Diff: main.cpp

Revision:

0:3b2c2aee8a7b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon May 09 12:44:51 2022 +0000
@@ -0,0 +1,186 @@
+#include "mbed.h"   //头文件
+#include "stdint.h"
+#include <VL6180x.h>
+#define VL6180X_ADDRESS 0x29
+#include "platform/mbed_thread.h"
+#define BLINKING_RATE_MS 
+VL6180xIdentification identification;
+// mbed uses 8bit addresses shift address by 1 bit left
+VL6180x sensor(D3, D6, VL6180X_ADDRESS<<1);//距离传感器
+I2C i2c(I2C_SDA, I2C_SCL);//通过I2C来定义使用的I²C接口,如果没有特殊说明，那么就是默认调用SCL1和SDA1，
+//也就是D14(SDA)和D15(SCL)接口
+Serial pc(USBTX, USBRX);// 
+//Serial pc(D8, D2); //这里是调用串口的命令，USBTX和USBRX指明了是通过USB先进行串口连接
+
+int sensor_addr = 41 << 1;//I²C调用时需要指明地址，这个可以在淘宝卖家给的传感器手册中获取
+
+DigitalOut green(LED1);
+DigitalOut sw0(PA_0);
+DigitalOut sw1(PA_1);
+
+
+void color_read()
+{
+    //打开颜色传感器
+    int r,g,b;
+    green = 1; // off
+    pc.baud(9600);
+    // Connect to the Color sensor and verify whether we connected to the correct sensor.
+
+    i2c.frequency(100000);
+
+    char id_regval[1] = {146};
+    char data[1] = {0};
+    i2c.write(sensor_addr,id_regval,1, true);
+    i2c.read(sensor_addr,data,1,false);
+
+    if (data[0]==68) {
+        green = 0;
+        wait_us(2000000);
+        green = 1;
+    } else {
+        green = 1;
+    }
+
+    // Initialize color sensor
+
+    char timing_register[2] = {129,0};
+    i2c.write(sensor_addr,timing_register,2,false);
+
+    char control_register[2] = {143,0};
+    i2c.write(sensor_addr,control_register,2,false);
+
+    char enable_register[2] = {128,3};
+    i2c.write(sensor_addr,enable_register,2,false);
+
+    // Read data from color sensor (Clear/Red/Green/Blue)
+
+//    while (true) {
+    char clear_reg[1] = {148};
+    char clear_data[2] = {0,0};
+    i2c.write(sensor_addr,clear_reg,1, true);
+    i2c.read(sensor_addr,clear_data,2, false);
+
+    int clear_value = ((int)clear_data[1] << 8) | clear_data[0];
+
+    char red_reg[1] = {150};
+    char red_data[2] = {0,0};
+    i2c.write(sensor_addr,red_reg,1, true);
+    i2c.read(sensor_addr,red_data,2, false);
+
+    int red_value = ((int)red_data[1] << 8) | red_data[0];
+
+    char green_reg[1] = {152};
+    char green_data[2] = {0,0};
+    i2c.write(sensor_addr,green_reg,1, true);
+    i2c.read(sensor_addr,green_data,2, false);
+
+    int green_value = ((int)green_data[1] << 8) | green_data[0];
+
+    char blue_reg[1] = {154};
+    char blue_data[2] = {0,0};
+    i2c.write(sensor_addr,blue_reg,1, true);
+    i2c.read(sensor_addr,blue_data,2, false);
+
+    int blue_value = ((int)blue_data[1] << 8) | blue_data[0];
+
+    // print sensor readings
+
+    pc.printf("Clear (%d), Red (%d), Green (%d), Blue (%d) \n", clear_value, red_value, green_value, blue_value);
+    wait_us(500000);
+ 
+    //颜色传感器显示数据
+    r = red_value;
+    g = green_value;
+    b = blue_value;
+//         pc.printf("R %d G %d B %d\n ",r,g,b);
+    if (r > g*1.3 && r > b*1.3) {
+    //   pc.printf("1");
+    } else if (g > r*1.3 && g > b*1.3) {
+    //  pc.printf("2");
+    }  
+    else if (b > r*1.3 && b > g*1.3) {
+    //   pc.printf("3");
+     }  
+
+    wait_us(10000);
+//   
+}
+void distance_read()
+{
+    uint8_t retaddr;
+    pc.baud(9600);
+    wait_us(1000); // delay .1s
+    sensor.getIdentification(&identification); // Retrieve manufacture info from device memory
+    if(sensor.VL6180xInit() != 0) {
+        //printf("FAILED TO INITALIZE\n"); //Initialize device and check for errors
+        static bool t=true;
+        if(t){
+        pc.printf(" far ");
+        t=false;
+        }
+        else{
+        pc.printf(" near ");
+        t=true;
+        }
+    };
+
+    sensor.VL6180xDefautSettings(); //Load default settings to get started.
+
+    wait_us(10000);
+    retaddr=sensor.changeAddress(0x29,0x27);
+    sensor.getIdentification(&identification); // Retrieve manufacture info from device memory
+
+    wait_us(10000);
+    retaddr=sensor.changeAddress(0x27,0x29);
+    sensor.getIdentification(&identification); // Retrieve manufacture info from device memory
+
+//    while(1) {
+
+
+    //Get Distance and report in mm
+if(sensor.getDistance() < 100){
+  //  pc.printf("a");}else pc.printf("b");
+
+    wait_us(50000);
+
+    }
+
+}
+
+int main()//通信逻辑
+{
+   
+        pc.format(8,SerialBase::Odd,1);
+        pc.baud(9600);
+        pc.printf("start\n");
+        color_read();
+        distance_read();
+    while (1) {
+    
+        char c=pc.getc();
+        
+        //wait_us(1000);
+            if(c == 'm'){
+             color_read();
+             distance_read();
+           }
+             else if((c == 'a')||(c == 'x')){
+             sw0=0,sw1=1;
+            }
+            else if((c == 'b')||(c == 'y')){
+             sw0=1,sw1=0;
+            }
+            else if((c == 'c')||(c == 'z')){
+             sw0=1,sw1=1;
+            }
+            //else if((c != 'a')||(c != 'x')||(c != 'b')||(c != 'y')||(c != 'c')||(c != 'z')){
+             //sw0=0,sw1=0;
+             //}
+              else if(c == 'n'){
+             distance_read();
+            }
+            }
+
+    
+}
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