclaer
Yo_Robot 4:552beeda4722 81 LPC_TIM2->PR = 0;
Yo_Robot 3:8d5a9e3cd680 82
Yo_Robot 4:552beeda4722 83 // Calcular el periodo Inicial
Yo_Robot 4:552beeda4722 84 uint32_t periodo = ( SystemCoreClock / 400 );
Yo_Robot 3:8d5a9e3cd680 85
Yo_Robot 3:8d5a9e3cd680 86 // Establecer los Registros de Coincidencia
Yo_Robot 3:8d5a9e3cd680 87 // ( Match Register )
Yo_Robot 3:8d5a9e3cd680 88 LPC_TIM2->MR2 = periodo;
Yo_Robot 4:552beeda4722 89 LPC_TIM2->MR3 = periodo; // Legacy, salidas identicas
Yo_Robot 3:8d5a9e3cd680 90
Yo_Robot 4:552beeda4722 91 LPC_TIM2->MCR |= 1 << 7; // Resetear Timer en MR2
Yo_Robot 3:8d5a9e3cd680 92
Yo_Robot 3:8d5a9e3cd680 93 LPC_TIM2->EMR |= 15UL << 8; // Alternar Pin MAT2.2
Yo_Robot 3:8d5a9e3cd680 94 // y MAT2.3
Yo_Robot 3:8d5a9e3cd680 95
Yo_Robot 3:8d5a9e3cd680 96 LPC_PINCON->PINSEL0 |= 15UL << 16; //Activar MAT2.2
Yo_Robot 8:958dfe5052b9 97 // y MAT2.3 como salidas
Yo_Robot 8:958dfe5052b9 98
Yo_Robot 6:b4dae934e1ea 99 }
Yo_Robot 6:b4dae934e1ea 100
Yo_Robot 12:c02b08dacc45 101 void ISR_Serial()
Yo_Robot 12:c02b08dacc45 102 {
Yo_Robot 12:c02b08dacc45 103 int value; // Nuevo Valor
Yo_Robot 12:c02b08dacc45 104 char command; // Comando al que aplicar el nuevo valor
Yo_Robot 23:2126e38bb48c 105
Yo_Robot 12:c02b08dacc45 106
Yo_Robot 19:c26cf8a48986 107 if( isPC )
Yo_Robot 23:2126e38bb48c 108 pc.scanf( "%d-%c", &value, &command );
Yo_Robot 19:c26cf8a48986 109 else
Yo_Robot 23:2126e38bb48c 110 RS_232.scanf( "%d-%c", &value, &command );
Yo_Robot 23:2126e38bb48c 111
Yo_Robot 23:2126e38bb48c 112 switch( command )
Yo_Robot 23:2126e38bb48c 113 {
Yo_Robot 19:c26cf8a48986 114
Yo_Robot 29:52932326c45a 115 case 'E': // Leer el contador del encoder.
Yo_Robot 24:a1d16835201c 116 {
Yo_Robot 23:2126e38bb48c 117
Yo_Robot 27:b8254b76ec57 118 //Leer la posición del encoder
Yo_Robot 23:2126e38bb48c 119
Yo_Robot 26:dad0b2031173 120 if( isPC )
Yo_Robot 29:52932326c45a 121 pc.printf("%d\n\r",encoder.GetPosition());
Yo_Robot 26:dad0b2031173 122 else
Yo_Robot 29:52932326c45a 123 RS_232.printf("%d\n\r",encoder.GetPosition());
Yo_Robot 23:2126e38bb48c 124 break;
Yo_Robot 24:a1d16835201c 125 }
Yo_Robot 27:b8254b76ec57 126
Yo_Robot 23:2126e38bb48c 127 case 'H': // Establecer nueva frecuencia
Yo_Robot 24:a1d16835201c 128 {
Yo_Robot 23:2126e38bb48c 129 setPTO( value );
Yo_Robot 26:dad0b2031173 130 fq_actual = value;
Yo_Robot 32:4483d6c225e5 131 bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar
Yo_Robot 26:dad0b2031173 132
Yo_Robot 26:dad0b2031173 133 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 134 if( isPC )
Yo_Robot 26:dad0b2031173 135 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 136 else
Yo_Robot 26:dad0b2031173 137 RS_232.printf("OK\r\n");
Yo_Robot 23:2126e38bb48c 138 break;
Yo_Robot 24:a1d16835201c 139 }
Yo_Robot 27:b8254b76ec57 140
Yo_Robot 23:2126e38bb48c 141 case 'K':
Yo_Robot 24:a1d16835201c 142 {
Yo_Robot 23:2126e38bb48c 143 setPTO( value * 1000 );
Yo_Robot 26:dad0b2031173 144 fq_actual = value;
Yo_Robot 32:4483d6c225e5 145 bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar
Yo_Robot 32:4483d6c225e5 146
Yo_Robot 26:dad0b2031173 147 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 148 if( isPC )
Yo_Robot 26:dad0b2031173 149 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 150 else
Yo_Robot 26:dad0b2031173 151 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 152
Yo_Robot 23:2126e38bb48c 153 break;
Yo_Robot 24:a1d16835201c 154 }
Yo_Robot 23:2126e38bb48c 155 case 'A': // Cambiar voltaje de salida
Yo_Robot 24:a1d16835201c 156 {
Yo_Robot 23:2126e38bb48c 157 aout = (float)( value + 10000.0 ) / 20000.0;
Yo_Robot 26:dad0b2031173 158
Yo_Robot 26:dad0b2031173 159 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 160 if( isPC )
Yo_Robot 26:dad0b2031173 161 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 162 else
Yo_Robot 26:dad0b2031173 163 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 164
Yo_Robot 23:2126e38bb48c 165 break;
Yo_Robot 24:a1d16835201c 166 }
Yo_Robot 23:2126e38bb48c 167 case 'D': // Cambiar la direccion
Yo_Robot 24:a1d16835201c 168 {
Yo_Robot 26:dad0b2031173 169
Yo_Robot 23:2126e38bb48c 170 stopTimer2();
Yo_Robot 23:2126e38bb48c 171 pin_dir = value;
Yo_Robot 23:2126e38bb48c 172 wait_us( 2 );
Yo_Robot 32:4483d6c225e5 173 bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar
Yo_Robot 26:dad0b2031173 174
Yo_Robot 26:dad0b2031173 175 if ( fq_actual != 0 )
Yo_Robot 26:dad0b2031173 176 {
Yo_Robot 26:dad0b2031173 177 startTimer2();
Yo_Robot 26:dad0b2031173 178 }
Yo_Robot 26:dad0b2031173 179
Yo_Robot 26:dad0b2031173 180 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 181 if( isPC )
Yo_Robot 26:dad0b2031173 182 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 183 else
Yo_Robot 26:dad0b2031173 184 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 185
Yo_Robot 23:2126e38bb48c 186 break;
Yo_Robot 24:a1d16835201c 187 }
Yo_Robot 23:2126e38bb48c 188 case 'V': //Setear la velocidad de Posicionamiento
Yo_Robot 24:a1d16835201c 189 {
Yo_Robot 23:2126e38bb48c 190 fq_posicion = value;
Yo_Robot 26:dad0b2031173 191
Yo_Robot 26:dad0b2031173 192 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 193 if( isPC )
Yo_Robot 26:dad0b2031173 194 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 195 else
Yo_Robot 26:dad0b2031173 196 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 197
Yo_Robot 23:2126e38bb48c 198 break;
Yo_Robot 24:a1d16835201c 199 }
Yo_Robot 27:b8254b76ec57 200
