CRAC Team / Mbed 2 deprecated Capt_couleur_CAN

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Dependencies:   mbed APDS_9960

main.cpp@10:6c00fc4555fd, 2020-04-03 (annotated)

Committer:
guilhemMBED
Date:
Fri Apr 03 19:14:22 2020 +0000
Revision:
10:6c00fc4555fd
Parent:
8:190a86f06a07
Child:
11:9d1f00fd8f06
prg final, table com update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
guilhemMBED 0:eace82fb39de 1 #include "mbed.h"
guilhemMBED 0:eace82fb39de 2 #include "glibr.h"
guilhemMBED 1:7cd9426abb58 3
guilhemMBED 7:278339a9eeba 4 // Adress
guilhemMBED 8:190a86f06a07 5 #define adress_color_sensor 0x4B0 // same for every sensor
guilhemMBED 8:190a86f06a07 6 #define data_adress_general 0xFE // will talk to every sensor
guilhemMBED 10:6c00fc4555fd 7 #define data_adress_sensor 0x00 // Specific to each sensor (between 0x00 and 0xFD)
guilhemMBED 3:f41f244de0b3 8
guilhemMBED 8:190a86f06a07 9 // Request commands
guilhemMBED 8:190a86f06a07 10 #define send_RGB 0x00
guilhemMBED 7:278339a9eeba 11 #define send_RED 0x01
guilhemMBED 7:278339a9eeba 12 #define send_GREEN 0x02
guilhemMBED 7:278339a9eeba 13 #define send_BLUE 0x03
guilhemMBED 7:278339a9eeba 14 #define send_PROXIMITY 0x04
guilhemMBED 10:6c00fc4555fd 15 #define send_COLOR 0x05
guilhemMBED 10:6c00fc4555fd 16
guilhemMBED 10:6c00fc4555fd 17 // Setup commands
guilhemMBED 10:6c00fc4555fd 18 #define setup_LED 0x08
guilhemMBED 10:6c00fc4555fd 19 #define setup_PROXIMITY_THRESHOLD 0x09
guilhemMBED 7:278339a9eeba 20
guilhemMBED 8:190a86f06a07 21 // Masks
guilhemMBED 8:190a86f06a07 22 #define HIGH 0xFF00
guilhemMBED 8:190a86f06a07 23 #define LOW 0x00FF
guilhemMBED 8:190a86f06a07 24
guilhemMBED 7:278339a9eeba 25 Serial USB_link(USBTX, USBRX); // USB initialization
guilhemMBED 7:278339a9eeba 26
guilhemMBED 10:6c00fc4555fd 27 PwmOut LED(D9); // LED initialization
guilhemMBED 5:7a63cb7ec666 28
guilhemMBED 3:f41f244de0b3 29 glibr capt1(D4,D5); // I²C initialization : D4 = SDA ; D5 = SCL
guilhemMBED 5:7a63cb7ec666 30
guilhemMBED 8:190a86f06a07 31 CAN can1(PA_11, PA_12); // CAN initialization : PA_11 = RD ; PA_12 = TD
guilhemMBED 10:6c00fc4555fd 32
guilhemMBED 10:6c00fc4555fd 33
guilhemMBED 6:9aeb18bebe85 34 CANMessage msg;
guilhemMBED 0:eace82fb39de 35
guilhemMBED 10:6c00fc4555fd 36 RawSerial tx(PA_9, NC);
guilhemMBED 10:6c00fc4555fd 37 RawSerial rx(NC, PA_10);
guilhemMBED 7:278339a9eeba 38
guilhemMBED 3:f41f244de0b3 39 bool initialization(void)
guilhemMBED 3:f41f244de0b3 40 {
guilhemMBED 3:f41f244de0b3 41 // USB initialization
guilhemMBED 3:f41f244de0b3 42 USB_link.baud(115200);
guilhemMBED 6:9aeb18bebe85 43 USB_link.printf("Debut prog\r\n");
guilhemMBED 6:9aeb18bebe85 44
guilhemMBED 8:190a86f06a07 45 // CAN initialization
guilhemMBED 6:9aeb18bebe85 46 can1.frequency(1000000);
guilhemMBED 10:6c00fc4555fd 47 rx.baud(115200);
guilhemMBED 10:6c00fc4555fd 48
