Revision 0:8b3857d4ce02, committed 2012-04-16

Comitter:

botdream

Date:

Mon Apr 16 09:41:53 2012 +0000

Commit message:

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/A4983StepMotorDriver/A4983.c	Mon Apr 16 09:41:53 2012 +0000
@@ -0,0 +1,195 @@
+//---------------------------------------------------------------------------------------------
+#include "mbed.h"
+#include "A4983.h"
+//---------------------------------------------------------------------------------------------
+// Pins configuration
+//---------------------------------------------------------------------------------------------
+//LEDs port definition on mbed
+DigitalOut myled1(LED1);
+DigitalOut myled2(LED2);
+DigitalOut myled3(LED3);
+DigitalOut myled4(LED4);
+
+//ports connected to pololu driver board = straightforward connection of one side of mbed
+DigitalOut Dir(p23); //direction of movement
+DigitalOut Step(p24); //make one step at rising edge
+DigitalOut nSleep(p25); // be HIGH to make it work
+DigitalOut nReset(p26); // be HIGH to make it work
+DigitalOut MS3(p19); //microstep mode selectors
+DigitalOut MS2(p18);
+DigitalOut MS1(p17);
+DigitalOut nEnable(p27);// be LOW to make it work
+
+#define HIGH 1
+#define LOW 0
+#define ON 1
+#define OFF 0
+#define Clockwise LOW
+#define CounterClockwise HIGH
+
+//which mode of driver to be used. This is now 1/16 stepping.
+#define Factor  16
+//---------------------------------------------------------------------------------------------
+// USB serial port setup - debug messages
+//---------------------------------------------------------------------------------------------
+Serial pc(USBTX, USBRX); // tx, rx  
+//---------------------------------------------------------------------------------------------  
+
+//---------------------------------------------------------------------------------------------  
+// constructor
+//---------------------------------------------------------------------------------------------
+A4983::A4983()
+{
+  //set communication speed
+  pc.baud(115200);
+  //test to see if comm is working
+  printf("\r\nInitialize MBED Serial Port!\r\n");
+  
+  myled1 = 0;
+  myled2 = 0;
+  myled3 = 0;
+  myled4 = 0;
+
+  //-------------------------------------------------------------------------------------------
+  // adjust microstepping mode
+  adjust_microstepping_mode(16);
+
+  // initialisation of power stage
+  Dir = CounterClockwise;
+  Step = LOW;
+  nSleep = HIGH;
+  nEnable = HIGH;
+  nReset = LOW;
+  myled1 = 1;
+  myled2 = 0;
+  myled3 = 0;
+  myled4 = 0;
+
+  wait(0.5);
+
+  nReset = HIGH;
+  myled1 = 0;
+  myled2 = 1;
+  myled3 = 0;
+  myled4 = 0;
+
+  wait(0.5);
+
+  nEnable = LOW;
+  myled1 = 1;
+  myled2 = 1;
+  myled3 = 0;
+  myled4 = 0;
+
+  wait(0.5);
+
+  Step = HIGH;
+  myled1 = 0;
+  myled2 = 0;
+  myled3 = 1;
+  myled4 = 0;
+
+  wait(0.5);
+
+  Step = LOW;
+  myled1 = 1;
+  myled2 = 0;
+  myled3 = 1;
+  myled4 = 0;
+
+  wait(0.5);
+  //-------------------------------------------------------------------------------------------
+ 
+  f_motor_enable = 0;    // flag to Enable/Disable Step Motor, 0 => Disable, 1 => Enable
+  f_motor_direction = 0; // flag for the Step Motor direction, 0 => Normal, 1 => Inverted
+  k_delay = 0.001;       // delay constant in seconds (Step Motor Speed)
+}
+//---------------------------------------------------------------------------------------------
+void A4983::adjust_microstepping_mode(uint8_t factor)
+{
+  if(factor==1)
+  {
+    MS1 = LOW;
+    MS2 = LOW;
+    MS3 = LOW;  // 1/1
+  }
+  else if(factor==2)
+  {
+    MS1 = HIGH;
+    MS2 = LOW;
+    MS3 = LOW;  // 1/2
+  }    
+  else if(factor==4)
+  {
+    MS1 = LOW;
+    MS2 = HIGH;
+    MS3 = LOW;  // 1/4
+  }
+  else if(factor==8)
+  { 
+    MS1 = HIGH;
+    MS2 = HIGH;
+    MS3 = LOW;  // 1/8
+  }
+  else if(factor==16)
+  {
+    MS1 = HIGH;
+    MS2 = HIGH;
+    MS3 = HIGH; // 1/16
+  }
+}
+//---------------------------------------------------------------------------------------------
+// Step function
+//---------------------------------------------------------------------------------------------
+void A4983::singlestep()
