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Capt_couleur_smart
Prg du capteur de couleur avec liaison série et CAN Programme non testé
main.cpp@5:b91bf2db2ea8, 2022-01-14 (annotated)
- Committer:
- loicmnt
- Date:
- Fri Jan 14 23:22:09 2022 +0000
- Revision:
- 5:b91bf2db2ea8
- Parent:
- 4:6212d7723c16
Il manque la partie Enable/Disable output de la liaison serie
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
guilhemMBED | 0:37ba45bb0099 | 1 | #include "mbed.h" |
guilhemMBED | 0:37ba45bb0099 | 2 | #include "glibr.h" |
guilhemMBED | 0:37ba45bb0099 | 3 | |
guilhemMBED | 3:96e8e5affaad | 4 | #define SR 1 // 0 = CAN | 1 = serie |
loicmnt | 4:6212d7723c16 | 5 | #define DEBUG_COM 0 // 0 = pas de debug | 1 = print de toutes les tramme serie recue et envoyées |
loicmnt | 4:6212d7723c16 | 6 | #define DEBUG_SENS 0 // 0 = pas de debug | 1 = print de la couleur (fait pour tester le capteur en lui même) |
guilhemMBED | 3:96e8e5affaad | 7 | |
guilhemMBED | 3:96e8e5affaad | 8 | #if ((DEBUG_COM==1)||(DEBUG_SENS==1)) |
guilhemMBED | 3:96e8e5affaad | 9 | #define DEBUG_GENERAL 1 |
guilhemMBED | 3:96e8e5affaad | 10 | #else |
guilhemMBED | 3:96e8e5affaad | 11 | #define DEBUG_GENERAL 0 |
guilhemMBED | 3:96e8e5affaad | 12 | #endif |
guilhemMBED | 3:96e8e5affaad | 13 | |
guilhemMBED | 3:96e8e5affaad | 14 | #if (SR==0) |
guilhemMBED | 3:96e8e5affaad | 15 | #define OFFSET_DATA 2 // format CAN |
guilhemMBED | 3:96e8e5affaad | 16 | #else |
guilhemMBED | 3:96e8e5affaad | 17 | #define OFFSET_DATA 7 // format SR |
guilhemMBED | 3:96e8e5affaad | 18 | #endif |
guilhemMBED | 0:37ba45bb0099 | 19 | |
guilhemMBED | 0:37ba45bb0099 | 20 | // Adress |
loicmnt | 5:b91bf2db2ea8 | 21 | #define data_adress_sensor 0x01 // pID specifique a chaque capteur (between 0x00 and 0xFD) |
guilhemMBED | 3:96e8e5affaad | 22 | #define data_adress_general 0xFF // pID génerale pour communiquer avec tout les capteurs |
guilhemMBED | 3:96e8e5affaad | 23 | #define adress_color_sensor 0x4B0 // CAN ID pareil pour tout les capteur (seulement pour le CAN) |
guilhemMBED | 0:37ba45bb0099 | 24 | |
guilhemMBED | 0:37ba45bb0099 | 25 | // Request commands |
guilhemMBED | 0:37ba45bb0099 | 26 | #define send_RGB 0x00 |
guilhemMBED | 0:37ba45bb0099 | 27 | #define send_RED 0x01 |
guilhemMBED | 0:37ba45bb0099 | 28 | #define send_GREEN 0x02 |
guilhemMBED | 0:37ba45bb0099 | 29 | #define send_BLUE 0x03 |
guilhemMBED | 0:37ba45bb0099 | 30 | #define send_PROXIMITY 0x04 |
guilhemMBED | 0:37ba45bb0099 | 31 | #define send_COLOR 0x05 |
guilhemMBED | 0:37ba45bb0099 | 32 | |
guilhemMBED | 0:37ba45bb0099 | 33 | // Setup commands |
guilhemMBED | 0:37ba45bb0099 | 34 | #define setup_LED 0x08 |
guilhemMBED | 0:37ba45bb0099 | 35 | #define setup_PROXIMITY_THRESHOLD 0x09 |
guilhemMBED | 0:37ba45bb0099 | 36 | |
guilhemMBED | 0:37ba45bb0099 | 37 | // Masks |
guilhemMBED | 0:37ba45bb0099 | 38 | #define HIGH 0xFF00 |
guilhemMBED | 0:37ba45bb0099 | 39 | #define LOW 0x00FF |
guilhemMBED | 0:37ba45bb0099 | 40 | |
guilhemMBED | 0:37ba45bb0099 | 41 | // Buffer |
guilhemMBED | 0:37ba45bb0099 | 42 | #define CAN_MAX 256 |