Yo_Robot 27:b8254b76ec57 201 // Generar un numero definido de pulsos a la velocidad de posicionamiento
Yo_Robot 29:52932326c45a 202 case 'P':
Yo_Robot 24:a1d16835201c 203 {
Yo_Robot 28:b7ded82ee7da 204 float pulsos = value; //Numero de pulsos a generar
Yo_Robot 28:b7ded82ee7da 205 t_alto = (float)(pulsos / fq_posicion); //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 27:b8254b76ec57 206
Yo_Robot 32:4483d6c225e5 207 bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar
Yo_Robot 32:4483d6c225e5 208
Yo_Robot 23:2126e38bb48c 209 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 23:2126e38bb48c 210 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 26:dad0b2031173 211
Yo_Robot 35:92b0f1b75a51 212 pc.printf("\n\nattach funcion: %f ", t_alto);
Yo_Robot 26:dad0b2031173 213
Yo_Robot 35:92b0f1b75a51 214 temporizador.attach( &posicion_ok, t_alto );
Yo_Robot 35:92b0f1b75a51 215 cronometro.start();
Yo_Robot 26:dad0b2031173 216
Yo_Robot 35:92b0f1b75a51 217 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 35:92b0f1b75a51 218 // termina cuando el timeout detiene
Yo_Robot 35:92b0f1b75a51 219
Yo_Robot 35:92b0f1b75a51 220 pc.printf("\n\nCorriendo ");
Yo_Robot 26:dad0b2031173 221
Yo_Robot 23:2126e38bb48c 222 break;
Yo_Robot 24:a1d16835201c 223 }
Yo_Robot 27:b8254b76ec57 224
Yo_Robot 27:b8254b76ec57 225 // Generar un numero definido de MILES de pulsos a la velocidad de posicionamiento
Yo_Robot 29:52932326c45a 226 case 'M':
Yo_Robot 27:b8254b76ec57 227 {
Yo_Robot 28:b7ded82ee7da 228 float pulsos = value * 1000; //Numero de pulsos a generar
Yo_Robot 28:b7ded82ee7da 229 t_alto = (float)(pulsos / fq_posicion); //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 32:4483d6c225e5 230 bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar
Yo_Robot 32:4483d6c225e5 231
Yo_Robot 27:b8254b76ec57 232 //DEBUG
Yo_Robot 32:4483d6c225e5 233 //pc.printf("Tiempo en timer en seg = %f", t_alto);
Yo_Robot 27:b8254b76ec57 234
Yo_Robot 27:b8254b76ec57 235 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 27:b8254b76ec57 236 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 27:b8254b76ec57 237 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 27:b8254b76ec57 238 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 27:b8254b76ec57 239 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 27:b8254b76ec57 240
Yo_Robot 27:b8254b76ec57 241
Yo_Robot 27:b8254b76ec57 242 // Envia un OK de comando recibido
Yo_Robot 27:b8254b76ec57 243 if( isPC )
Yo_Robot 27:b8254b76ec57 244 pc.printf("OK\r\n");
Yo_Robot 27:b8254b76ec57 245 else
Yo_Robot 27:b8254b76ec57 246 RS_232.printf("OK\r\n");
Yo_Robot 27:b8254b76ec57 247
Yo_Robot 27:b8254b76ec57 248
Yo_Robot 27:b8254b76ec57 249 break;
Yo_Robot 27:b8254b76ec57 250 }
Yo_Robot 27:b8254b76ec57 251
Yo_Robot 27:b8254b76ec57 252 // Generar un numero definido de MILLONES pulsos a la velocidad de posicionamiento
Yo_Robot 29:52932326c45a 253 case 'N':
Yo_Robot 27:b8254b76ec57 254 {
Yo_Robot 28:b7ded82ee7da 255 float pulsos = value * 1000000; //Numero de pulsos a generar
Yo_Robot 28:b7ded82ee7da 256 t_alto = (float)(pulsos / fq_posicion); //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 32:4483d6c225e5 257 bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar
Yo_Robot 32:4483d6c225e5 258
Yo_Robot 27:b8254b76ec57 259 //DEBUG
Yo_Robot 32:4483d6c225e5 260 //pc.printf("Tiempo en timer en seg = %f", t_alto);
Yo_Robot 27:b8254b76ec57 261
Yo_Robot 27:b8254b76ec57 262 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 27:b8254b76ec57 263 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 27:b8254b76ec57 264 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 27:b8254b76ec57 265 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 27:b8254b76ec57 266 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 27:b8254b76ec57 267
Yo_Robot 27:b8254b76ec57 268
Yo_Robot 27:b8254b76ec57 269 // Envia un OK de comando recibido
Yo_Robot 27:b8254b76ec57 270 if( isPC )
Yo_Robot 27:b8254b76ec57 271 pc.printf("OK\r\n");
Yo_Robot 27:b8254b76ec57 272 else
Yo_Robot 27:b8254b76ec57 273 RS_232.printf("OK\r\n");
Yo_Robot 27:b8254b76ec57 274
Yo_Robot 27:b8254b76ec57 275
Yo_Robot 27:b8254b76ec57 276 break;
Yo_Robot 27:b8254b76ec57 277 }
Yo_Robot 27:b8254b76ec57 278
Yo_Robot 27:b8254b76ec57 279
Yo_Robot 29:52932326c45a 280 case 'R': // Leer la velocidd del encoder en RPM's
Yo_Robot 24:a1d16835201c 281 {
Yo_Robot 23:2126e38bb48c 282 if( isPC )
Yo_Robot 33:e6ff02c3e0f5 283 {
Yo_Robot 33:e6ff02c3e0f5 284 pc.printf( "%u", encoder.CalculateRPM( encoder.GetVelocityCap(), 360) ); // ultima velocidad leida desde el encoder
Yo_Robot 33:e6ff02c3e0f5 285 }else
Yo_Robot 33:e6ff02c3e0f5 286 RS_232.printf( "%u",encoder.CalculateRPM( encoder.GetVelocityCap(), 360) );
Yo_Robot 23:2126e38bb48c 287 break;
Yo_Robot 24:a1d16835201c 288 }
Yo_Robot 26:dad0b2031173 289
Yo_Robot 23:2126e38bb48c 290 case 'Z': //Limpiar contador encoder
Yo_Robot 29:52932326c45a 291 encoder.Reset(QEI_RESET_POS);
Yo_Robot 29:52932326c45a 292 encoder.Reset(QEI_RESET_VEL);
Yo_Robot 26:dad0b2031173 293
Yo_Robot 26:dad0b2031173 294 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 295 if( isPC )
Yo_Robot 26:dad0b2031173 296 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 297 else
Yo_Robot 26:dad0b2031173 298 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 299
Yo_Robot 23:2126e38bb48c 300 break;
Yo_Robot 23:2126e38bb48c 301
Yo_Robot 23:2126e38bb48c 302 case 'S': //Encender el Servo