+{
+  if(Dir != f_motor_direction)
+    Dir = f_motor_direction;
+       
+  Step = HIGH;
+  wait(k_delay/2);
+
+  Step = LOW;
+  wait(k_delay/2);
+}
+//---------------------------------------------------------------------------------------------
+// Release Motor Command
+//---------------------------------------------------------------------------------------------
+void A4983::sleep(bool value)
+{
+  if(value == true)
+  {
+    //nEnable = LOW;
+    nSleep = LOW;
+  }
+  else
+  {
+    //nEnable = HIGH;
+    nSleep = HIGH; 
+  }
+}
+//---------------------------------------------------------------------------------------------
+// check if f_motor_enable is true and call singlestep() - loop mode
+//---------------------------------------------------------------------------------------------
+void A4983::looprun()
+{
+  if(f_motor_enable == 1)  
+  {    
+    singlestep();
+  }  
+}
+//---------------------------------------------------------------------------------------------
+// enable loop mode
+//---------------------------------------------------------------------------------------------
+void A4983::loopstart()
+{
+  f_motor_enable = 1;
+}
+//---------------------------------------------------------------------------------------------
+// disable loop mode
+//---------------------------------------------------------------------------------------------
+void A4983::loopstop()
+{
+  f_motor_enable = 0;
+}
+//---------------------------------------------------------------------------------------------
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/A4983StepMotorDriver/A4983.h	Mon Apr 16 09:41:53 2012 +0000
@@ -0,0 +1,28 @@
+//---------------------------------------------------------------------------------------------
+// Class to interface Pololu A4983 Stepper Motor Driver
+// http://www.coolcomponents.co.uk/catalog/product_info.php?products_id=358&currency=EUR
+// https://www.pololu.com/file/download/a4983_DMOS_microstepping_driver_with_translator.pdf?file_id=0J199
+//---------------------------------------------------------------------------------------------
+class A4983
+{
+  //-------------------------------------------------------------------------------------------
+  private:
+  //-------------------------------------------------------------------------------------------
+  
+  //-------------------------------------------------------------------------------------------
+  public:
+  //-------------------------------------------------------------------------------------------
+  uint8_t  f_motor_enable;             // flag to Enable/Disable Step Motor, 0 => Disable, 1 => Enable
+  uint8_t  f_motor_direction;          // flag for the Step Motor direction, 0 => Normal, 1 => Inverted
+  float    k_delay;                    // delay constant in seconds (Step Motor Speed) [0.0001;0.000025]
+  //-------------------------------------------------------------------------------------------
+  A4983();
+
+  void adjust_microstepping_mode(uint8_t factor);
+  void singlestep();
+  void sleep(bool value);
+  void looprun();
+  void loopstart();
+  void loopstop();
+};
+//---------------------------------------------------------------------------------------------
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CmdListObjects/TList.cpp	Mon Apr 16 09:41:53 2012 +0000
@@ -0,0 +1,181 @@
+//---------------------------------------------------------------------------------------------
+#include "TList.h"
+//---------------------------------------------------------------------------------------------
+//#define internaldebug // send debug messages to USB Serial port (9600,1,N)
+//---------------------------------------------------------------------------------------------
+uint8_t ListCount; // Global TList counter
+//---------------------------------------------------------------------------------------------
+TList *pListFirst;
+TList *pListLast;
+//---------------------------------------------------------------------------------------------
+// Main TList demo code
+//---------------------------------------------------------------------------------------------