guilhemMBED 5:7a63cb7ec666 49 // LED initialization
guilhemMBED 10:6c00fc4555fd 50 LED.period_ms(10);
guilhemMBED 10:6c00fc4555fd 51 LED.write(0);
guilhemMBED 5:7a63cb7ec666 52
guilhemMBED 7:278339a9eeba 53 // Sensor initalization
guilhemMBED 5:7a63cb7ec666 54 if( (capt1.ginit()) && (capt1.enableLightSensor(true)) && (capt1.enableProximitySensor(true)) ) {
guilhemMBED 3:f41f244de0b3 55 return true;
guilhemMBED 3:f41f244de0b3 56 } else {
guilhemMBED 3:f41f244de0b3 57 return false;
guilhemMBED 3:f41f244de0b3 58 }
guilhemMBED 3:f41f244de0b3 59 }
guilhemMBED 0:eace82fb39de 60
guilhemMBED 1:7cd9426abb58 61 int main (void)
guilhemMBED 1:7cd9426abb58 62 {
guilhemMBED 10:6c00fc4555fd 63 char c;
guilhemMBED 8:190a86f06a07 64 uint16_t r,g,b ; // RGB values in 2 bytes
guilhemMBED 8:190a86f06a07 65 uint8_t a ; // proximity value in 1 byte
guilhemMBED 10:6c00fc4555fd 66 char proximity_tresh = 250, color, state, message[8];
guilhemMBED 10:6c00fc4555fd 67 message[0] = data_adress_sensor; // (PID)
guilhemMBED 8:190a86f06a07 68
guilhemMBED 5:7a63cb7ec666 69 if (initialization()) USB_link.printf("Initialization complete \r\n");
guilhemMBED 5:7a63cb7ec666 70 else USB_link.printf("Error during initialization\r\n");
guilhemMBED 6:9aeb18bebe85 71
guilhemMBED 0:eace82fb39de 72 while(1) {
guilhemMBED 8:190a86f06a07 73 //reading of every interesting values
guilhemMBED 5:7a63cb7ec666 74 capt1.readRedLight(r);
guilhemMBED 5:7a63cb7ec666 75 capt1.readGreenLight(g);
guilhemMBED 5:7a63cb7ec666 76 capt1.readBlueLight(b);
guilhemMBED 5:7a63cb7ec666 77 capt1.readProximity(a);
guilhemMBED 6:9aeb18bebe85 78
guilhemMBED 8:190a86f06a07 79 //calculation of color
guilhemMBED 7:278339a9eeba 80 if (a<proximity_tresh) {
guilhemMBED 5:7a63cb7ec666 81 color = 0 ; // 0 means no object being measured
guilhemMBED 5:7a63cb7ec666 82 } else if (r > g ) {
guilhemMBED 5:7a63cb7ec666 83 color = 1 ; // 1 means red
guilhemMBED 6:9aeb18bebe85 84 } else {
guilhemMBED 5:7a63cb7ec666 85 color = 2 ; // 2 means green
guilhemMBED 5:7a63cb7ec666 86 }
guilhemMBED 8:190a86f06a07 87
guilhemMBED 10:6c00fc4555fd 88 // serial test :
guilhemMBED 10:6c00fc4555fd 89 if(rx.readable()){
guilhemMBED 10:6c00fc4555fd 90 c=rx.getc();
guilhemMBED 10:6c00fc4555fd 91 USB_link.printf("%c",c);
guilhemMBED 10:6c00fc4555fd 92 }
guilhemMBED 10:6c00fc4555fd 93
guilhemMBED 7:278339a9eeba 94 //display of red, green and proximty variables
guilhemMBED 7:278339a9eeba 95 //USB_link.printf("r: %hu g : %hu prox : %hu \r\n ",r,g,a);
guilhemMBED 7:278339a9eeba 96
guilhemMBED 7:278339a9eeba 97 //diplay of color value
guilhemMBED 6:9aeb18bebe85 98 //USB_link.printf("color : %hu \r\n", color);
guilhemMBED 8:190a86f06a07 99
guilhemMBED 7:278339a9eeba 100 // reading of the CAN bus
guilhemMBED 7:278339a9eeba 101 if (can1.read(msg)) {
guilhemMBED 8:190a86f06a07 102
guilhemMBED 8:190a86f06a07 103 //verification of the ID ( 0x4B0 ) and "soft" ID