Yo_Robot 26:dad0b2031173 303
Yo_Robot 23:2126e38bb48c 304 pin_son = value;
Yo_Robot 32:4483d6c225e5 305 bandera_inicio = 0; //En caso que haya estado yendo a HOME, cancelar
Yo_Robot 32:4483d6c225e5 306
Yo_Robot 32:4483d6c225e5 307 // Envia un OK de comando recibido
Yo_Robot 32:4483d6c225e5 308 if( isPC )
Yo_Robot 32:4483d6c225e5 309 pc.printf("OK\r\n");
Yo_Robot 32:4483d6c225e5 310 else
Yo_Robot 32:4483d6c225e5 311 RS_232.printf("OK\r\n");
Yo_Robot 32:4483d6c225e5 312
Yo_Robot 32:4483d6c225e5 313 break;
Yo_Robot 32:4483d6c225e5 314
Yo_Robot 32:4483d6c225e5 315 case 'I': //Ir al inicio del recorrido
Yo_Robot 32:4483d6c225e5 316
Yo_Robot 32:4483d6c225e5 317 pin_dir = 1; //Mover hacia el motor
Yo_Robot 32:4483d6c225e5 318 bandera_inicio = 1; // Informar a ISR_Adv_motor() acerca del Homing
Yo_Robot 32:4483d6c225e5 319 setPTO( value ); // a la velocidad seteada
Yo_Robot 26:dad0b2031173 320
Yo_Robot 26:dad0b2031173 321 // Envia un OK de comando recibido
Yo_Robot 26:dad0b2031173 322 if( isPC )
Yo_Robot 26:dad0b2031173 323 pc.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 324 else
Yo_Robot 26:dad0b2031173 325 RS_232.printf("OK\r\n");
Yo_Robot 26:dad0b2031173 326
Yo_Robot 23:2126e38bb48c 327 break;
Yo_Robot 28:b7ded82ee7da 328
Yo_Robot 28:b7ded82ee7da 329 default:
Yo_Robot 28:b7ded82ee7da 330
Yo_Robot 28:b7ded82ee7da 331 // EL COMANDO NO SE RECONOCE: No Aplica
Yo_Robot 28:b7ded82ee7da 332 if( isPC )
Yo_Robot 28:b7ded82ee7da 333 pc.printf("NA\r\n");
Yo_Robot 28:b7ded82ee7da 334 else
Yo_Robot 28:b7ded82ee7da 335 RS_232.printf("NA\r\n");
Yo_Robot 28:b7ded82ee7da 336
Yo_Robot 28:b7ded82ee7da 337 break;
Yo_Robot 32:4483d6c225e5 338
Yo_Robot 18:cf1e07d82630 339 }
Yo_Robot 23:2126e38bb48c 340
Yo_Robot 12:c02b08dacc45 341 }
Yo_Robot 12:c02b08dacc45 342
Yo_Robot 12:c02b08dacc45 343
Yo_Robot 12:c02b08dacc45 344 void setPTO( int freq )
Yo_Robot 12:c02b08dacc45 345 {
Yo_Robot 12:c02b08dacc45 346 if( freq != 0 )
Yo_Robot 12:c02b08dacc45 347 {
Yo_Robot 12:c02b08dacc45 348 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 349 setMR2( getMRvalue( freq ) );
Yo_Robot 12:c02b08dacc45 350 startTimer2();
Yo_Robot 12:c02b08dacc45 351
Yo_Robot 12:c02b08dacc45 352 }else{
Yo_Robot 12:c02b08dacc45 353
Yo_Robot 12:c02b08dacc45 354 stopTimer2();
Yo_Robot 12:c02b08dacc45 355 LPC_TIM2->TC = 0x00; //Resetear Timer
Yo_Robot 12:c02b08dacc45 356 }
Yo_Robot 12:c02b08dacc45 357 }
Yo_Robot 12:c02b08dacc45 358
Yo_Robot 22:d5431fff164b 359
Yo_Robot 22:d5431fff164b 360
Yo_Robot 22:d5431fff164b 361 void ISR_Alarm()
Yo_Robot 22:d5431fff164b 362 {
Yo_Robot 22:d5431fff164b 363 pin_son = 0 ;
Yo_Robot 22:d5431fff164b 364 stopTimer2();
Yo_Robot 22:d5431fff164b 365 aout = 0.5 ;
Yo_Robot 22:d5431fff164b 366
Yo_Robot 22:d5431fff164b 367 if(isPC)
Yo_Robot 31:7e2cdd547cb2 368 pc.printf( "AL\r\n" ); //ALARMA! solo es AL para que
Yo_Robot 31:7e2cdd547cb2 369 //sea conciso con el modo ETH y funcione
Yo_Robot 31:7e2cdd547cb2 370 //bien en LabVIEW.
Yo_Robot 22:d5431fff164b 371 else
Yo_Robot 26:dad0b2031173 372 RS_232.printf( "AL\r\n" );
Yo_Robot 22:d5431fff164b 373 }
Yo_Robot 22:d5431fff164b 374
Yo_Robot 30:413d1a6648b5 375
Yo_Robot 30:413d1a6648b5 376
Yo_Robot 30:413d1a6648b5 377
Yo_Robot 30:413d1a6648b5 378 /** @brief: Esta es la rutina que maneja las interrupciones
Yo_Robot 30:413d1a6648b5 379 * del sensor óptico, al recibir una ALARMA de proximidad al encoder
Yo_Robot 30:413d1a6648b5 380 */
Yo_Robot 31:7e2cdd547cb2 381 void ISR_Alm_encoder()
Yo_Robot 31:7e2cdd547cb2 382 {
Yo_Robot 31:7e2cdd547cb2 383 if( isPC )
Yo_Robot 32:4483d6c225e5 384 pc.printf("A3\r\n");
Yo_Robot 31:7e2cdd547cb2 385 else
Yo_Robot 32:4483d6c225e5 386 RS_232.printf("A3\r\n");
Yo_Robot 31:7e2cdd547cb2 387 }
Yo_Robot 30:413d1a6648b5 388
Yo_Robot 30:413d1a6648b5 389
Yo_Robot 30:413d1a6648b5 390 /** @brief: Esta es la rutina que maneja las interrupciones
Yo_Robot 30:413d1a6648b5 391 * del sensor óptico, al recibir una ALARMA de proximidad al motor
Yo_Robot 30:413d1a6648b5 392 */
Yo_Robot 31:7e2cdd547cb2 393 void ISR_Alm_motor()
Yo_Robot 31:7e2cdd547cb2 394 {
Yo_Robot 32:4483d6c225e5 395 wait_us( 50 );
Yo_Robot 32:4483d6c225e5 396 if ( limite_4 == 1)
Yo_Robot 32:4483d6c225e5 397 {
Yo_Robot 32:4483d6c225e5 398 if( isPC )
Yo_Robot 32:4483d6c225e5 399 pc.printf("A0\r\n");
Yo_Robot 32:4483d6c225e5 400 else
Yo_Robot 32:4483d6c225e5 401 RS_232.printf("A0\r\n");
Yo_Robot 32:4483d6c225e5 402 }
Yo_Robot 31:7e2cdd547cb2 403 }
Yo_Robot 30:413d1a6648b5 404
Yo_Robot 30:413d1a6648b5 405
Yo_Robot 30:413d1a6648b5 406 /** @brief: Esta es la rutina que maneja las interrupciones
Yo_Robot 30:413d1a6648b5 407 * del sensor óptico, al recibir una advertencia de proximidad al encoder
Yo_Robot 30:413d1a6648b5 408 */
Yo_Robot 31:7e2cdd547cb2 409 void ISR_Adv_encoder()
Yo_Robot 31:7e2cdd547cb2 410 {
Yo_Robot 32:4483d6c225e5 411 wait_ms( 50 );
Yo_Robot 32:4483d6c225e5 412 if ( limite_2 == 1)
Yo_Robot 32:4483d6c225e5 413 {
Yo_Robot 31:7e2cdd547cb2 414
Yo_Robot 32:4483d6c225e5 415 if( isPC )
Yo_Robot 32:4483d6c225e5 416 pc.printf("A2\r\n");
Yo_Robot 32:4483d6c225e5 417 else
Yo_Robot 32:4483d6c225e5 418 RS_232.printf("A2\r\n");
Yo_Robot 32:4483d6c225e5 419 }
Yo_Robot 31:7e2cdd547cb2 420
Yo_Robot 31:7e2cdd547cb2 421 }
Yo_Robot 30:413d1a6648b5 422
Yo_Robot 30:413d1a6648b5 423
Yo_Robot 30:413d1a6648b5 424 /** @brief: Esta es la rutina que maneja las interrupciones
Yo_Robot 30:413d1a6648b5 425 * del sensor óptico, al recibir una advertencia de proximidad al motor