+/*
+  // temporary TList object
+  TList *pListPointer;
+  
+  pListPointer = SetListNextObject();
+  TObjectStep *pobjectstep = new TObjectStep(1000, 100, 0);
+  pListPointer->cmdtype = 0x01;
+  pListPointer->cmdobject = (TObjectStep*)pobjectstep;
+ 
+  pListPointer = SetListNextObject();  
+  TObjectWait *pobjectwait = new TObjectWait(750);
+  pListPointer->cmdtype = 0x04;
+  pListPointer->cmdobject = (TObjectWait*)pobjectwait;  
+  
+  pListPointer = SetListNextObject();
+  TObjectStep *pobjectstep1 = new TObjectStep(2500, 150, 1);
+  pListPointer->cmdtype = 0x01;
+  pListPointer->cmdobject = (TObjectStep*)pobjectstep1;
+
+  pListPointer = SetListNextObject();  
+  TObjectWait *pobjectwait2 = new TObjectWait(225);
+  pListPointer->cmdtype = 0x04;
+  pListPointer->cmdobject = (TObjectWait*)pobjectwait2;    
+  
+  #ifdef internaldebug  
+    // set pListPointer to the first object of the list
+    pListPointer = GetListFirstObject();
+    TObjectStep *ptemp = static_cast<TObjectStep*>(pListPointer->cmdobject);  
+    printf("ObjectsStep(%d) %ld|%ld|%d\r\n",ptemp->typecode,ptemp->nsteps, ptemp->deltatime, ptemp->direction);
+   
+    pListPointer = pListPointer->nextobject;
+    TObjectWait *ptemp2 = static_cast<TObjectWait*>(pListPointer->cmdobject);  
+    printf("ObjectsWait(%d) %ld\r\n",ptemp2->typecode,ptemp2->waittime);   
+    
+    pListPointer = pListPointer->nextobject;
+    ptemp = static_cast<TObjectStep*>(pListPointer->cmdobject);  
+    printf("ObjectsStep(%d) %ld|%ld|%d\r\n",ptemp->typecode,ptemp->nsteps, ptemp->deltatime, ptemp->direction);    
+    
+    pListPointer = pListPointer->nextobject;
+    TObjectWait *ptemp3 = static_cast<TObjectWait*>(pListPointer->cmdobject);  
+    printf("ObjectsWait(%d) %ld\r\n",ptemp3->typecode,ptemp3->waittime);               
+  #endif
+  
+  printf("ListCount=%d\r\n",GetListCount());
+
+  // deleting list elements and internal objects
+  while(DeleteListFirstObject() != 0);
+  
+  printf("ListCount=%d\r\n",GetListCount());
+*/
+//---------------------------------------------------------------------------------------------
+// Global helper function
+//---------------------------------------------------------------------------------------------
+uint8_t GetListCount()
+{
+  return ListCount;
+}
+//---------------------------------------------------------------------------------------------
+TList *GetListFirstObject()
+{
+  return pListFirst;
+}
+//---------------------------------------------------------------------------------------------
+uint8_t DeleteListFirstObject()
+{
+  // verify if First Object is NULL
+  if(pListFirst == NULL)
+    return 0; //nothing to delete
+  
+  TList *ptemp = pListFirst->nextobject;
+  if(ptemp == NULL) // first object doesn't link with other objects (unique)
+  {
+    #ifdef internaldebug      
+        printf("Deleting Unique Object\r\n");
+    #endif    
+
+    // removes inner object first
+    delete pListFirst->cmdobject;
+    pListFirst->cmdobject = NULL;
+    
+    #ifdef internaldebug      
+        printf("->removing inner object\r\n");
+    #endif    
+    
+    // removes the outter list object
+    delete pListFirst;
+    pListFirst = NULL;
+    pListLast = NULL;
+
+    #ifdef internaldebug      
+        printf("->removing outter object\r\n");
+    #endif    
+    
+    // no more objects - resets the list counter
+    ListCount = 0;
+    
+    #ifdef internaldebug      
+        printf("->reseting Listcount\r\n");
+    #endif    
+    
+  }
+  else
+  {
+    #ifdef internaldebug      
+        printf("Deleting first object of List[%d]\r\n",ListCount);
+    #endif    
+
+    // removes inner object first
+    delete pListFirst->cmdobject;
+    pListFirst->cmdobject = NULL;
+    
+    #ifdef internaldebug      
+        printf("->removing inner object\r\n");
+    #endif    
+    
+    // removes the outter list object
+    delete pListFirst;
+    pListFirst = NULL;
+    
+    #ifdef internaldebug      
+        printf("->removing outter object\r\n");
+    #endif    
+    
+    // sets the new header object
+    pListFirst = ptemp; 
+    
+    #ifdef internaldebug      