guilhemMBED | 0:37ba45bb0099 | 43 | #define SR_MAX 1024 |
guilhemMBED | 0:37ba45bb0099 | 44 | |
guilhemMBED | 0:37ba45bb0099 | 45 | Serial USB_link(USBTX, USBRX); // USB initialization |
guilhemMBED | 3:96e8e5affaad | 46 | RawSerial sr(PA_9,PA_10); // SR: PA_9 = TX ; PA_10 = RX |
guilhemMBED | 3:96e8e5affaad | 47 | glibr capt1(PB_7,PB_6); // I²C initialization : PB_7 = SDA ; PB_6 = SCL |
guilhemMBED | 0:37ba45bb0099 | 48 | CAN can(PA_11, PA_12); |
guilhemMBED | 3:96e8e5affaad | 49 | PwmOut LED(D9); |
loicmnt | 4:6212d7723c16 | 50 | DigitalIn srTx(PA_9, PullUp); |
guilhemMBED | 0:37ba45bb0099 | 51 | |
guilhemMBED | 0:37ba45bb0099 | 52 | // Buffer CAN |
guilhemMBED | 0:37ba45bb0099 | 53 | CANMessage canBuffer[CAN_MAX]; |
guilhemMBED | 0:37ba45bb0099 | 54 | int canRempli = 0; |
guilhemMBED | 0:37ba45bb0099 | 55 | int canVide = 0; |
guilhemMBED | 0:37ba45bb0099 | 56 | int canPerdu = 0; |
guilhemMBED | 0:37ba45bb0099 | 57 | |
guilhemMBED | 0:37ba45bb0099 | 58 | //Buffer SR |
guilhemMBED | 0:37ba45bb0099 | 59 | uint8_t srBuffer[SR_MAX]; |
guilhemMBED | 0:37ba45bb0099 | 60 | int srRempli = 0; |
guilhemMBED | 0:37ba45bb0099 | 61 | int srVide = 0; |
guilhemMBED | 0:37ba45bb0099 | 62 | int srPerdu = 0; |
guilhemMBED | 0:37ba45bb0099 | 63 | |
guilhemMBED | 0:37ba45bb0099 | 64 | // traitement tramme SR |
guilhemMBED | 0:37ba45bb0099 | 65 | int etatSR = 0; |
guilhemMBED | 0:37ba45bb0099 | 66 | uint8_t checksumSR1 = 0,checksumSR2 = 0,calc_checksumSR1=0,calc_checksumSR2=0; |
guilhemMBED | 0:37ba45bb0099 | 67 | uint8_t lenSR = 0, idSR,cmdSR, dataSR=0; |
guilhemMBED | 0:37ba45bb0099 | 68 | |
guilhemMBED | 0:37ba45bb0099 | 69 | // tramme retour |
guilhemMBED | 3:96e8e5affaad | 70 | char message[15], Len; |
guilhemMBED | 3:96e8e5affaad | 71 | int DataLen = 0; |
guilhemMBED | 0:37ba45bb0099 | 72 | |
guilhemMBED | 0:37ba45bb0099 | 73 | // capteur et traitement |
guilhemMBED | 0:37ba45bb0099 | 74 | uint16_t r,g,b ; // RGB values in 2 bytes |
guilhemMBED | 0:37ba45bb0099 | 75 | uint8_t a ; // proximity value in 1 byte |
guilhemMBED | 0:37ba45bb0099 | 76 | char proximity_tresh = 250, color; |
guilhemMBED | 0:37ba45bb0099 | 77 | char state; |
guilhemMBED | 0:37ba45bb0099 | 78 | |
guilhemMBED | 3:96e8e5affaad | 79 | // PROTOTYPE DE FONCTIONS // |
guilhemMBED | 3:96e8e5affaad | 80 | /** Fonction initialisant les fréquence et le capteur APDS9960 |
guilhemMBED | 3:96e8e5affaad | 81 | * @return true si pas d'erreur, false sinon |
guilhemMBED | 3:96e8e5affaad | 82 | */ |
guilhemMBED | 1:93f012c817ba | 83 | bool initialization(void); |
guilhemMBED | 1:93f012c817ba | 84 | |
guilhemMBED | 3:96e8e5affaad | 85 | /** Fonction récéptionnant la tramme serie |
guilhemMBED | 3:96e8e5affaad | 86 | * et la stockant dans un buffer en attendant traitement |
guilhemMBED | 3:96e8e5affaad | 87 | */ |
guilhemMBED | 0:37ba45bb0099 | 88 | void srRead(); |
guilhemMBED | 0:37ba45bb0099 | 89 | |
guilhemMBED | 3:96e8e5affaad | 90 | /** Fonction decryptant la tramme serie recue dans le buffer |
guilhemMBED | 3:96e8e5affaad | 91 | */ |