Yo_Robot 30:413d1a6648b5 426 */
Yo_Robot 31:7e2cdd547cb2 427 void ISR_Adv_motor()
Yo_Robot 31:7e2cdd547cb2 428 {
Yo_Robot 32:4483d6c225e5 429 if ( bandera_inicio == 1 )
Yo_Robot 32:4483d6c225e5 430 {
Yo_Robot 32:4483d6c225e5 431 setPTO( 0 ); //detener el carro
Yo_Robot 32:4483d6c225e5 432 pin_dir = 0; //hacer que se aleje del motor
Yo_Robot 32:4483d6c225e5 433
Yo_Robot 32:4483d6c225e5 434
Yo_Robot 32:4483d6c225e5 435 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 32:4483d6c225e5 436 setPTO( 20000 ); //Nueva frecuencia de salida
Yo_Robot 32:4483d6c225e5 437 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 32:4483d6c225e5 438 wait_ms( 100 ); //Espera hasta llegar a la posicion
Yo_Robot 32:4483d6c225e5 439 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 32:4483d6c225e5 440
Yo_Robot 32:4483d6c225e5 441 setPTO (0); // Detener el carro cuando este en posición valida
Yo_Robot 32:4483d6c225e5 442 wait_ms(100);
Yo_Robot 32:4483d6c225e5 443 //Encerar el contador de encoder y de velocidad
Yo_Robot 32:4483d6c225e5 444 encoder.Reset(QEI_RESET_POS);
Yo_Robot 32:4483d6c225e5 445 encoder.Reset(QEI_RESET_VEL);
Yo_Robot 32:4483d6c225e5 446
Yo_Robot 32:4483d6c225e5 447 bandera_inicio = 0; //Limpiar la bandera
Yo_Robot 32:4483d6c225e5 448
Yo_Robot 32:4483d6c225e5 449 // Envia un IN de proceso terminado
Yo_Robot 32:4483d6c225e5 450 if( isPC )
Yo_Robot 32:4483d6c225e5 451 pc.printf("IN\r\n");
Yo_Robot 32:4483d6c225e5 452 else
Yo_Robot 32:4483d6c225e5 453 RS_232.printf("IN\r\n");
Yo_Robot 32:4483d6c225e5 454 }
Yo_Robot 32:4483d6c225e5 455
Yo_Robot 32:4483d6c225e5 456 else{
Yo_Robot 32:4483d6c225e5 457
Yo_Robot 32:4483d6c225e5 458 if( isPC )
Yo_Robot 32:4483d6c225e5 459 pc.printf("A1\r\n");
Yo_Robot 32:4483d6c225e5 460 else
Yo_Robot 32:4483d6c225e5 461 RS_232.printf("A1\r\n");
Yo_Robot 32:4483d6c225e5 462 }
Yo_Robot 32:4483d6c225e5 463
Yo_Robot 31:7e2cdd547cb2 464 }
Yo_Robot 30:413d1a6648b5 465
Yo_Robot 30:413d1a6648b5 466
Yo_Robot 30:413d1a6648b5 467
Yo_Robot 22:d5431fff164b 468 int getMRvalue( int fout )
Yo_Robot 22:d5431fff164b 469 {
Yo_Robot 22:d5431fff164b 470 int toRegister;
Yo_Robot 22:d5431fff164b 471
Yo_Robot 22:d5431fff164b 472 toRegister = (24000000 /(fout*2.0) ) -1;
Yo_Robot 22:d5431fff164b 473 return toRegister;
Yo_Robot 22:d5431fff164b 474 }
Yo_Robot 22:d5431fff164b 475
Yo_Robot 22:d5431fff164b 476
Yo_Robot 22:d5431fff164b 477 void setMR2( int newValue )
Yo_Robot 22:d5431fff164b 478 {
Yo_Robot 22:d5431fff164b 479 LPC_TIM2->MR2 = newValue; // Las dos salidas son identicas
Yo_Robot 22:d5431fff164b 480 LPC_TIM2->MR3 = newValue; // Para testear el programa.
Yo_Robot 22:d5431fff164b 481 }
Yo_Robot 22:d5431fff164b 482
Yo_Robot 22:d5431fff164b 483
Yo_Robot 22:d5431fff164b 484
Yo_Robot 22:d5431fff164b 485 void startTimer2()
Yo_Robot 22:d5431fff164b 486 {
Yo_Robot 22:d5431fff164b 487 // Arrancer el Timer 2
Yo_Robot 22:d5431fff164b 488 LPC_TIM2->TCR = 1;
Yo_Robot 22:d5431fff164b 489 }
Yo_Robot 22:d5431fff164b 490
Yo_Robot 22:d5431fff164b 491 void stopTimer2()
Yo_Robot 22:d5431fff164b 492 {
Yo_Robot 22:d5431fff164b 493 // Detener el Timer 2
Yo_Robot 22:d5431fff164b 494 LPC_TIM2->TCR = 0x2;
Yo_Robot 22:d5431fff164b 495 }
Yo_Robot 22:d5431fff164b 496
Yo_Robot 22:d5431fff164b 497 int getBaud()
Yo_Robot 22:d5431fff164b 498 {
Yo_Robot 22:d5431fff164b 499 int baudios = 115200; //Valor por defecto
Yo_Robot 22:d5431fff164b 500
Yo_Robot 22:d5431fff164b 501 FILE *fp = fopen("/local/config.mbd", "r"); // Abre el archivo y lo guarda en fp
Yo_Robot 22:d5431fff164b 502
Yo_Robot 22:d5431fff164b 503 if(!fp) // En caso de no encontrarse el archivo
Yo_Robot 22:d5431fff164b 504 {
Yo_Robot 22:d5431fff164b 505 printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n");
Yo_Robot 22:d5431fff164b 506 printf("Cree un archivo de texto: config.mbd dentro de la unidad Mbed\n");
Yo_Robot 22:d5431fff164b 507 printf("que contenga las lineas:\n\n");
Yo_Robot 22:d5431fff164b 508
Yo_Robot 22:d5431fff164b 509 printf(" 1\n");
Yo_Robot 22:d5431fff164b 510 printf(" 2\n");
Yo_Robot 22:d5431fff164b 511 printf(" 3\n");
Yo_Robot 22:d5431fff164b 512 printf(" 4\n");
Yo_Robot 22:d5431fff164b 513 printf(" baudios: 115200\n");
Yo_Robot 22:d5431fff164b 514
Yo_Robot 22:d5431fff164b 515 printf("Cambie el valor de 115200 por la velocidad a la que desea transmitir:\n");
Yo_Robot 22:d5431fff164b 516 printf("luego reinicie el microcontrolador\n");
Yo_Robot 22:d5431fff164b 517 exit(1);
Yo_Robot 22:d5431fff164b 518
Yo_Robot 22:d5431fff164b 519 }
Yo_Robot 22:d5431fff164b 520 else
Yo_Robot 22:d5431fff164b 521 {
Yo_Robot 22:d5431fff164b 522 // Cadenas de caracteres desde el Archivo config.mbd
Yo_Robot 22:d5431fff164b 523 char notstr [04]; // linea vacia
Yo_Robot 22:d5431fff164b 524 char baud [40]; // valor en baudios
Yo_Robot 22:d5431fff164b 525
Yo_Robot 22:d5431fff164b 526 // Leer linea a linea el archivo
Yo_Robot 22:d5431fff164b 527 // cuatro primeras lineas no sirven
Yo_Robot 22:d5431fff164b 528 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 529 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 530 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 531 fgets( notstr, 4, fp );
Yo_Robot 22:d5431fff164b 532 fgets( baud, 40, fp );
Yo_Robot 22:d5431fff164b 533 fclose(fp);
Yo_Robot 23:2126e38bb48c 534
Yo_Robot 22:d5431fff164b 535 // Extraer los valores numericos
Yo_Robot 22:d5431fff164b 536 sscanf( baud,"%*s %d",&baudios );
Yo_Robot 22:d5431fff164b 537
Yo_Robot 22:d5431fff164b 538
