Diff: main.cpp

Revision:

10:6c00fc4555fd

Parent:

8:190a86f06a07

Child:

11:9d1f00fd8f06

--- a/main.cpp	Mon Jan 06 07:58:04 2020 +0000
+++ b/main.cpp	Fri Apr 03 19:14:22 2020 +0000
@@ -4,12 +4,7 @@
 // Adress
 #define adress_color_sensor 0x4B0       // same for every sensor
 #define data_adress_general 0xFE        // will talk to every sensor
-#define data_adress_sensor  0x00        // Specific to each sensor (between 0x00 and 0xFD)
-#define data_adress_return  0xFF        // Adress used by every sensor to respond to requests
-    
-// Setup commands
-#define setup_LED 0x10
-#define setup_PROXIMITY_THRESHOLD 0x11
+#define data_adress_sensor  0x00        // Specific to each sensor (between 0x00 and 0xFD)    
 
 // Request commands
 #define send_RGB       0x00
@@ -17,7 +12,11 @@
 #define send_GREEN     0x02
 #define send_BLUE      0x03
 #define send_PROXIMITY 0x04
-#define send_COLOR     0x08
+#define send_COLOR     0x05
+
+// Setup commands
+#define setup_LED 0x08
+#define setup_PROXIMITY_THRESHOLD 0x09
 
 // Masks
 #define HIGH 0xFF00
@@ -25,14 +24,17 @@
 
 Serial USB_link(USBTX, USBRX);     // USB initialization
 
-//PwmOut LED(A2);                  // LED initialization
+PwmOut LED(D9);                   // LED initialization
 
 glibr capt1(D4,D5);                // I²C initialization : D4 = SDA ; D5 = SCL
 
 CAN can1(PA_11, PA_12);            // CAN initialization : PA_11 = RD ; PA_12 = TD
+
+
 CANMessage msg;
 
-
+RawSerial tx(PA_9, NC);
+RawSerial rx(NC, PA_10);
 
 bool initialization(void)
 {
@@ -42,10 +44,11 @@
 
     // CAN initialization
     can1.frequency(1000000);
-
+    rx.baud(115200);
+    
     // LED initialization
-    // LED.period_ms(10);
-    // LED.write(0.5);
+    LED.period_ms(10);
+    LED.write(0);
 
     // Sensor initalization
     if( (capt1.ginit()) && (capt1.enableLightSensor(true)) && (capt1.enableProximitySensor(true)) ) {
@@ -57,12 +60,11 @@
 
 int main (void)
 {
-    
+    char c;
     uint16_t r,g,b ; // RGB values in 2 bytes
     uint8_t a ;      // proximity value in 1 byte
-    char proximity_tresh = 254, color, state, message[8];   
-    message[0] = data_adress_return;        
-    message[1] = data_adress_sensor;
+    char proximity_tresh = 250, color, state, message[8];           
+    message[0] = data_adress_sensor; // (PID)
     
     if (initialization())  USB_link.printf("Initialization complete \r\n");
     else USB_link.printf("Error during initialization\r\n");
@@ -83,6 +85,12 @@
             color = 2 ;  // 2 means green
         }
         
+        // serial test :
+        if(rx.readable()){
+            c=rx.getc();
+            USB_link.printf("%c",c);
+        }
+            
         //display of red, green and proximty variables
         //USB_link.printf("r: %hu g : %hu  prox : %hu \r\n ",r,g,a);
 
@@ -96,9 +104,10 @@
             if ((msg.id==adress_color_sensor)&((msg.data[0]==data_adress_general)|(msg.data[0]==data_adress_sensor))) {
                 
                 state=msg.data[1];
+                message[1]=state+0x40; // command
                 switch (state) {
-                    case send_RGB:    
-                        message[2]= (char)((r & HIGH)>>8);
+                    case send_RGB:  
+                        message[2]= (char)((r & HIGH)>>8);  // data
                         message[3]= (char) (r & LOW);
                         message[4]= (char)((g & HIGH)>>8);
                         message[5]= (char) (g & LOW);                       
@@ -135,7 +144,7 @@
                         break;
 
                     case setup_LED:  
-                        //LED.write(msg.data[2]/258.0);
+                        LED.write(msg.data[2]/258.0);
                         break;
                         
                     case setup_PROXIMITY_THRESHOLD :