guilhemMBED | 0:37ba45bb0099 | 92 | void srTraitement(); |
guilhemMBED | 0:37ba45bb0099 | 93 | |
guilhemMBED | 3:96e8e5affaad | 94 | /** Fonction receptionnant les messaages CAN dans un Buffer |
guilhemMBED | 3:96e8e5affaad | 95 | */ |
guilhemMBED | 3:96e8e5affaad | 96 | void canRead(); |
guilhemMBED | 0:37ba45bb0099 | 97 | |
guilhemMBED | 3:96e8e5affaad | 98 | /** Fonction traitant le message et envoyant la reponse au format herkulex ou en simple message can |
guilhemMBED | 3:96e8e5affaad | 99 | * @param commande : la commande du message recu (voir table com) |
guilhemMBED | 3:96e8e5affaad | 100 | * @param data : la data du message recu si il y en a |
guilhemMBED | 3:96e8e5affaad | 101 | */ |
guilhemMBED | 3:96e8e5affaad | 102 | void envoi(char commande, char data); |
guilhemMBED | 0:37ba45bb0099 | 103 | |
guilhemMBED | 3:96e8e5affaad | 104 | |
guilhemMBED | 0:37ba45bb0099 | 105 | |
loicmnt | 4:6212d7723c16 | 106 | |
loicmnt | 4:6212d7723c16 | 107 | |
loicmnt | 4:6212d7723c16 | 108 | |
guilhemMBED | 1:93f012c817ba | 109 | bool initialization(void) |
guilhemMBED | 1:93f012c817ba | 110 | { |
guilhemMBED | 3:96e8e5affaad | 111 | #if DEBUG_GENERAL |
guilhemMBED | 1:93f012c817ba | 112 | // baud init |
guilhemMBED | 1:93f012c817ba | 113 | USB_link.baud(115200); |
guilhemMBED | 3:96e8e5affaad | 114 | #endif |
guilhemMBED | 3:96e8e5affaad | 115 | |
guilhemMBED | 1:93f012c817ba | 116 | can.frequency(1000000); |
guilhemMBED | 3:96e8e5affaad | 117 | sr.baud(115200); |
guilhemMBED | 1:93f012c817ba | 118 | |
guilhemMBED | 1:93f012c817ba | 119 | // LED init |
guilhemMBED | 1:93f012c817ba | 120 | LED.period_ms(10); |
guilhemMBED | 3:96e8e5affaad | 121 | LED.write(0.5); |
guilhemMBED | 1:93f012c817ba | 122 | |
guilhemMBED | 1:93f012c817ba | 123 | // Sensor init |
guilhemMBED | 1:93f012c817ba | 124 | if( (capt1.ginit()) && (capt1.enableLightSensor(true)) && (capt1.enableProximitySensor(true)) ) { |
guilhemMBED | 1:93f012c817ba | 125 | return true; |
guilhemMBED | 1:93f012c817ba | 126 | } else { |
guilhemMBED | 1:93f012c817ba | 127 | return false; |
guilhemMBED | 1:93f012c817ba | 128 | } |
guilhemMBED | 1:93f012c817ba | 129 | } |
guilhemMBED | 0:37ba45bb0099 | 130 | |
loicmnt | 4:6212d7723c16 | 131 | |
loicmnt | 4:6212d7723c16 | 132 | int main() |
loicmnt | 4:6212d7723c16 | 133 | { |
loicmnt | 4:6212d7723c16 | 134 | #if DEBUG_GENERAL |
loicmnt | 4:6212d7723c16 | 135 | if (initialization()) USB_link.printf("Init finie\r\n"); |
loicmnt | 4:6212d7723c16 | 136 | else USB_link.printf("Erreur pendant l'init\r\n"); |
loicmnt | 4:6212d7723c16 | 137 | #else |
loicmnt | 4:6212d7723c16 | 138 | initialization(); |
loicmnt | 4:6212d7723c16 | 139 | #endif |
loicmnt | 4:6212d7723c16 | 140 | |
loicmnt | 4:6212d7723c16 | 141 | if(SR==0) { // liaison CAN selectionné |
loicmnt | 4:6212d7723c16 | 142 | #if DEBUG_COM |
loicmnt | 4:6212d7723c16 | 143 | int adColor = adress_color_sensor; |
loicmnt | 4:6212d7723c16 | 144 | int adSensor = data_adress_sensor; |
loicmnt | 4:6212d7723c16 | 145 | USB_link.printf("type de com : CAN\r\n"); |