Yo_Robot 22:d5431fff164b 539 }
Yo_Robot 22:d5431fff164b 540
Yo_Robot 22:d5431fff164b 541 return baudios;
Yo_Robot 22:d5431fff164b 542 }
Yo_Robot 22:d5431fff164b 543
Yo_Robot 22:d5431fff164b 544 // **** Funciones Liberia Ethernet ***** //
Yo_Robot 12:c02b08dacc45 545 void setPTO_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 546 {
Yo_Robot 12:c02b08dacc45 547 int freq = atoi( input );
Yo_Robot 12:c02b08dacc45 548
Yo_Robot 12:c02b08dacc45 549 if( freq != 0 ){
Yo_Robot 12:c02b08dacc45 550 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 12:c02b08dacc45 551 setMR2( getMRvalue( freq ) ); // Cambiar frefuencia
Yo_Robot 12:c02b08dacc45 552 startTimer2(); // Iniciar Timer
Yo_Robot 14:039d070732d5 553 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 554 {
Yo_Robot 31:7e2cdd547cb2 555 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 556 {
Yo_Robot 31:7e2cdd547cb2 557 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 558 }
Yo_Robot 31:7e2cdd547cb2 559 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 560 {
Yo_Robot 31:7e2cdd547cb2 561 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 562 }
Yo_Robot 31:7e2cdd547cb2 563 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 564 {
Yo_Robot 31:7e2cdd547cb2 565 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 566 }
Yo_Robot 31:7e2cdd547cb2 567
Yo_Robot 31:7e2cdd547cb2 568 else
Yo_Robot 31:7e2cdd547cb2 569 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 570 }
Yo_Robot 14:039d070732d5 571 else
Yo_Robot 14:039d070732d5 572 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 573 }else{
Yo_Robot 12:c02b08dacc45 574 stopTimer2();
Yo_Robot 12:c02b08dacc45 575 LPC_TIM2->TC = 0x00; // Resetear Timer
Yo_Robot 14:039d070732d5 576 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 577 {
Yo_Robot 31:7e2cdd547cb2 578 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 579 {
Yo_Robot 31:7e2cdd547cb2 580 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 581 }
Yo_Robot 31:7e2cdd547cb2 582 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 583 {
Yo_Robot 31:7e2cdd547cb2 584 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 585 }
Yo_Robot 31:7e2cdd547cb2 586 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 587 {
Yo_Robot 31:7e2cdd547cb2 588 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 589 }
Yo_Robot 31:7e2cdd547cb2 590
Yo_Robot 31:7e2cdd547cb2 591 else
Yo_Robot 31:7e2cdd547cb2 592 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 593 }
Yo_Robot 14:039d070732d5 594 else
Yo_Robot 14:039d070732d5 595 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 596 }
Yo_Robot 12:c02b08dacc45 597 }
Yo_Robot 12:c02b08dacc45 598
Yo_Robot 15:a1ffa32ce9d1 599 void setANG_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 600 {
Yo_Robot 15:a1ffa32ce9d1 601 long int pulsos = atol( input ); //Numero de pulsos a generar
Yo_Robot 29:52932326c45a 602 float pulsos_f = (float) pulsos;
Yo_Robot 29:52932326c45a 603 t_alto = pulsos_f / fq_posicion; //Tiempo que debe ser generado el tren de pulsos.
Yo_Robot 15:a1ffa32ce9d1 604
Yo_Robot 15:a1ffa32ce9d1 605 stopTimer2(); //Deten el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 606 setPTO( fq_posicion ); //Nueva frecuencia de salida
Yo_Robot 15:a1ffa32ce9d1 607 startTimer2(); //Inicia el tren de pulsos
Yo_Robot 15:a1ffa32ce9d1 608 wait( t_alto ); //Espera hasta llegar a la posicion
Yo_Robot 18:cf1e07d82630 609 stopTimer2(); //Posicion alcanzada ALTO.
Yo_Robot 15:a1ffa32ce9d1 610
Yo_Robot 15:a1ffa32ce9d1 611 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 612 {
Yo_Robot 31:7e2cdd547cb2 613 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 614 {
Yo_Robot 31:7e2cdd547cb2 615 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 616 }
Yo_Robot 31:7e2cdd547cb2 617 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 618 {
Yo_Robot 31:7e2cdd547cb2 619 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 620 }
Yo_Robot 31:7e2cdd547cb2 621 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 622 {
Yo_Robot 31:7e2cdd547cb2 623 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 624 }
Yo_Robot 31:7e2cdd547cb2 625
Yo_Robot 31:7e2cdd547cb2 626 else
Yo_Robot 31:7e2cdd547cb2 627 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 628 }
Yo_Robot 15:a1ffa32ce9d1 629 else
Yo_Robot 15:a1ffa32ce9d1 630 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 631
Yo_Robot 15:a1ffa32ce9d1 632 }
Yo_Robot 21:353b0fe8fc54 633
Yo_Robot 21:353b0fe8fc54 634
Yo_Robot 15:a1ffa32ce9d1 635 void setSPD_eth( char * input, char * output )
Yo_Robot 15:a1ffa32ce9d1 636 {
Yo_Robot 15:a1ffa32ce9d1 637 fq_posicion = atoi( input );
Yo_Robot 15:a1ffa32ce9d1 638 // Esta funcion cambia la velocidad con la que se
Yo_Robot 15:a1ffa32ce9d1 639 // posicionara el eje del motor en un angulo determinado
Yo_Robot 15:a1ffa32ce9d1 640 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 641 {
Yo_Robot 31:7e2cdd547cb2 642 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 643 {
Yo_Robot 31:7e2cdd547cb2 644 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 645 }
Yo_Robot 31:7e2cdd547cb2 646 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 647 {
Yo_Robot 31:7e2cdd547cb2 648 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 649 }
Yo_Robot 31:7e2cdd547cb2 650 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 651 {
Yo_Robot 31:7e2cdd547cb2 652 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 653 }
Yo_Robot 31:7e2cdd547cb2 654