guilhemMBED 7:278339a9eeba 104 if ((msg.id==adress_color_sensor)&((msg.data[0]==data_adress_general)|(msg.data[0]==data_adress_sensor))) {
guilhemMBED 8:190a86f06a07 105
guilhemMBED 7:278339a9eeba 106 state=msg.data[1];
guilhemMBED 10:6c00fc4555fd 107 message[1]=state+0x40; // command
guilhemMBED 7:278339a9eeba 108 switch (state) {
guilhemMBED 10:6c00fc4555fd 109 case send_RGB:
guilhemMBED 10:6c00fc4555fd 110 message[2]= (char)((r & HIGH)>>8); // data
guilhemMBED 8:190a86f06a07 111 message[3]= (char) (r & LOW);
guilhemMBED 8:190a86f06a07 112 message[4]= (char)((g & HIGH)>>8);
guilhemMBED 8:190a86f06a07 113 message[5]= (char) (g & LOW);
guilhemMBED 7:278339a9eeba 114 message[6]= (char)a ;
guilhemMBED 7:278339a9eeba 115 can1.write(CANMessage(adress_color_sensor,message,7));
guilhemMBED 7:278339a9eeba 116 break;
guilhemMBED 7:278339a9eeba 117
guilhemMBED 7:278339a9eeba 118 case send_RED:
guilhemMBED 8:190a86f06a07 119 message[2]= (char)((r & HIGH)>>8);
guilhemMBED 8:190a86f06a07 120 message[3]= (char) (r & LOW);
guilhemMBED 7:278339a9eeba 121 can1.write(CANMessage(adress_color_sensor,message,4));
guilhemMBED 7:278339a9eeba 122 break;
guilhemMBED 7:278339a9eeba 123
guilhemMBED 7:278339a9eeba 124 case send_GREEN:
guilhemMBED 8:190a86f06a07 125 message[2]= (char)((g & HIGH)>>8);
guilhemMBED 8:190a86f06a07 126 message[3]= (char) (g & LOW);
guilhemMBED 7:278339a9eeba 127 can1.write(CANMessage(adress_color_sensor,message,4));
guilhemMBED 7:278339a9eeba 128 break;
guilhemMBED 7:278339a9eeba 129
guilhemMBED 7:278339a9eeba 130 case send_BLUE:
guilhemMBED 8:190a86f06a07 131 message[2]= (char)((b & HIGH)>>8);
guilhemMBED 8:190a86f06a07 132 message[3]= (char) (b & LOW);
guilhemMBED 7:278339a9eeba 133 can1.write(CANMessage(adress_color_sensor,message,4));
guilhemMBED 7:278339a9eeba 134 break;
guilhemMBED 7:278339a9eeba 135
guilhemMBED 7:278339a9eeba 136 case send_PROXIMITY:
guilhemMBED 7:278339a9eeba 137 message[2] = a ;
guilhemMBED 7:278339a9eeba 138 can1.write(CANMessage(adress_color_sensor,message,3));
guilhemMBED 7:278339a9eeba 139 break;
guilhemMBED 7:278339a9eeba 140
guilhemMBED 7:278339a9eeba 141 case send_COLOR:
guilhemMBED 7:278339a9eeba 142 message[2]=color;
guilhemMBED 7:278339a9eeba 143 can1.write(CANMessage(adress_color_sensor,message,3));
guilhemMBED 7:278339a9eeba 144 break;
guilhemMBED 7:278339a9eeba 145
guilhemMBED 7:278339a9eeba 146 case setup_LED:
guilhemMBED 10:6c00fc4555fd 147 LED.write(msg.data[2]/258.0);
guilhemMBED 7:278339a9eeba 148 break;
guilhemMBED 8:190a86f06a07 149
guilhemMBED 7:278339a9eeba 150 case setup_PROXIMITY_THRESHOLD :
guilhemMBED 7:278339a9eeba 151 proximity_tresh = msg.data[2];
guilhemMBED 7:278339a9eeba 152 break;
guilhemMBED 7:278339a9eeba 153 }
guilhemMBED 6:9aeb18bebe85 154 }
guilhemMBED 6:9aeb18bebe85 155 }
guilhemMBED 5:7a63cb7ec666 156 }
guilhemMBED 1:7cd9426abb58 157 }