loicmnt | 4:6212d7723c16 | 146 | USB_link.printf("ID can : %03X\r\ndata ID : %02X\r\n", adColor, adSensor); |
loicmnt | 4:6212d7723c16 | 147 | #endif |
loicmnt | 4:6212d7723c16 | 148 | can.attach(canRead); |
loicmnt | 4:6212d7723c16 | 149 | // le premier octet est toujours pareil |
loicmnt | 4:6212d7723c16 | 150 | message[0] = data_adress_sensor; |
loicmnt | 4:6212d7723c16 | 151 | |
loicmnt | 4:6212d7723c16 | 152 | } |
loicmnt | 4:6212d7723c16 | 153 | else if (SR==1) { // liaison Serie selectionnée |
loicmnt | 4:6212d7723c16 | 154 | #if DEBUG_COM |
loicmnt | 4:6212d7723c16 | 155 | USB_link.printf("type de com : Serie\r\n"); |
loicmnt | 4:6212d7723c16 | 156 | USB_link.printf("Id : %x\r\n",data_adress_sensor); |
loicmnt | 4:6212d7723c16 | 157 | #endif |
loicmnt | 4:6212d7723c16 | 158 | sr.attach(&srRead); |
loicmnt | 4:6212d7723c16 | 159 | // octets toujours pareil : |
loicmnt | 4:6212d7723c16 | 160 | message[0]=0xff; // Start of packet |
loicmnt | 4:6212d7723c16 | 161 | message[1]=0xff; |
loicmnt | 4:6212d7723c16 | 162 | message[3]= data_adress_sensor; // pID |
loicmnt | 4:6212d7723c16 | 163 | } |
loicmnt | 4:6212d7723c16 | 164 | |
loicmnt | 4:6212d7723c16 | 165 | while(1) { |
loicmnt | 4:6212d7723c16 | 166 | |
loicmnt | 4:6212d7723c16 | 167 | // acquisition capteurs // |
loicmnt | 4:6212d7723c16 | 168 | capt1.readRedLight(r); |
loicmnt | 4:6212d7723c16 | 169 | capt1.readGreenLight(g); |
loicmnt | 4:6212d7723c16 | 170 | capt1.readBlueLight(b); |
loicmnt | 4:6212d7723c16 | 171 | capt1.readProximity(a); |
loicmnt | 4:6212d7723c16 | 172 | |
loicmnt | 4:6212d7723c16 | 173 | // calcul couleur // |
loicmnt | 4:6212d7723c16 | 174 | if (a<proximity_tresh) { |
loicmnt | 4:6212d7723c16 | 175 | color = 0 ; // 0 Rien |
loicmnt | 4:6212d7723c16 | 176 | } |
loicmnt | 4:6212d7723c16 | 177 | else if ((r > g )&&(r > b )) { |
loicmnt | 4:6212d7723c16 | 178 | color = 1 ; // 1 rouge |
loicmnt | 4:6212d7723c16 | 179 | } |
loicmnt | 4:6212d7723c16 | 180 | else if ((g > r )&&(g > b )) { |
loicmnt | 4:6212d7723c16 | 181 | color = 2 ; // 2 vert |
loicmnt | 4:6212d7723c16 | 182 | } |
loicmnt | 4:6212d7723c16 | 183 | else if ((b > r )&&(b > g )) { |
loicmnt | 4:6212d7723c16 | 184 | color = 3 ; // 3 bleu |
loicmnt | 4:6212d7723c16 | 185 | } |
loicmnt | 4:6212d7723c16 | 186 | else { |
loicmnt | 4:6212d7723c16 | 187 | color = 4 ; // 4 noir ou blanc |
loicmnt | 4:6212d7723c16 | 188 | } |
loicmnt | 4:6212d7723c16 | 189 | #if DEBUG_SENS |
loicmnt | 4:6212d7723c16 | 190 | USB_link.printf("rouge : %x, vert : %x, bleu : %x ",r, g, b); |
loicmnt | 4:6212d7723c16 | 191 | USB_link.printf("color : %x \r\n", color); |
loicmnt | 4:6212d7723c16 | 192 | USB_link.printf("color : %hu \r\n", color); |
loicmnt | 4:6212d7723c16 | 193 | wait(0.5); |
loicmnt | 4:6212d7723c16 | 194 | #endif |
loicmnt | 4:6212d7723c16 | 195 | |
loicmnt | 4:6212d7723c16 | 196 | |
loicmnt | 4:6212d7723c16 | 197 | // liaison CAN // |
loicmnt | 4:6212d7723c16 | 198 | if (canRempli != canVide) { // si le buffer CAN n'est pas vide |
loicmnt | 4:6212d7723c16 | 199 | canVide++; |