Yo_Robot 31:7e2cdd547cb2 655 else
Yo_Robot 31:7e2cdd547cb2 656 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 657 }
Yo_Robot 15:a1ffa32ce9d1 658 else
Yo_Robot 15:a1ffa32ce9d1 659 sprintf( output,"AL" );
Yo_Robot 15:a1ffa32ce9d1 660
Yo_Robot 15:a1ffa32ce9d1 661 }
Yo_Robot 21:353b0fe8fc54 662
Yo_Robot 12:c02b08dacc45 663 void setAout_eth( char * input, char * output )
Yo_Robot 12:c02b08dacc45 664 {
Yo_Robot 12:c02b08dacc45 665 int vout = atoi( input );
Yo_Robot 14:039d070732d5 666 aout = (float)( vout + 10000 ) / 20000;
Yo_Robot 14:039d070732d5 667 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 668 {
Yo_Robot 31:7e2cdd547cb2 669 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 670 {
Yo_Robot 31:7e2cdd547cb2 671 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 672 }
Yo_Robot 31:7e2cdd547cb2 673 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 674 {
Yo_Robot 31:7e2cdd547cb2 675 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 676 }
Yo_Robot 31:7e2cdd547cb2 677 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 678 {
Yo_Robot 31:7e2cdd547cb2 679 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 680 }
Yo_Robot 31:7e2cdd547cb2 681
Yo_Robot 31:7e2cdd547cb2 682 else
Yo_Robot 31:7e2cdd547cb2 683 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 684 }
Yo_Robot 14:039d070732d5 685 else
Yo_Robot 14:039d070732d5 686 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 687 }
Yo_Robot 12:c02b08dacc45 688
Yo_Robot 12:c02b08dacc45 689
Yo_Robot 12:c02b08dacc45 690
Yo_Robot 12:c02b08dacc45 691 void setDir_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 692 {
Yo_Robot 12:c02b08dacc45 693 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 694
Yo_Robot 12:c02b08dacc45 695 pin_dir = value;
Yo_Robot 12:c02b08dacc45 696
Yo_Robot 14:039d070732d5 697 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 698 {
Yo_Robot 31:7e2cdd547cb2 699 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 700 {
Yo_Robot 31:7e2cdd547cb2 701 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 702 }
Yo_Robot 31:7e2cdd547cb2 703 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 704 {
Yo_Robot 31:7e2cdd547cb2 705 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 706 }
Yo_Robot 31:7e2cdd547cb2 707 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 708 {
Yo_Robot 31:7e2cdd547cb2 709 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 710 }
Yo_Robot 31:7e2cdd547cb2 711
Yo_Robot 31:7e2cdd547cb2 712 else
Yo_Robot 31:7e2cdd547cb2 713 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 714 }
Yo_Robot 12:c02b08dacc45 715 else
Yo_Robot 14:039d070732d5 716 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 717 }
Yo_Robot 12:c02b08dacc45 718
Yo_Robot 12:c02b08dacc45 719
Yo_Robot 12:c02b08dacc45 720
Yo_Robot 12:c02b08dacc45 721 void setSON_eth ( char * input, char * output )
Yo_Robot 12:c02b08dacc45 722 {
Yo_Robot 12:c02b08dacc45 723 int value = atoi( input );
Yo_Robot 12:c02b08dacc45 724
Yo_Robot 12:c02b08dacc45 725 pin_son = value;
Yo_Robot 12:c02b08dacc45 726
Yo_Robot 14:039d070732d5 727 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 728 {
Yo_Robot 31:7e2cdd547cb2 729 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 730 {
Yo_Robot 31:7e2cdd547cb2 731 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 732 }
Yo_Robot 31:7e2cdd547cb2 733 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 734 {
Yo_Robot 31:7e2cdd547cb2 735 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 736 }
Yo_Robot 31:7e2cdd547cb2 737 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 738 {
Yo_Robot 31:7e2cdd547cb2 739 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 740 }
Yo_Robot 31:7e2cdd547cb2 741
Yo_Robot 31:7e2cdd547cb2 742 else
Yo_Robot 31:7e2cdd547cb2 743 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 744 }
Yo_Robot 12:c02b08dacc45 745 else
Yo_Robot 14:039d070732d5 746 sprintf( output,"AL" );
Yo_Robot 12:c02b08dacc45 747
Yo_Robot 12:c02b08dacc45 748 }
Yo_Robot 12:c02b08dacc45 749
Yo_Robot 12:c02b08dacc45 750
Yo_Robot 22:d5431fff164b 751 void getENC_eth( char * input, char * output )
Yo_Robot 20:4b154134ab20 752 {
Yo_Robot 22:d5431fff164b 753 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 754 {
Yo_Robot 31:7e2cdd547cb2 755 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 756 {
Yo_Robot 31:7e2cdd547cb2 757 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 758 }
Yo_Robot 31:7e2cdd547cb2 759 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 760 {
Yo_Robot 31:7e2cdd547cb2 761 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 762 }
Yo_Robot 31:7e2cdd547cb2 763 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 764 {
Yo_Robot 31:7e2cdd547cb2 765 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 766 }
Yo_Robot 31:7e2cdd547cb2 767
Yo_Robot 31:7e2cdd547cb2 768 else
Yo_Robot 31:7e2cdd547cb2 769 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 770 }
Yo_Robot 22:d5431fff164b 771 else
Yo_Robot 22:d5431fff164b 772 sprintf( output,"AL" );
Yo_Robot 22:d5431fff164b 773 }
Yo_Robot 21:353b0fe8fc54 774
Yo_Robot 21:353b0fe8fc54 775
Yo_Robot 22:d5431fff164b 776 void setENC_eth( char * input, char * output )
Yo_Robot 22:d5431fff164b 777 {
Yo_Robot 29:52932326c45a 778 encoder.Reset(QEI_RESET_POS);
Yo_Robot 29:52932326c45a 779 encoder.Reset(QEI_RESET_VEL);
Yo_Robot 22:d5431fff164b 780
Yo_Robot 22:d5431fff164b 781 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 782 {
