Theo Le Paih / Mbed 2 deprecated Lib_Pixy2

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Dependencies:   mbed

main.cpp@27:bee63ac9b70b, 2020-01-21 (annotated)

Committer:
theolp
Date:
Tue Jan 21 12:59:37 2020 +0000
Revision:
27:bee63ac9b70b
Parent:
26:a56cc5d715e9 
Last

Who changed what in which revision?

UserRevisionLine numberNew contents of line
theolp 22:5f76404e2cbc 1 #include "pixy2.h"
theolp 22:5f76404e2cbc 2
theolp 22:5f76404e2cbc 3 /* _DEBUG_ */
theolp 22:5f76404e2cbc 4 int sommeDeControle,sommeRecue;
theolp 27:bee63ac9b70b 5 char *ptr;
theolp 27:bee63ac9b70b 6
theolp 27:bee63ac9b70b 7 void automate_debug(T_Pixy2State &etat);
theolp 22:5f76404e2cbc 8
theolp 22:5f76404e2cbc 9 Serial pc(USBTX, USBRX, 9600);
theolp 22:5f76404e2cbc 10 /* */
theolp 22:5f76404e2cbc 11
theolp 27:bee63ac9b70b 12 typedef enum {IDLE, SND, SND_2, CHECKSUM_ERROR, TIMEOUT, OK, OK_2} T_state;
theolp 22:5f76404e2cbc 13
theolp 22:5f76404e2cbc 14 // FLAGS
theolp 27:bee63ac9b70b 15 bool FLAG_BP = false;
theolp 27:bee63ac9b70b 16 int nb_appui = 0;
theolp 22:5f76404e2cbc 17
theolp 22:5f76404e2cbc 18 // Prototypes
theolp 22:5f76404e2cbc 19 void appui_BP(void);
theolp 22:5f76404e2cbc 20
theolp 22:5f76404e2cbc 21
theolp 22:5f76404e2cbc 22 int main(void)
theolp 22:5f76404e2cbc 23 {
theolp 22:5f76404e2cbc 24 PIXY2 maPixy(PC_12, PD_2); // PC_12 : UART5_TX --- PD_2 : UART5_RX
theolp 22:5f76404e2cbc 25
theolp 27:bee63ac9b70b 26 T_pixy2Version* version;
theolp 27:bee63ac9b70b 27 T_pixy2Resolution* resolution;
theolp 22:5f76404e2cbc 28 T_pixy2ErrorCode rep;
theolp 22:5f76404e2cbc 29
theolp 22:5f76404e2cbc 30 // Initialisations
theolp 22:5f76404e2cbc 31 InterruptIn BP(USER_BUTTON);
theolp 22:5f76404e2cbc 32 BP.rise(&appui_BP);
theolp 22:5f76404e2cbc 33
theolp 22:5f76404e2cbc 34 Timer temps;
theolp 22:5f76404e2cbc 35 temps.start();
theolp 22:5f76404e2cbc 36
theolp 22:5f76404e2cbc 37 T_state etat = IDLE;
theolp 22:5f76404e2cbc 38
theolp 22:5f76404e2cbc 39 while(1) {
theolp 22:5f76404e2cbc 40
theolp 22:5f76404e2cbc 41 switch (etat) {
theolp 22:5f76404e2cbc 42 case IDLE :
theolp 27:bee63ac9b70b 43 if (FLAG_BP && nb_appui == 0) {
theolp 22:5f76404e2cbc 44 pc.printf("Envoi...\n\r");
theolp 22:5f76404e2cbc 45 etat = SND;
theolp 27:bee63ac9b70b 46 FLAG_BP = false;
theolp 22:5f76404e2cbc 47 temps.reset();
theolp 27:bee63ac9b70b 48 nb_appui += 1;
theolp 27:bee63ac9b70b 49 }
theolp 27:bee63ac9b70b 50 if (FLAG_BP && nb_appui == 1) {
theolp 27:bee63ac9b70b 51 pc.printf("Envoi...\n\r");
theolp 27:bee63ac9b70b 52 etat = SND_2;
theolp 27:bee63ac9b70b 53 FLAG_BP = false;
theolp 27:bee63ac9b70b 54 temps.reset();
theolp 27:bee63ac9b70b 55 nb_appui = 0;
theolp 22:5f76404e2cbc 56 }
theolp 22:5f76404e2cbc 57 break;
theolp 22:5f76404e2cbc 58
theolp 22:5f76404e2cbc 59 case SND :
theolp 27:bee63ac9b70b 60 rep = maPixy.pixy2_getVersion(&version);
theolp 26:a56cc5d715e9 61
theolp 22:5f76404e2cbc 62 if (rep == PIXY2_BAD_CHECKSUM) {
theolp 22:5f76404e2cbc 63 etat = CHECKSUM_ERROR;
theolp 22:5f76404e2cbc 64 }
theolp 22:5f76404e2cbc 65 if (temps.read()>0.5f) {
theolp 22:5f76404e2cbc 66 etat = TIMEOUT;
theolp 22:5f76404e2cbc 67 }
theolp 27:bee63ac9b70b 68 if (rep == PIXY2_OK) {
theolp 22:5f76404e2cbc 69 etat = OK;
theolp 22:5f76404e2cbc 70 }
theolp 22:5f76404e2cbc 71 break;
theolp 27:bee63ac9b70b 72
