CRAC Team / Mbed 2 deprecated Capt_couleur_CAN

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Dependencies:   mbed APDS_9960

main.cpp@6:9aeb18bebe85, 2019-12-13 (annotated)

Committer:
guilhemMBED
Date:
Fri Dec 13 16:06:03 2019 +0000
Revision:
6:9aeb18bebe85
Parent:
5:7a63cb7ec666
Child:
7:278339a9eeba
CAN + capteur couleur working

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 0:eace82fb39de 4 Serial USB_link(USBTX, USBRX); // USB initialization
guilhemMBED 3:f41f244de0b3 5
guilhemMBED 6:9aeb18bebe85 6 //PwmOut LED(A2); // LED initialization
guilhemMBED 5:7a63cb7ec666 7
guilhemMBED 3:f41f244de0b3 8 glibr capt1(D4,D5); // I²C initialization : D4 = SDA ; D5 = SCL
guilhemMBED 5:7a63cb7ec666 9
guilhemMBED 6:9aeb18bebe85 10 CAN can1(PA_11, PA_12); // CAN initialization
guilhemMBED 6:9aeb18bebe85 11
guilhemMBED 6:9aeb18bebe85 12 CANMessage msg;
guilhemMBED 0:eace82fb39de 13
guilhemMBED 3:f41f244de0b3 14 bool initialization(void)
guilhemMBED 3:f41f244de0b3 15 {
guilhemMBED 3:f41f244de0b3 16 // USB initialization
guilhemMBED 3:f41f244de0b3 17 USB_link.baud(115200);
guilhemMBED 6:9aeb18bebe85 18 USB_link.printf("Debut prog\r\n");
guilhemMBED 6:9aeb18bebe85 19
guilhemMBED 6:9aeb18bebe85 20 // CAN init
guilhemMBED 6:9aeb18bebe85 21 can1.frequency(1000000);
guilhemMBED 3:f41f244de0b3 22
guilhemMBED 5:7a63cb7ec666 23 // LED initialization
guilhemMBED 6:9aeb18bebe85 24 // LED.period_ms(10);
guilhemMBED 6:9aeb18bebe85 25 // LED.write(0.5);
guilhemMBED 5:7a63cb7ec666 26
guilhemMBED 5:7a63cb7ec666 27 // sensor initalization
guilhemMBED 5:7a63cb7ec666 28 if( (capt1.ginit()) && (capt1.enableLightSensor(true)) && (capt1.enableProximitySensor(true)) ) {
guilhemMBED 3:f41f244de0b3 29 return true;
guilhemMBED 3:f41f244de0b3 30 } else {
guilhemMBED 3:f41f244de0b3 31 return false;
guilhemMBED 3:f41f244de0b3 32 }
guilhemMBED 3:f41f244de0b3 33 }
guilhemMBED 0:eace82fb39de 34
guilhemMBED 1:7cd9426abb58 35 int main (void)
guilhemMBED 1:7cd9426abb58 36 {
guilhemMBED 6:9aeb18bebe85 37 uint16_t r,g,b;
guilhemMBED 6:9aeb18bebe85 38 uint8_t a ;
guilhemMBED 5:7a63cb7ec666 39 char color;
guilhemMBED 6:9aeb18bebe85 40
guilhemMBED 5:7a63cb7ec666 41 if (initialization()) USB_link.printf("Initialization complete \r\n");
guilhemMBED 5:7a63cb7ec666 42 else USB_link.printf("Error during initialization\r\n");
guilhemMBED 6:9aeb18bebe85 43
guilhemMBED 0:eace82fb39de 44 while(1) {
guilhemMBED 5:7a63cb7ec666 45 capt1.readRedLight(r);
guilhemMBED 5:7a63cb7ec666 46 capt1.readGreenLight(g);
guilhemMBED 5:7a63cb7ec666 47 capt1.readBlueLight(b);
guilhemMBED 5:7a63cb7ec666 48 capt1.readProximity(a);
guilhemMBED 6:9aeb18bebe85 49
guilhemMBED 5:7a63cb7ec666 50 //display of red, green and proximty variables
guilhemMBED 6:9aeb18bebe85 51 //USB_link.printf("r: %hu g : %hu prox : %hu \r\n ",r,g,a);
guilhemMBED 3:f41f244de0b3 52
guilhemMBED 6:9aeb18bebe85 53 if (a<200) {
guilhemMBED 5:7a63cb7ec666 54 color = 0 ; // 0 means no object being measured
guilhemMBED 5:7a63cb7ec666 55 } else if (r > g ) {
guilhemMBED 5:7a63cb7ec666 56 color = 1 ; // 1 means red
guilhemMBED 6:9aeb18bebe85 57 } else {
guilhemMBED 5:7a63cb7ec666 58 color = 2 ; // 2 means green
guilhemMBED 5:7a63cb7ec666 59 }
guilhemMBED 6:9aeb18bebe85 60 //USB_link.printf("color : %hu \r\n", color);
guilhemMBED 6:9aeb18bebe85 61
guilhemMBED 6:9aeb18bebe85 62 // read of the CAN
guilhemMBED 6:9aeb18bebe85 63 if (can1.read(msg)) {
guilhemMBED 6:9aeb18bebe85 64 // verification of the ID ( 0x4B0 )
guilhemMBED 6:9aeb18bebe85 65 if (msg.id==1200) {
guilhemMBED 6:9aeb18bebe85 66 can1.write(CANMessage(1200,&color,1)); // writing of the color value on the CAN bus
guilhemMBED 6:9aeb18bebe85 67 }
guilhemMBED 6:9aeb18bebe85 68 }
guilhemMBED 6:9aeb18bebe85 69
guilhemMBED 5:7a63cb7ec666 70 }
guilhemMBED 3:f41f244de0b3 71
guilhemMBED 1:7cd9426abb58 72 }