loicmnt | 4:6212d7723c16 | 200 | if (canVide == CAN_MAX) canVide = 0; |
loicmnt | 4:6212d7723c16 | 201 | if ((canBuffer[canRempli-1].id==adress_color_sensor)&((canBuffer[canRempli-1].data[0]==data_adress_general)|(canBuffer[canRempli-1].data[0]==data_adress_sensor))) { |
loicmnt | 4:6212d7723c16 | 202 | if (canBuffer[canRempli-1].len==3){ |
loicmnt | 4:6212d7723c16 | 203 | envoi(canBuffer[canRempli-1].data[1],canBuffer[canRempli-1].data[2]); |
loicmnt | 4:6212d7723c16 | 204 | } else { |
loicmnt | 4:6212d7723c16 | 205 | envoi(canBuffer[canRempli-1].data[1],0); |
loicmnt | 4:6212d7723c16 | 206 | } |
loicmnt | 4:6212d7723c16 | 207 | } |
loicmnt | 4:6212d7723c16 | 208 | } |
loicmnt | 4:6212d7723c16 | 209 | |
loicmnt | 4:6212d7723c16 | 210 | // liaison serie // |
loicmnt | 4:6212d7723c16 | 211 | if (srRempli != srVide) { // si le buffer serie n'est pas vide |
loicmnt | 4:6212d7723c16 | 212 | srTraitement(); // traitement de la tramme sr |
loicmnt | 4:6212d7723c16 | 213 | } |
loicmnt | 4:6212d7723c16 | 214 | } |
loicmnt | 4:6212d7723c16 | 215 | } |
loicmnt | 4:6212d7723c16 | 216 | |
loicmnt | 4:6212d7723c16 | 217 | |
guilhemMBED | 0:37ba45bb0099 | 218 | void srRead() |
guilhemMBED | 0:37ba45bb0099 | 219 | { |
guilhemMBED | 3:96e8e5affaad | 220 | srBuffer[srRempli++] = sr.getc(); //stockage nouvel octet dans le buffer |
guilhemMBED | 0:37ba45bb0099 | 221 | if (srRempli==SR_MAX) srRempli = 0; // on recommence au debut du tableau si le max est atteint |
guilhemMBED | 0:37ba45bb0099 | 222 | |
guilhemMBED | 0:37ba45bb0099 | 223 | |
guilhemMBED | 0:37ba45bb0099 | 224 | if (srRempli == srVide) { // buffer plein on perd un caractère (le premier recu) |
guilhemMBED | 0:37ba45bb0099 | 225 | srVide++; // le message commence donc un octet plus tard |
guilhemMBED | 0:37ba45bb0099 | 226 | if (srVide == SR_MAX) srVide = 0; // on recommence au debut du tableau si le max est atteint |
guilhemMBED | 0:37ba45bb0099 | 227 | |
guilhemMBED | 0:37ba45bb0099 | 228 | srPerdu++; // mise en memoire : un message perdu |
guilhemMBED | 0:37ba45bb0099 | 229 | } |
guilhemMBED | 0:37ba45bb0099 | 230 | } |
guilhemMBED | 0:37ba45bb0099 | 231 | |
guilhemMBED | 0:37ba45bb0099 | 232 | void srTraitement() |
guilhemMBED | 0:37ba45bb0099 | 233 | { |
guilhemMBED | 0:37ba45bb0099 | 234 | uint8_t c = srBuffer[srVide++]; // c prends la valeur d'un octet de la tramme |
guilhemMBED | 0:37ba45bb0099 | 235 | if (srVide == SR_MAX) srVide = 0; // on recommence au debut du tableau si le max est atteint |
guilhemMBED | 3:96e8e5affaad | 236 | #if DEBUG_COM |
guilhemMBED | 3:96e8e5affaad | 237 | USB_link.printf("etat : %d recu : %x\r\n",etatSR,c); |
guilhemMBED | 3:96e8e5affaad | 238 | #endif |
guilhemMBED | 0:37ba45bb0099 | 239 | switch (etatSR) { |
guilhemMBED | 0:37ba45bb0099 | 240 | case 0: // Verification premier octet header (FF) |
guilhemMBED | 0:37ba45bb0099 | 241 | if (c==0xFF) { |
guilhemMBED | 0:37ba45bb0099 | 242 | etatSR = 1; |
guilhemMBED | 0:37ba45bb0099 | 243 | } |
guilhemMBED | 0:37ba45bb0099 | 244 | break; |
guilhemMBED | 0:37ba45bb0099 | 245 | case 1: // Verification dexième octet header (FF) |