+        printf("->Setting new header object\r\n");
+    #endif    
+    
+    // decreases list counter
+    ListCount -= 1;
+    
+    #ifdef internaldebug      
+        printf("->Setting ListCount new value = %d\r\n",ListCount);
+    #endif    
+    
+  }
+  return 1;
+}
+//---------------------------------------------------------------------------------------------
+TList *SetListNextObject()
+{  
+  if(ListCount == 0)
+  {
+    // List is empty - initialize list
+    pListFirst = new TList;
+    pListLast = pListFirst;
+    pListFirst->nextobject = NULL;    
+    
+    ListCount++;
+  }
+  else
+  {
+    // list not empty, adds new object to the list and point the 'nextobject' 
+    // from previous object to the recently created object
+    TList *ptemp = new TList;
+    ptemp->nextobject = NULL;
+    
+    pListLast->nextobject = ptemp;
+    
+    pListLast = ptemp;
+    
+    ListCount++;
+  }
+  
+  return pListLast;
+}  
+//---------------------------------------------------------------------------------------------
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CmdListObjects/TList.h	Mon Apr 16 09:41:53 2012 +0000
@@ -0,0 +1,23 @@
+//---------------------------------------------------------------------------------------------
+#include "mbed.h"
+//---------------------------------------------------------------------------------------------
+class TList
+{
+  private:
+  
+  public:
+  TList *nextobject;
+  
+  uint8_t cmdtype;
+  void *cmdobject;   
+  
+  TList(){};  
+};
+//---------------------------------------------------------------------------------------------
+// Global helper function
+//---------------------------------------------------------------------------------------------
+uint8_t GetListCount();
+TList *GetListFirstObject();
+uint8_t DeleteListFirstObject();
+TList *SetListNextObject(); 
+//---------------------------------------------------------------------------------------------
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/CmdListObjects/TObjects.h	Mon Apr 16 09:41:53 2012 +0000
@@ -0,0 +1,52 @@
+//---------------------------------------------------------------------------------------------
+#include "mbed.h"
+//---------------------------------------------------------------------------------------------
+#define internaldebug
+//---------------------------------------------------------------------------------------------
+class TObjects
+{
+  private:
+ 
+  public:
+
+  TObjects();  
+};
+//---------------------------------------------------------------------------------------------
+
+class TObjectStep
+{
+  private:
+ 
+  public:
+  static const uint8_t typecode = 0x01;
+  uint32_t nsteps;
+  uint32_t deltatime;
+  uint8_t direction;
+  
+  TObjectStep(uint32_t insteps, uint32_t ideltatime, uint8_t idirection)
+  {
+    nsteps = insteps;
+    deltatime = ideltatime;
+    direction = idirection;
+    
+  #ifdef internaldebug
+    printf("->->TObjectStep(%d,%d,%d).\r\n",nsteps,deltatime,direction);    
+  #endif     
+  };  
+};
+//---------------------------------------------------------------------------------------------
+
+class TObjectWait
+{
+  private:
+ 
+  public:
+  static const uint8_t typecode = 0x04;
+  uint32_t waittime;
+    
+  TObjectWait(uint32_t iwaittime)
+  {
+    waittime = iwaittime;
+  };  
+};
+//---------------------------------------------------------------------------------------------
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/EthernetNetIf.lib	Mon Apr 16 09:41:53 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/donatien/code/EthernetNetIf/#bc7df6da7589

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/HTTPServer.lib	Mon Apr 16 09:41:53 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/donatien/code/HTTPServer/#d753966e4d97

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/RPCInterface.lib	Mon Apr 16 09:41:53 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/MichaelW/code/RPCInterface/#a9e2c45097c8

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Libs/mbed.bld	Mon Apr 16 09:41:53 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/63bcd7ba4912