theolp 27:bee63ac9b70b 73 case SND_2 :
theolp 27:bee63ac9b70b 74 rep = maPixy.pixy2_getResolution(&resolution);
theolp 27:bee63ac9b70b 75
theolp 27:bee63ac9b70b 76 if (rep == PIXY2_BAD_CHECKSUM) {
theolp 27:bee63ac9b70b 77 etat = CHECKSUM_ERROR;
theolp 27:bee63ac9b70b 78 }
theolp 27:bee63ac9b70b 79 if (temps.read()>0.5f) {
theolp 27:bee63ac9b70b 80 etat = TIMEOUT;
theolp 27:bee63ac9b70b 81 }
theolp 27:bee63ac9b70b 82 if (rep == PIXY2_OK) {
theolp 27:bee63ac9b70b 83 etat = OK_2;
theolp 27:bee63ac9b70b 84 }
theolp 27:bee63ac9b70b 85 break;
theolp 22:5f76404e2cbc 86
theolp 22:5f76404e2cbc 87 case CHECKSUM_ERROR :
theolp 22:5f76404e2cbc 88 pc.printf("Erreur de CheckSum...\n\r");
theolp 22:5f76404e2cbc 89 pc.printf("CheckSum Recu : %d\n\r", sommeRecue);
theolp 22:5f76404e2cbc 90 pc.printf("CheckSum Calcule : %d\n\r", sommeDeControle);
theolp 22:5f76404e2cbc 91 etat = IDLE;
theolp 22:5f76404e2cbc 92 break;
theolp 22:5f76404e2cbc 93
theolp 22:5f76404e2cbc 94 case TIMEOUT :
theolp 27:bee63ac9b70b 95 pc.printf("Erreur Timeout...\n\rRep : %d\n\r", rep);
theolp 27:bee63ac9b70b 96 for(int i=0; i<2; ++i)
theolp 27:bee63ac9b70b 97 pc.printf("%d\n\r", *(ptr + i));
theolp 22:5f76404e2cbc 98 etat = IDLE;
theolp 22:5f76404e2cbc 99 break;
theolp 22:5f76404e2cbc 100
theolp 22:5f76404e2cbc 101 case OK :
theolp 27:bee63ac9b70b 102 pc.printf("Version de la camera : %s\n\r", version->pixHFString);
theolp 27:bee63ac9b70b 103 etat = IDLE;
theolp 27:bee63ac9b70b 104 break;
theolp 27:bee63ac9b70b 105
theolp 27:bee63ac9b70b 106 case OK_2 :
theolp 27:bee63ac9b70b 107 pc.printf("Resolution de la camera : %d - %d\n\r", resolution->pixFrameWidth, resolution->pixFrameHeight);
theolp 22:5f76404e2cbc 108 etat = IDLE;
theolp 22:5f76404e2cbc 109 break;
theolp 22:5f76404e2cbc 110
theolp 22:5f76404e2cbc 111 }
theolp 27:bee63ac9b70b 112
theolp 27:bee63ac9b70b 113 //automate_debug(maPixy.etat);
theolp 22:5f76404e2cbc 114 }
theolp 22:5f76404e2cbc 115 }
theolp 22:5f76404e2cbc 116
theolp 22:5f76404e2cbc 117 // FONCTIONS
theolp 22:5f76404e2cbc 118 void appui_BP(void)
theolp 22:5f76404e2cbc 119 {
theolp 27:bee63ac9b70b 120 FLAG_BP = true;
theolp 27:bee63ac9b70b 121 }
theolp 27:bee63ac9b70b 122
theolp 27:bee63ac9b70b 123 void automate_debug(T_Pixy2State &etat) {
theolp 27:bee63ac9b70b 124
theolp 27:bee63ac9b70b 125 static int etat_debug_passe = -1;
theolp 27:bee63ac9b70b 126
theolp 27:bee63ac9b70b 127 if(etat != etat_debug_passe) {
theolp 27:bee63ac9b70b 128 switch(etat) {
theolp 27:bee63ac9b70b 129 case idle :
theolp 27:bee63ac9b70b 130 pc.printf("IDLE\n\r");
theolp 27:bee63ac9b70b 131 break;
theolp 27:bee63ac9b70b 132 case messageSent :
theolp 27:bee63ac9b70b 133 pc.printf("DATA_SENT\n\r");
theolp 27:bee63ac9b70b 134 break;
theolp 27:bee63ac9b70b 135 case receivingHeader :
theolp 27:bee63ac9b70b 136 pc.printf("RECEIVING_HEADER\n\r");
theolp 27:bee63ac9b70b 137 break;
theolp 27:bee63ac9b70b 138 case receivingData :
theolp 27:bee63ac9b70b 139 pc.printf("RECEIVING_DATA\n\r");
theolp 27:bee63ac9b70b 140 break;
theolp 27:bee63ac9b70b 141 case dataReceived :
theolp 27:bee63ac9b70b 142 pc.printf("DATA_RECEIVED\n\r");
theolp 27:bee63ac9b70b 143 break;
theolp 27:bee63ac9b70b 144 }
theolp 27:bee63ac9b70b 145 }
theolp 27:bee63ac9b70b 146
theolp 27:bee63ac9b70b 147 etat_debug_passe = etat;
theolp 22:5f76404e2cbc 148 }