loicmnt | 4:6212d7723c16 | 246 | calc_checksumSR1 = 0; |
guilhemMBED | 0:37ba45bb0099 | 247 | if (c==0xFF) { |
guilhemMBED | 0:37ba45bb0099 | 248 | etatSR = 2; |
guilhemMBED | 0:37ba45bb0099 | 249 | } else { |
guilhemMBED | 0:37ba45bb0099 | 250 | etatSR = 0; |
guilhemMBED | 0:37ba45bb0099 | 251 | } |
guilhemMBED | 0:37ba45bb0099 | 252 | break; |
guilhemMBED | 0:37ba45bb0099 | 253 | case 2: // traitement octet Packet Size |
guilhemMBED | 3:96e8e5affaad | 254 | calc_checksumSR1 ^= c; |
guilhemMBED | 0:37ba45bb0099 | 255 | lenSR=c; |
guilhemMBED | 0:37ba45bb0099 | 256 | if (lenSR<7) etatSR =0; //impossible |
guilhemMBED | 0:37ba45bb0099 | 257 | else etatSR = 3; |
guilhemMBED | 0:37ba45bb0099 | 258 | break; |
guilhemMBED | 0:37ba45bb0099 | 259 | case 3: // traitement octet ID |
guilhemMBED | 3:96e8e5affaad | 260 | calc_checksumSR1 ^= c; |
guilhemMBED | 0:37ba45bb0099 | 261 | idSR = c; |
guilhemMBED | 0:37ba45bb0099 | 262 | if (idSR!= data_adress_sensor) etatSR =0; //le capteur n'est pas concerné |
guilhemMBED | 0:37ba45bb0099 | 263 | else etatSR = 4; |
guilhemMBED | 0:37ba45bb0099 | 264 | break; |
guilhemMBED | 0:37ba45bb0099 | 265 | case 4: // traitement octet CMD |
guilhemMBED | 3:96e8e5affaad | 266 | calc_checksumSR1 ^= c; |
guilhemMBED | 0:37ba45bb0099 | 267 | cmdSR = c; |
guilhemMBED | 0:37ba45bb0099 | 268 | etatSR = 5; |
guilhemMBED | 0:37ba45bb0099 | 269 | break; |
guilhemMBED | 0:37ba45bb0099 | 270 | case 5: // traitement octet checkSum1 |
guilhemMBED | 0:37ba45bb0099 | 271 | checksumSR1 = c; |
guilhemMBED | 0:37ba45bb0099 | 272 | etatSR = 6; |
guilhemMBED | 0:37ba45bb0099 | 273 | break; |
guilhemMBED | 0:37ba45bb0099 | 274 | case 6: // traitement octet checkSum2 |
guilhemMBED | 0:37ba45bb0099 | 275 | checksumSR2 = c; |
guilhemMBED | 0:37ba45bb0099 | 276 | if (lenSR>7) { |
guilhemMBED | 0:37ba45bb0099 | 277 | etatSR =7;// si le message comporte des datas |
guilhemMBED | 0:37ba45bb0099 | 278 | } else { |
guilhemMBED | 0:37ba45bb0099 | 279 | dataSR = 0x00; |
guilhemMBED | 0:37ba45bb0099 | 280 | etatSR=8; |
guilhemMBED | 0:37ba45bb0099 | 281 | } |
guilhemMBED | 0:37ba45bb0099 | 282 | break; |
guilhemMBED | 0:37ba45bb0099 | 283 | case 7: // octet data (un seul octet dans notre cas) |
guilhemMBED | 3:96e8e5affaad | 284 | calc_checksumSR1 ^= c; |
guilhemMBED | 0:37ba45bb0099 | 285 | dataSR=c; |
guilhemMBED | 0:37ba45bb0099 | 286 | etatSR =8; |
guilhemMBED | 0:37ba45bb0099 | 287 | break; |
guilhemMBED | 0:37ba45bb0099 | 288 | } |
guilhemMBED | 3:96e8e5affaad | 289 | if (etatSR==8){// verification des checksum et envoi |
guilhemMBED | 3:96e8e5affaad | 290 | calc_checksumSR1 &=0xFE ; |
loicmnt | 4:6212d7723c16 | 291 | calc_checksumSR2 = (~calc_checksumSR1) & 0xFE; |
guilhemMBED | 3:96e8e5affaad | 292 | etatSR = 0; |
guilhemMBED | 3:96e8e5affaad | 293 | if ((checksumSR1 == calc_checksumSR1) && (checksumSR2 == calc_checksumSR2)) { // Verification validité de la tramme |
guilhemMBED | 3:96e8e5affaad | 294 | envoi(cmdSR,dataSR);// dataSR ne sera utilise que dans les cas de setup |