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/index.html.cpp	Mon Apr 16 09:41:53 2012 +0000
@@ -0,0 +1,112 @@
+/*
+<html>
+<head>
+<script type="text/javascript">
+function sendrequest(request_uri)
+{
+  var xmlhttp;
+  if(window.XMLHttpRequest)
+  {// code for IE7+, Firefox, Chrome, Opera, Safari
+    xmlhttp=new XMLHttpRequest();
+  }
+  else
+  {// code for IE6, IE5
+    xmlhttp=new ActiveXObject("Microsoft.XMLHTTP");
+  }
+  xmlhttp.onreadystatechange=function()
+  {
+    if (xmlhttp.readyState==4 && xmlhttp.status==200)
+    {
+      <!-- document.getElementById("myDiv").innerHTML=xmlhttp.responseText; -->
+    }
+  }
+  console.log(request_uri);
+  xmlhttp.open("GET",request_uri,true);
+  xmlhttp.send();
+}
+
+function adjustvalues1(){
+  var dataval = document.getElementById("timevalue1").value;
+  
+  document.getElementById("timevalue2").value = dataval*1000;
+  
+  document.getElementById("timevalue3").value = dataval*1000*1000;
+}
+
+function adjustvalues2(){
+  var dataval = document.getElementById("timevalue2").value;
+  
+  document.getElementById("timevalue1").value = dataval/1000;
+  
+  document.getElementById("timevalue3").value = dataval*1000;
+}
+
+function adjustvalues3(){
+  var dataval = document.getElementById("timevalue3").value;
+  
+  document.getElementById("timevalue1").value = dataval/1000/1000;
+  
+  document.getElementById("timevalue2").value = dataval/1000;
+}
+
+function demo(){
+  // set timer to 100ms
+  sendrequest('./rpc/delay/write%20'+(100/1000000));
+
+  // set direction 0
+  sendrequest('./rpc/direction/write%200');
+  
+  // 360 º
+  sendrequest('./rpc/nsteps/run%20'+(1*64*50));
+  
+  // set direction 1
+  sendrequest('./rpc/direction/write%201');
+
+  // set timer to 200ms
+  sendrequest('./rpc/delay/write%20'+(200/1000000));
+
+  // 360 º
+  sendrequest('./rpc/nsteps/run%20'+(1*64*50));
+}
+</script>
+</head>
+<body>
+
+<div id="myDiv"><h2>Step Motor HTTP REST (RPC) interface.</h2></div>
+<button type="button" onclick="sendrequest('./rpc/enable/write%201')">Start Autorun</button>
+<button type="button" onclick="sendrequest('./rpc/enable/write%200')">Stop Autorun</button>
+<!--<button type="button" onclick="sendrequest('./rpc/releasecmd')">Release Motor CMD</button>-->
+<br>
+<button type="button" onclick="sendrequest('./rpc/sleepmode/run%2001')">Sleep</button>
+<button type="button" onclick="sendrequest('./rpc/sleepmode/run%2000')">Wake up</button>
+<br>
+<button type="button" onclick="sendrequest('./rpc/stepmode/run%201')">MicroStep Mode</button>
+<button type="button" onclick="sendrequest('./rpc/stepmode/run%200')">FullStep Mode</button>
+<br>
+<button type="button" onclick="sendrequest('./rpc/direction/write%200')">Normal Direction</button>
+<button type="button" onclick="sendrequest('./rpc/direction/write%201')">Inverse Direction</button>
+<br>
+<input type="text" id="timevalue1" name="timevalue1" onKeyUp="adjustvalues1();" maxlength="10" size="10" value="0.001" />
+<button type="button" onclick="sendrequest('./rpc/delay/write%20'+timevalue.value)">Time value (Seconds)</button>
+<br>
+<input type="text" id="timevalue2" name="timevalue2" onKeyUp="adjustvalues2()" maxlength="10" size="10" value="1" />
+<button type="button" onclick="sendrequest('./rpc/delay/write%20'+(timevalue2.value/1000))">Time value (mili-Seconds)</button>
+<br>
+<input type="text" id="timevalue3" name="timevalue3" onKeyUp="adjustvalues3()" maxlength="10" size="10" value="1000" />
+<button type="button" onclick="sendrequest('./rpc/delay/write%20'+(timevalue3.value/1000000))">Time value (micro-Seconds)</button>
+<br>
+<br>
+<input type="text" id="nmicrosteps" name="nmicrosteps" maxlength="10" size="10" value="1" />
+<button type="button" onclick="sendrequest('./rpc/nsteps/run%20'+nmicrosteps.value)">Manual MicroSteps</button>
+<br>
+<input type="text" id="nsteps" name="nsteps" maxlength="10" size="10" value="1" />
+<button type="button" onclick="sendrequest('./rpc/nsteps/run%20'+(nsteps.value*16))">Manual Steps</button>
+<br>
+<input type="text" id="nsteps360" name="nsteps360" maxlength="10" size="10" value="1" />