Yo_Robot 31:7e2cdd547cb2 783 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 784 {
Yo_Robot 31:7e2cdd547cb2 785 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 786 }
Yo_Robot 31:7e2cdd547cb2 787 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 788 {
Yo_Robot 31:7e2cdd547cb2 789 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 790 }
Yo_Robot 31:7e2cdd547cb2 791 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 792 {
Yo_Robot 31:7e2cdd547cb2 793 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 794 }
Yo_Robot 31:7e2cdd547cb2 795
Yo_Robot 31:7e2cdd547cb2 796 else
Yo_Robot 31:7e2cdd547cb2 797 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 798 }
Yo_Robot 22:d5431fff164b 799 else
Yo_Robot 22:d5431fff164b 800 sprintf( output,"AL" );
Yo_Robot 22:d5431fff164b 801
Yo_Robot 20:4b154134ab20 802 }
Yo_Robot 12:c02b08dacc45 803
Yo_Robot 23:2126e38bb48c 804 void getRPM_eth( char * input, char * output )
Yo_Robot 23:2126e38bb48c 805 {
Yo_Robot 29:52932326c45a 806 int rpm;
Yo_Robot 23:2126e38bb48c 807
Yo_Robot 29:52932326c45a 808 rpm = encoder.CalculateRPM( encoder.GetVelocityCap(), 360); // ultima velocidad leida desde el encoder
Yo_Robot 29:52932326c45a 809 // numero de revoluciones por vuelta del encoder
Yo_Robot 29:52932326c45a 810
Yo_Robot 23:2126e38bb48c 811
Yo_Robot 23:2126e38bb48c 812 if( pin_alm == 0 )
Yo_Robot 31:7e2cdd547cb2 813 {
Yo_Robot 31:7e2cdd547cb2 814 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 815 {
Yo_Robot 31:7e2cdd547cb2 816 sprintf( output,"A2\r\n" );
Yo_Robot 31:7e2cdd547cb2 817 }
Yo_Robot 31:7e2cdd547cb2 818 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 31:7e2cdd547cb2 819 {
Yo_Robot 31:7e2cdd547cb2 820 sprintf( output,"A1\r\n" );
Yo_Robot 31:7e2cdd547cb2 821 }
Yo_Robot 31:7e2cdd547cb2 822 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 31:7e2cdd547cb2 823 {
Yo_Robot 31:7e2cdd547cb2 824 sprintf( output,"A0\r\n" );
Yo_Robot 31:7e2cdd547cb2 825 }
Yo_Robot 31:7e2cdd547cb2 826
Yo_Robot 31:7e2cdd547cb2 827 else
Yo_Robot 31:7e2cdd547cb2 828 sprintf( output,"OK\r\n" );
Yo_Robot 31:7e2cdd547cb2 829 }
Yo_Robot 23:2126e38bb48c 830 else
Yo_Robot 29:52932326c45a 831 sprintf( output,"AL" );
Yo_Robot 23:2126e38bb48c 832
Yo_Robot 23:2126e38bb48c 833
Yo_Robot 23:2126e38bb48c 834 }
Yo_Robot 23:2126e38bb48c 835
Yo_Robot 21:353b0fe8fc54 836
Yo_Robot 32:4483d6c225e5 837 void setHOME_eth( char * input, char * output )
Yo_Robot 32:4483d6c225e5 838 {
Yo_Robot 32:4483d6c225e5 839 int value = atoi( input );
Yo_Robot 32:4483d6c225e5 840 pin_dir = 1; //Mover hacia el motor
Yo_Robot 32:4483d6c225e5 841 bandera_inicio = 1; // Informar a ISR_Adv_motor() acerca del Homing
Yo_Robot 32:4483d6c225e5 842 setPTO( value * 1000 ); // a la velocidad seteada en KiloHertzios
Yo_Robot 32:4483d6c225e5 843
Yo_Robot 32:4483d6c225e5 844 if( pin_alm == 0 )
Yo_Robot 32:4483d6c225e5 845 {
Yo_Robot 32:4483d6c225e5 846 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 32:4483d6c225e5 847 {
Yo_Robot 32:4483d6c225e5 848 sprintf( output,"A2\r\n" );
Yo_Robot 32:4483d6c225e5 849 }
Yo_Robot 32:4483d6c225e5 850
Yo_Robot 32:4483d6c225e5 851 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 32:4483d6c225e5 852 {
Yo_Robot 32:4483d6c225e5 853 if (bandera_inicio == 1)
Yo_Robot 32:4483d6c225e5 854 {
Yo_Robot 32:4483d6c225e5 855 sprintf( output,"IN\r\n" );
Yo_Robot 32:4483d6c225e5 856 }
Yo_Robot 32:4483d6c225e5 857 sprintf( output,"A1\r\n" );
Yo_Robot 32:4483d6c225e5 858 }
Yo_Robot 32:4483d6c225e5 859 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 32:4483d6c225e5 860 {
Yo_Robot 32:4483d6c225e5 861 sprintf( output,"A0\r\n" );
Yo_Robot 32:4483d6c225e5 862 }
Yo_Robot 32:4483d6c225e5 863
Yo_Robot 32:4483d6c225e5 864 else
Yo_Robot 32:4483d6c225e5 865 sprintf( output,"OK\r\n" );
Yo_Robot 32:4483d6c225e5 866 }
Yo_Robot 32:4483d6c225e5 867 else
Yo_Robot 32:4483d6c225e5 868 sprintf( output,"AL" );
Yo_Robot 32:4483d6c225e5 869
Yo_Robot 32:4483d6c225e5 870
Yo_Robot 32:4483d6c225e5 871 }
Yo_Robot 32:4483d6c225e5 872
Yo_Robot 34:bdf918bc9b59 873 void getALM_eth ( char * input, char * output )
Yo_Robot 34:bdf918bc9b59 874 {
Yo_Robot 34:bdf918bc9b59 875
Yo_Robot 34:bdf918bc9b59 876 if( pin_alm == 0 )
Yo_Robot 34:bdf918bc9b59 877 {
Yo_Robot 34:bdf918bc9b59 878 if ( limite_2 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 34:bdf918bc9b59 879 {
Yo_Robot 34:bdf918bc9b59 880 sprintf( output,"A2\r\n" );
Yo_Robot 34:bdf918bc9b59 881 }
Yo_Robot 34:bdf918bc9b59 882 if ( limite_3 == 1 ) // Alarma muy cerca al encoder
Yo_Robot 34:bdf918bc9b59 883 {
Yo_Robot 34:bdf918bc9b59 884 sprintf( output,"A1\r\n" );
Yo_Robot 34:bdf918bc9b59 885 }
Yo_Robot 34:bdf918bc9b59 886 if ( limite_1 == 1 || limite_4 == 1 ) // ERROR DE POSICION
Yo_Robot 34:bdf918bc9b59 887 {
Yo_Robot 34:bdf918bc9b59 888 sprintf( output,"A0\r\n" );
Yo_Robot 34:bdf918bc9b59 889 }
Yo_Robot 34:bdf918bc9b59 890
Yo_Robot 34:bdf918bc9b59 891 else
Yo_Robot 34:bdf918bc9b59 892 sprintf( output,"OK\r\n" );
Yo_Robot 34:bdf918bc9b59 893 }
Yo_Robot 34:bdf918bc9b59 894 else
Yo_Robot 34:bdf918bc9b59 895 sprintf( output,"AL" );
Yo_Robot 34:bdf918bc9b59 896
Yo_Robot 34:bdf918bc9b59 897 }
Yo_Robot 22:d5431fff164b 898
Yo_Robot 22:d5431fff164b 899
Yo_Robot 4:552beeda4722 900 /* LEGACY FUNCTIONS
Yo_Robot 4:552beeda4722 901 *
Yo_Robot 20:4b154134ab20 902 * El siguiente codigo no es utilizado por el
Yo_Robot 20:4b154134ab20 903 * programa. Sin embargo pueden servir como
Yo_Robot 20:4b154134ab20 904 * futuras referencias.