guilhemMBED | 3:96e8e5affaad | 295 | } |
guilhemMBED | 0:37ba45bb0099 | 296 | } |
guilhemMBED | 0:37ba45bb0099 | 297 | } |
guilhemMBED | 0:37ba45bb0099 | 298 | |
guilhemMBED | 0:37ba45bb0099 | 299 | void canRead() |
guilhemMBED | 0:37ba45bb0099 | 300 | { |
guilhemMBED | 0:37ba45bb0099 | 301 | can.read(canBuffer[canRempli++]); |
guilhemMBED | 0:37ba45bb0099 | 302 | if (canRempli==CAN_MAX) { |
guilhemMBED | 0:37ba45bb0099 | 303 | canRempli = 0; |
guilhemMBED | 0:37ba45bb0099 | 304 | } |
guilhemMBED | 0:37ba45bb0099 | 305 | if (canRempli == canVide) { // buffer plein on perd un message |
guilhemMBED | 0:37ba45bb0099 | 306 | canVide++; |
guilhemMBED | 0:37ba45bb0099 | 307 | if (canVide == CAN_MAX) canVide = 0; |
guilhemMBED | 0:37ba45bb0099 | 308 | canPerdu++; |
guilhemMBED | 0:37ba45bb0099 | 309 | } |
guilhemMBED | 0:37ba45bb0099 | 310 | } |
guilhemMBED | 0:37ba45bb0099 | 311 | |
guilhemMBED | 3:96e8e5affaad | 312 | void envoi(char commande, char data) |
guilhemMBED | 0:37ba45bb0099 | 313 | { |
loicmnt | 4:6212d7723c16 | 314 | #if SR==0 // mode CAN |
loicmnt | 4:6212d7723c16 | 315 | message[1]=commande+0x40; // CMD (doc) |
loicmnt | 4:6212d7723c16 | 316 | #endif |
loicmnt | 4:6212d7723c16 | 317 | |
guilhemMBED | 3:96e8e5affaad | 318 | // Preparation des datas // |
guilhemMBED | 3:96e8e5affaad | 319 | switch (commande) { |
guilhemMBED | 0:37ba45bb0099 | 320 | case send_RGB: |
guilhemMBED | 3:96e8e5affaad | 321 | message[OFFSET_DATA+0] = (char)((r & HIGH)>>8); // data |
guilhemMBED | 3:96e8e5affaad | 322 | message[OFFSET_DATA+1] = (char) (r & LOW); |
guilhemMBED | 3:96e8e5affaad | 323 | message[OFFSET_DATA+2] = (char)((g & HIGH)>>8); |
guilhemMBED | 3:96e8e5affaad | 324 | message[OFFSET_DATA+3] = (char) (g & LOW); |
loicmnt | 4:6212d7723c16 | 325 | message[OFFSET_DATA+4] = (char)((b & HIGH)>>8); |
loicmnt | 4:6212d7723c16 | 326 | message[OFFSET_DATA+5] = (char) (b & LOW); |
loicmnt | 4:6212d7723c16 | 327 | DataLen=6; |
guilhemMBED | 0:37ba45bb0099 | 328 | break; |
guilhemMBED | 0:37ba45bb0099 | 329 | |
guilhemMBED | 0:37ba45bb0099 | 330 | case send_RED: |
guilhemMBED | 3:96e8e5affaad | 331 | message[OFFSET_DATA+0]= (char)((r & HIGH)>>8); |
guilhemMBED | 3:96e8e5affaad | 332 | message[OFFSET_DATA+1]= (char) (r & LOW); |
guilhemMBED | 3:96e8e5affaad | 333 | DataLen=2; |
guilhemMBED | 0:37ba45bb0099 | 334 | break; |
guilhemMBED | 0:37ba45bb0099 | 335 | |
guilhemMBED | 0:37ba45bb0099 | 336 | case send_GREEN: |
guilhemMBED | 3:96e8e5affaad | 337 | message[OFFSET_DATA+0]= (char)((g & HIGH)>>8); |
guilhemMBED | 3:96e8e5affaad | 338 | message[OFFSET_DATA+1]= (char) (g & LOW); |
guilhemMBED | 3:96e8e5affaad | 339 | DataLen=2; |
guilhemMBED | 0:37ba45bb0099 | 340 | break; |
guilhemMBED | 0:37ba45bb0099 | 341 | |
guilhemMBED | 0:37ba45bb0099 | 342 | case send_BLUE: |
guilhemMBED | 3:96e8e5affaad | 343 | message[OFFSET_DATA+0]= (char)((b & HIGH)>>8); |
guilhemMBED | 3:96e8e5affaad | 344 | message[OFFSET_DATA+1]= (char) (b & LOW); |
guilhemMBED | 3:96e8e5affaad | 345 | DataLen=2; |
guilhemMBED | 0:37ba45bb0099 | 346 | break; |