+<button type="button" onclick="sendrequest('./rpc/nsteps/run%20'+(nsteps360.value*16*200))">Manual Step 360º</button>
+<br>
+<br>
+<!-- <button type="button" onclick="demo()">Demo</button> -->
+</body>
+</html>
+*/
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 16 09:41:53 2012 +0000
@@ -0,0 +1,336 @@
+/* //---------------------------------------------------------------------------------------------
+// disable/enable auto-run
+http://192.168.1.100/rpc/enable/write%200
+http://192.168.1.100/rpc/enable/write%201
+
+// normal/inverse direction
+http://192.168.1.100/rpc/direction/write%200
+
+// timer delay - motor speed
+http://192.168.1.100/rpc/delay/write%200.00001 (default)
+http://192.168.1.100/rpc/delay/write%200.0000025 (max)
+
+http://192.168.1.100/rpc/delay/write%200.00048 (super slow)
+
+// RPC number of steps
+http://192.168.1.100/rpc/nsteps/run%2016 (16 microsteps => 1 step)
+http://192.168.1.100/rpc/nsteps/run%203200 (200 Steps -> 360�)
+
+// RPC StepCmd
+http://192.168.1.100/rpc/stepcmd/run%201000%20100%201
+
+// RPC StepMode
+http://192.168.1.100/rpc/stepmode/run%200
+http://192.168.1.100/rpc/stepmode/run%201
+
+//Sleep mode
+http://192.168.1.100/rpc/sleepmode/run%200
+http://192.168.1.100/rpc/sleepmode/run%201
+
+//---------------------------------------------------------------------------------------------
+// resources
+//---------------------------------------------------------------------------------------------
+http://mbed.org/handbook/C-Data-Types
+http://mbed.org/cookbook/RPC-Interface-Library
+http://mbed.org/cookbook/HTTP-Server
+http://mbed.org/cookbook/Ethernet
+http://mbed.org/handbook/Ticker
+//--------------------------------------------------------------------------------------------- */
+#include "mbed.h"
+#include "EthernetNetIf.h"
+#include "HTTPServer.h"
+#include "RPCVariable.h"
+#include "RPCFunction.h"
+#include "A4983.h"
+// TListObjects units
+#include "TList.h"
+#include "TObjects.h"
+
+//#include <memory>
+//#include <vector>
+//---------------------------------------------------------------------------------------------
+// Defines - remove comments to enable special mode
+//---------------------------------------------------------------------------------------------
+#define internaldebug // send debug messages to USB Serial port (9600,1,N)
+//#define dhcpenable    // auto-setup IP Address from DHCP router
+//---------------------------------------------------------------------------------------------
+// Ethernet Object Setup
+//---------------------------------------------------------------------------------------------
+#ifdef dhcpenable
+  EthernetNetIf eth;  
+#else
+/*
+  EthernetNetIf eth(
+    IpAddr(192,168,0,100), //IP Address
+    IpAddr(255,255,255,0), //Network Mask
+    IpAddr(192,168,0,1),   //Gateway - Laptop sharing Internet via 3G
+    IpAddr(208,67,220,220) //OpenDNS
+  );
+*/  
+  EthernetNetIf eth(
+    IpAddr(192,168,1,100), //IP Address
+    IpAddr(255,255,255,0), //Network Mask
+    IpAddr(192,168,1,254), //Gateway
+    IpAddr(192,168,1,254)  //DNS
+  );
+#endif
+//---------------------------------------------------------------------------------------------
+// HTTP Server
+//---------------------------------------------------------------------------------------------
+HTTPServer svr;
+LocalFileSystem fs("webfs");
+//---------------------------------------------------------------------------------------------
+// Misc
+//---------------------------------------------------------------------------------------------
+
+//---------------------------------------------------------------------------------------------
+// Timer Interrupt - NetPool
+//---------------------------------------------------------------------------------------------
+Ticker netpool;
+//---------------------------------------------------------------------------------------------
+// auxiliar pointer - necessary for the rpc_nsteps(char *input, char *output) function
+//---------------------------------------------------------------------------------------------
+A4983 *p_stepmotor;
+//---------------------------------------------------------------------------------------------
