Diff: main.cpp

Revision:

6:9aeb18bebe85

Parent:

5:7a63cb7ec666

Child:

7:278339a9eeba

--- a/main.cpp	Fri Dec 06 14:29:16 2019 +0000
+++ b/main.cpp	Fri Dec 13 16:06:03 2019 +0000
@@ -3,21 +3,26 @@
 
 Serial USB_link(USBTX, USBRX);       // USB initialization
 
-PwmOut LED(A2);                     // LED initialization
+//PwmOut LED(A2);                     // LED initialization
 
 glibr capt1(D4,D5);                // I²C initialization : D4 = SDA ; D5 = SCL
 
-//CAN can1(D0, D1);                  // CAN initialization
+CAN can1(PA_11, PA_12);                  // CAN initialization
+
+CANMessage msg;
 
 bool initialization(void)
 {
     //  USB initialization
     USB_link.baud(115200);
-    USB_link.format(8, SerialBase::None, 1);
+    USB_link.printf("Debut prog\r\n");
+
+    // CAN init
+    can1.frequency(1000000);
 
     // LED initialization
-    LED.period_ms(10);
-    LED.write(0.5);
+    // LED.period_ms(10);
+    // LED.write(0.5);
 
     // sensor initalization
     if( (capt1.ginit()) && (capt1.enableLightSensor(true)) && (capt1.enableProximitySensor(true)) ) {
@@ -29,32 +34,39 @@
 
 int main (void)
 {
+    uint16_t r,g,b;
+    uint8_t a ;
     char color;
-    uint16_t r,g,b;
-    uint8_t a;
+
     if (initialization())  USB_link.printf("Initialization complete \r\n");
     else USB_link.printf("Error during initialization\r\n");
- 
+
     while(1) {
         capt1.readRedLight(r);
         capt1.readGreenLight(g);
         capt1.readBlueLight(b);
         capt1.readProximity(a);
-       
+
         //display of red, green and proximty variables
-        USB_link.printf("r: %hu g : %hu  prox : %hu \r\n ",r,g,a);
+        //USB_link.printf("r: %hu g : %hu  prox : %hu \r\n ",r,g,a);
 
-        if (a<100) {
+        if (a<200) {
             color = 0 ;  // 0 means no object being measured
         } else if (r > g ) {
             color = 1 ;  // 1 means red
-        } else if (g > r ) {
+        } else {
             color = 2 ;  // 2 means green
         }
-        //can1.write(CANMessage(1200,&color,1));
-    
-        // USB_link.printf("color : %c", color);
+        //USB_link.printf("color : %hu \r\n", color);
+        
+        // read of the CAN 
+        if (can1.read(msg)) {    
+            // verification of the ID ( 0x4B0 )
+            if (msg.id==1200) { 
+                can1.write(CANMessage(1200,&color,1)); // writing of the color value on the CAN bus
+            }
+        }
+
     }
 
-    return 0;
 }
\ No newline at end of file