guilhemMBED | 0:37ba45bb0099 | 347 | |
guilhemMBED | 0:37ba45bb0099 | 348 | case send_PROXIMITY: |
guilhemMBED | 3:96e8e5affaad | 349 | message[OFFSET_DATA+0] = (char) a ; |
guilhemMBED | 3:96e8e5affaad | 350 | DataLen=1; |
guilhemMBED | 0:37ba45bb0099 | 351 | break; |
guilhemMBED | 0:37ba45bb0099 | 352 | |
guilhemMBED | 0:37ba45bb0099 | 353 | case send_COLOR: |
loicmnt | 4:6212d7723c16 | 354 | message[OFFSET_DATA+0] = color; |
guilhemMBED | 3:96e8e5affaad | 355 | DataLen=1; |
guilhemMBED | 0:37ba45bb0099 | 356 | break; |
guilhemMBED | 0:37ba45bb0099 | 357 | |
guilhemMBED | 0:37ba45bb0099 | 358 | case setup_LED: |
loicmnt | 4:6212d7723c16 | 359 | LED.write(data/255.0); // a modifier : ON/OFF seulement |
guilhemMBED | 3:96e8e5affaad | 360 | DataLen=0; |
guilhemMBED | 0:37ba45bb0099 | 361 | break; |
guilhemMBED | 0:37ba45bb0099 | 362 | |
guilhemMBED | 0:37ba45bb0099 | 363 | case setup_PROXIMITY_THRESHOLD : |
guilhemMBED | 3:96e8e5affaad | 364 | proximity_tresh = data; |
guilhemMBED | 3:96e8e5affaad | 365 | DataLen=0; |
guilhemMBED | 0:37ba45bb0099 | 366 | break; |
guilhemMBED | 0:37ba45bb0099 | 367 | } |
guilhemMBED | 0:37ba45bb0099 | 368 | |
guilhemMBED | 3:96e8e5affaad | 369 | Len = DataLen+OFFSET_DATA;//calcul longueur msg |
guilhemMBED | 3:96e8e5affaad | 370 | |
guilhemMBED | 3:96e8e5affaad | 371 | |
guilhemMBED | 3:96e8e5affaad | 372 | #if SR==1 // format SR // |
guilhemMBED | 3:96e8e5affaad | 373 | message[2]= Len; |
loicmnt | 4:6212d7723c16 | 374 | message[4]=commande+0x40; // CMD (doc) |
loicmnt | 4:6212d7723c16 | 375 | int j; |
guilhemMBED | 3:96e8e5affaad | 376 | // calcul des checksums // |
loicmnt | 4:6212d7723c16 | 377 | message[5]=0; // checksum1 |
loicmnt | 4:6212d7723c16 | 378 | for(j=2; j<message[2]; j++) { |
guilhemMBED | 3:96e8e5affaad | 379 | if ((j!=5)&&(j!=6)) message[5] ^= message[j]; |
guilhemMBED | 0:37ba45bb0099 | 380 | } |
guilhemMBED | 3:96e8e5affaad | 381 | message[5] &= 0xFE; // checksum1 |
loicmnt | 4:6212d7723c16 | 382 | message[6] = (~message[5]) & 0xFE;//checksum2 |
guilhemMBED | 3:96e8e5affaad | 383 | |
guilhemMBED | 3:96e8e5affaad | 384 | // envoi // |
guilhemMBED | 3:96e8e5affaad | 385 | //sr.enable_output(true); |
guilhemMBED | 3:96e8e5affaad | 386 | for (j=0; j<message[2]; j++) { |
guilhemMBED | 3:96e8e5affaad | 387 | while (!sr.writeable()); // attente liaison libre |
guilhemMBED | 3:96e8e5affaad | 388 | sr.putc(message[j]); // ecriture octet par octet |
guilhemMBED | 3:96e8e5affaad | 389 | wait_us(100); |
guilhemMBED | 3:96e8e5affaad | 390 | #if DEBUG_COM |
guilhemMBED | 3:96e8e5affaad | 391 | USB_link.printf("envoi : %x\r\n",message[j]); |
guilhemMBED | 3:96e8e5affaad | 392 | #endif |
guilhemMBED | 3:96e8e5affaad | 393 | } |
loicmnt | 4:6212d7723c16 | 394 | // sr.disable_output(true) |
guilhemMBED | 3:96e8e5affaad | 395 | |
guilhemMBED | 3:96e8e5affaad | 396 | #else // format CAN // |
guilhemMBED | 3:96e8e5affaad | 397 | can.write(CANMessage(adress_color_sensor,message,Len)); |
guilhemMBED | 3:96e8e5affaad | 398 | #endif |
loicmnt | 5:b91bf2db2ea8 | 399 | } |