+// temporary TList object
+TList *pListPointer = NULL;
+//---------------------------------------------------------------------------------------------
+
+bool request_handle = false;
+
+//#############################################################################################
+
+//---------------------------------------------------------------------------------------------
+// Pool Ethernet - will be triggered by netpool ticker
+//---------------------------------------------------------------------------------------------
+void netpoolupdate()
+{
+    Net::poll();
+}
+//---------------------------------------------------------------------------------------------
+// RPC function
+//---------------------------------------------------------------------------------------------
+void rpc_nsteps(char *input, char *output)
+{
+  while(request_handle);
+  
+  request_handle = true;
+
+  int arg1 = 0; // number of steps
+  sscanf(input, "%i", &arg1);
+
+  #ifdef internaldebug
+    printf("Calling RCP Function Step.\r\n");
+    printf("INPUT: %s.\r\n", input);
+    printf("OUTPUT: %s.\r\n", output);
+    printf("ARG1: %i.\r\n", arg1);
+  #endif 
+  
+  p_stepmotor->loopstop();             
+  for(int i=0; i<arg1; i++)
+  {
+    wait(p_stepmotor->k_delay);
+    p_stepmotor->singlestep();
+  }
+
+  sprintf(output, "<html><body>RCP NSteps Completed!</body></html>");  
+  request_handle = false;
+}
+//---------------------------------------------------------------------------------------------
+void rpc_stepmode(char *input, char *output)
+{
+  while(request_handle);
+  
+  request_handle = true;
+  
+  int arg1 = 0; // microstep=1; fullstep=0;
+  sscanf(input, "%i", &arg1);
+
+  #ifdef internaldebug
+    printf("Calling RCP Function Step Mode.\r\n");
+    printf("INPUT: %s.\r\n", input);
+    printf("OUTPUT: %s.\r\n", output);
+    printf("ARG1: %i.\r\n", arg1);
+  #endif 
+  
+  if(arg1 == 0)  
+  {
+    p_stepmotor->adjust_microstepping_mode(1); // full step
+
+    #ifdef internaldebug
+      printf("--> FullStep\r\n");
+    #endif
+  }
+  else
+  {
+    p_stepmotor->adjust_microstepping_mode(16); // microstep 1/16
+
+    #ifdef internaldebug
+      printf("--> MicroStep 1/16\r\n");
+    #endif    
+  }
+
+  sprintf(output, "<html><body>RCP Step Mode Completed!</body></html>");  
+  request_handle = false;
+}
+//---------------------------------------------------------------------------------------------
+void rpc_sleepmode(char *input, char *output)
+{
+  while(request_handle);
+  
+  request_handle = true;
+  
+  int arg1 = 0; // microstep=1; fullstep=0;
+  sscanf(input, "%i", &arg1);
+
+  #ifdef internaldebug
+    printf("Calling RCP Function Sleep CMD.\r\n");
+    printf("INPUT: %s.\r\n", input);
+    printf("OUTPUT: %s.\r\n", output);
+    printf("ARG1: %i.\r\n", arg1);    
+  #endif 
+  
+  if(arg1 == 1)
+    p_stepmotor->sleep(true);
+  else
+    p_stepmotor->sleep(false);
+
+  sprintf(output, "<html><body>RCP Sleep CMD Completed!</body></html>");  
+  request_handle = false;
+}
+//---------------------------------------------------------------------------------------------
+// RPC TList Commands (Task/Job List)
+//---------------------------------------------------------------------------------------------
+void rpc_stepcmd(char *input, char *output)
+{
+  while(request_handle);
+  
+  request_handle = true;
+  
+  int insteps = 0; // number of steps
+  int ideltatime = 0; // time in ms between Step Motor SPI frames  
+  int idirection = 0; // direction {0->CCW; 1->CW}
+  
+  sscanf(input, "%i %i %i", &insteps, &ideltatime, &idirection);    
+    
+  #ifdef internaldebug
+    printf("Calling RCP Function StepCmd.\r\n");
+    printf("INPUT: %s.\r\n", input);
+    printf("OUTPUT: %s.\r\n", output);
+    printf("ARG1: %d\r\n", insteps);
+    printf("ARG2: %d\r\n", ideltatime);
+    printf("ARG3: %d\r\n", idirection);
+  #endif 
+  
+  // adding cmd (TObjectStep) to TList
+  pListPointer = SetListNextObject();
+  TObjectStep *pobjectstep = new TObjectStep(insteps, ideltatime, idirection);
+  pListPointer->cmdtype = 0x01;