Yo_Robot 4:552beeda4722 905 */
Yo_Robot 4:552beeda4722 906 void setMR3( int newValue )
Yo_Robot 4:552beeda4722 907 {
Yo_Robot 4:552beeda4722 908 LPC_TIM2->MR3 = newValue;
Yo_Robot 4:552beeda4722 909 }
Yo_Robot 4:552beeda4722 910
Yo_Robot 4:552beeda4722 911
Yo_Robot 4:552beeda4722 912 void setPrescaler( int newValue)
Yo_Robot 4:552beeda4722 913 {
Yo_Robot 4:552beeda4722 914 LPC_TIM2->PR = newValue;
Yo_Robot 4:552beeda4722 915 }
Yo_Robot 20:4b154134ab20 916
Yo_Robot 20:4b154134ab20 917
Yo_Robot 20:4b154134ab20 918 EthernetNetIf configurarEthernet()
Yo_Robot 20:4b154134ab20 919 {
Yo_Robot 20:4b154134ab20 920 //____________ *** ARCHIVO DE CONFIGURACION ***_______________________ //
Yo_Robot 20:4b154134ab20 921
Yo_Robot 20:4b154134ab20 922 printf("\n *** CONFIGURACION ETHERNET DE MBED ***\n");
Yo_Robot 20:4b154134ab20 923 printf("Leyendo archivo de configuracion...\n\n");
Yo_Robot 20:4b154134ab20 924
Yo_Robot 20:4b154134ab20 925 FILE *fp = fopen("/local/config.txt", "r"); // Abre el archivo y lo guarda en fp
Yo_Robot 20:4b154134ab20 926
Yo_Robot 20:4b154134ab20 927 if(!fp) // En caso de no encontrarse el archivo
Yo_Robot 20:4b154134ab20 928 {
Yo_Robot 20:4b154134ab20 929 printf("\nEl archivo /mbed/config.txt no puede ser abierto!\n");
Yo_Robot 20:4b154134ab20 930 exit(1);
Yo_Robot 20:4b154134ab20 931
Yo_Robot 20:4b154134ab20 932 }
Yo_Robot 20:4b154134ab20 933 else
Yo_Robot 20:4b154134ab20 934 {
Yo_Robot 20:4b154134ab20 935 // Cadenas de caracteres desde el Archivo config.txt
Yo_Robot 20:4b154134ab20 936 char isDHCP [15]; //Modo Automatico o Manual
Yo_Robot 20:4b154134ab20 937 char empty [2]; // Linea vacia
Yo_Robot 20:4b154134ab20 938 char ip [40]; // Direccion IP
Yo_Robot 20:4b154134ab20 939 char mask [40]; // Mascara de Subred
Yo_Robot 20:4b154134ab20 940 char gate [40]; // Puerta de enlace
Yo_Robot 20:4b154134ab20 941 char dns [40]; // Direccion DNS
Yo_Robot 20:4b154134ab20 942
Yo_Robot 20:4b154134ab20 943 // Valores 'int' para agregar a la configuracion manual
Yo_Robot 20:4b154134ab20 944 int DHCP;
Yo_Robot 20:4b154134ab20 945 int n_ip[4];
Yo_Robot 20:4b154134ab20 946 int n_mask[4];
Yo_Robot 20:4b154134ab20 947 int n_gate[4];
Yo_Robot 20:4b154134ab20 948 int n_dns[4];
Yo_Robot 20:4b154134ab20 949
Yo_Robot 20:4b154134ab20 950
Yo_Robot 20:4b154134ab20 951 // Leer linea a linea el archivo
Yo_Robot 20:4b154134ab20 952 fgets( isDHCP, 15, fp );
Yo_Robot 20:4b154134ab20 953 fgets( empty, 2, fp );
Yo_Robot 20:4b154134ab20 954 fgets( ip, 40, fp );
Yo_Robot 20:4b154134ab20 955 fgets( mask, 40, fp );
Yo_Robot 20:4b154134ab20 956 fgets( gate, 40, fp );
Yo_Robot 20:4b154134ab20 957 fgets( dns, 40, fp );
Yo_Robot 20:4b154134ab20 958
Yo_Robot 20:4b154134ab20 959 printf("Cerrando archivo...\n");
Yo_Robot 20:4b154134ab20 960 fclose(fp);
Yo_Robot 20:4b154134ab20 961
Yo_Robot 20:4b154134ab20 962 // Extraer los valores numericos
Yo_Robot 20:4b154134ab20 963 sscanf( isDHCP,"%*s %d",&DHCP );
Yo_Robot 20:4b154134ab20 964
Yo_Robot 20:4b154134ab20 965 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0],&n_ip[1],&n_ip[2],&n_ip[3] );
Yo_Robot 20:4b154134ab20 966 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 20:4b154134ab20 967 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 20:4b154134ab20 968 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0],&n_dns[1],&n_dns[2],&n_dns[3] );
Yo_Robot 20:4b154134ab20 969
Yo_Robot 20:4b154134ab20 970
Yo_Robot 20:4b154134ab20 971 if(DHCP) //En caso de modo DHCP
Yo_Robot 20:4b154134ab20 972 {
Yo_Robot 20:4b154134ab20 973 printf("\n Configurar red de manera automatica\n");
Yo_Robot 20:4b154134ab20 974 EthernetNetIf eth; //Crea la interfaz
Yo_Robot 20:4b154134ab20 975 EthernetErr ethErr = eth.setup();
Yo_Robot 20:4b154134ab20 976 if( ethErr )
Yo_Robot 20:4b154134ab20 977 {
Yo_Robot 20:4b154134ab20 978 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 20:4b154134ab20 979 exit(1);
Yo_Robot 20:4b154134ab20 980 }
Yo_Robot 20:4b154134ab20 981
Yo_Robot 20:4b154134ab20 982 printf("Configuracion Correcta\n\n");
Yo_Robot 20:4b154134ab20 983 return eth;
Yo_Robot 20:4b154134ab20 984 }
Yo_Robot 20:4b154134ab20 985 else
Yo_Robot 20:4b154134ab20 986 {
Yo_Robot 20:4b154134ab20 987 sscanf( ip,"%*s %d.%d.%d.%d",&n_ip[0], &n_ip[1], &n_ip[2], &n_ip[3] );
Yo_Robot 20:4b154134ab20 988 sscanf( mask,"%*s %d.%d.%d.%d",&n_mask[0],&n_mask[1],&n_mask[2],&n_mask[3] );
Yo_Robot 20:4b154134ab20 989 sscanf( gate,"%*s %d.%d.%d.%d",&n_gate[0],&n_gate[1],&n_gate[2],&n_gate[3] );
Yo_Robot 20:4b154134ab20 990 sscanf( dns,"%*s %d.%d.%d.%d",&n_dns[0], &n_dns[1], &n_dns[2], &n_dns[3] );
Yo_Robot 20:4b154134ab20 991 printf(" %s %s %s %s %s\n " , isDHCP, ip, mask, gate, dns );
Yo_Robot 20:4b154134ab20 992
Yo_Robot 20:4b154134ab20 993 printf("\n Configurar red de manera manual\n");
Yo_Robot 20:4b154134ab20 994 EthernetNetIf eth(
Yo_Robot 20:4b154134ab20 995 IpAddr( n_ip[0], n_ip[1], n_ip[2], n_ip[3]), //IP Address
Yo_Robot 20:4b154134ab20 996 IpAddr( n_mask[0],n_mask[1],n_mask[2],n_mask[3]), //Network Mask
Yo_Robot 20:4b154134ab20 997 IpAddr( n_gate[0],n_gate[1],n_gate[2],n_gate[3]), //Gateway
Yo_Robot 20:4b154134ab20 998 IpAddr( n_dns[0], n_dns[1], n_dns[2], n_dns[3] ) //DNS
Yo_Robot 20:4b154134ab20 999 );
Yo_Robot 20:4b154134ab20 1000
Yo_Robot 20:4b154134ab20 1001 EthernetErr ethErr = eth.setup();
Yo_Robot 20:4b154134ab20 1002 if( ethErr )
Yo_Robot 20:4b154134ab20 1003 {
Yo_Robot 20:4b154134ab20 1004 printf( "Error %d en la configuracion\n", ethErr );
Yo_Robot 20:4b154134ab20 1005 exit(1);
Yo_Robot 20:4b154134ab20 1006 }
Yo_Robot 20:4b154134ab20 1007
Yo_Robot 20:4b154134ab20 1008 printf("Configuracion Correcta\n\n");
Yo_Robot 20:4b154134ab20 1009 return eth;
Yo_Robot 20:4b154134ab20 1010 }
Yo_Robot 20:4b154134ab20 1011
Yo_Robot 20:4b154134ab20 1012 }
Yo_Robot 20:4b154134ab20 1013
Yo_Robot 20:4b154134ab20 1014 EthernetNetIf eth;
Yo_Robot 20:4b154134ab20 1015 return eth;
Yo_Robot 20:4b154134ab20 1016 }