+  pListPointer->cmdobject = (TObjectStep*)pobjectstep;
+
+  sprintf(output, "<html><body>RCP Step Cmd Completed!</body></html>");
+  request_handle = false;
+}
+//---------------------------------------------------------------------------------------------
+
+
+//---------------------------------------------------------------------------------------------
+// MAIN routine
+//---------------------------------------------------------------------------------------------
+int main() 
+{   
+  //std::auto_ptr<int>abc;
+  //std::vector<int>def;
+  //--------------------------------------------------------
+  // Setting RPC
+  //--------------------------------------------------------  
+  /*
+  Base::add_rpc_class<AnalogIn>();
+  Base::add_rpc_class<AnalogOut>();
+  Base::add_rpc_class<DigitalIn>();
+  Base::add_rpc_class<DigitalOut>();
+  Base::add_rpc_class<DigitalInOut>();
+  Base::add_rpc_class<PwmOut>();
+  Base::add_rpc_class<Timer>();
+  Base::add_rpc_class<BusOut>();
+  Base::add_rpc_class<BusIn>();
+  Base::add_rpc_class<BusInOut>();
+  Base::add_rpc_class<Serial>();  */ 
+   
+  //--------------------------------------------------------
+  // Setting Ethernet
+  //--------------------------------------------------------    
+  #ifdef internaldebug
+    printf("Setting up...\r\n");
+  #endif
+  EthernetErr ethErr = eth.setup(); 
+  if(ethErr)
+  {
+    #ifdef internaldebug
+      printf("Error %d in setup.\r\n", ethErr);
+    #endif
+    return -1;
+  }
+  #ifdef internaldebug
+    printf("Setup OK\r\n");
+  #endif  
+
+  //--------------------------------------------------------
+  // instance of the Step Motor Driver interface
+  //--------------------------------------------------------
+  A4983 stepmotor;
+  p_stepmotor = &stepmotor; // auxiliar pointer for rpc_nsteps(char *input, char *output);
+  
+  //--------------------------------------------------------
+  // adding RPC variables 
+  //--------------------------------------------------------
+  RPCVariable<uint8_t> RPCenable(&stepmotor.f_motor_enable, "enable");
+  RPCVariable<uint8_t> RPCdir(&stepmotor.f_motor_direction, "direction");
+  RPCVariable<float> RPCdelay(&stepmotor.k_delay, "delay");
+
+  //--------------------------------------------------------
+  // adding RPC functions
+  //--------------------------------------------------------
+  RPCFunction RPCnsteps(&rpc_nsteps, "nsteps");  
+  RPCFunction RPCsleepmode(&rpc_sleepmode, "sleepmode"); 
+  RPCFunction RPCstepmode(&rpc_stepmode, "stepmode"); 
+  
+  RPCFunction RPCstepcmd(&rpc_stepcmd, "stepcmd");    
+ 
+  //--------------------------------------------------------
+  // adding Handlers 
+  //--------------------------------------------------------
+  FSHandler::mount("/webfs", "/files"); //Mount /webfs path on /files web path
+  FSHandler::mount("/webfs", "/"); //Mount /webfs path on web root path
+
+  //svr.addHandler<SimpleHandler>("/hello");
+  svr.addHandler<RPCHandler>("/rpc");
+  svr.addHandler<FSHandler>("/files");
+  svr.addHandler<FSHandler>("/"); //Default handler
+  //Example : Access to mbed.htm : http://a.b.c.d/mbed.htm or http://a.b.c.d/files/mbed.htm  
+
+  //--------------------------------------------------------
+  // bind http server to port 80 (Listen)
+  //--------------------------------------------------------       
+  svr.bind(80);  
+  #ifdef internaldebug
+    printf("Listening on port 80 ...\r\n");
+  #endif
+    
+  //--------------------------------------------------------
+  // attach timer interrupt to update Net::Pool();
+  //--------------------------------------------------------
+  netpool.attach(&netpoolupdate, 0.1);
+
+  //--------------------------------------------------------
+  // main loop
+  //--------------------------------------------------------        
+  //stepmotor.f_motor_enable = 1; // used for debug, force motor to star when micro is reset         
+  //stepmotor.k_delay = 0.01;
+  while(1) 
+  {          
+    stepmotor.looprun();    
+    //stepmotor.singlestep();
+  }  
+}
+//---------------------------------------------------------------------------------------------
\ No newline at end of file