Diff: main.cpp
- Revision:
- 10:346a5a5936b9
- Parent:
- 9:51cf1120b4f4
- Child:
- 11:a9918a8441a9
--- a/main.cpp Sun Jan 07 21:09:44 2018 +0000
+++ b/main.cpp Mon Jan 08 15:00:34 2018 +0000
@@ -8,40 +8,15 @@
unsigned int velkost;
char crc=0x00;
-char crc8table[256] = {
- 0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
- 157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
- 35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
- 190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
- 70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
- 219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
- 101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
- 248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
- 140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
- 17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
- 175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
- 50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
- 202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
- 87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
- 233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
- 116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53
-};
-
-// crc [0xA0, prijem, odosielatel, vrlkost dat , data (256),crc]
-//char odosli[5+sizeof(DATA)];
DigitalOut myled(LED3);
DigitalOut myled2(LED2);
-
-
char prijemSpravy[30];
char diode_DATA[]={0x00,0x01};
int diode_cislo[]={0,0,0,0,0};
int stav=5;
int poradie[]={0,0,0,0,0};
-
-
char buffer_kto[100];
char buffer_co[100];
int buff_index=0;
@@ -50,127 +25,32 @@
int main()
{
pc.attach(&prijmemSpravu);
- init_freeFall();
- //dole();
-while(true)
-{
- //init_freeFall();
- rozhodni();
- if(freeFall_status()){
- zamkni();
- stop();
- myled=1;
- myled2=1;
- break;
+ init_freeFall();
+
+ while(true)
+ {
+ rozhodni();
+ if(freeFall_status())
+ {
+ zamkni();
+ stop();
+ myled=1;
+ myled2=1;
+ break;
}
- /* for(int i=0;i<5;i++)
- if(diode_cislo[i]!=0)
- {
- if(i<stav){dole();break;}
- else {hore();break;}
- }
- */
-/*
- if(cyklus<100)
- {
- rozhodni(buffer_kto[cyklus], buffer_co[cyklus]);
- cyklus++;
- }
- else
- {
- cyklus=0;
- rozhodni(buffer_kto[cyklus], buffer_co[cyklus]);
- cyklus++;
- }
-*/
-
- /*stop();
- wait(1);
- hore();*/
-}
+ }
}
void pohyb(int kam)
{
zamkni();
- if (stav <kam) {hore();vytahDisplay(1,kam);}
- if (stav >kam) {dole();vytahDisplay(2,kam);}
+ if (stav <kam) {hore();vytahDisplay(1,kam);}
+ if (stav >kam) {dole();vytahDisplay(2,kam);}
-/*
- switch(stav)
- {
- case 5: dole(); break;
- case 4:
- if(diode_cislo[4]==1)
- break;
- case 3: break;
- case 2: break;
- case 1: break;
- case 0: break;
- default: break;
- }*/
-}
-void vytahDisplay(int smer, int poschodie)
-{
- char dPole [2];
- switch(smer)
- {
-
- case 0: dPole[0]=0xFF; break;
- case 1: dPole[0]=0x01; break;//hore
- case 2: dPole[0]=0x02; break;//dole
- }
- switch(poschodie)
- {
- case 0: dPole[1]=0x50; break;
- case 1: dPole[1]=0x31; break;
- case 2: dPole[1]=0x32; break;
- case 3: dPole[1]=0x33; break;
- case 4: dPole[1]=0x34; break;
- default:
- dPole[1]=0x2D;
- }
-
- poslemSpravu(DISPLAY, 0xcc, 0x02, dPole);
-}
-
-
-void zamkni()
-{
-
- char DATA[]= {0x01};
- poslemSpravu(VYTAH,0xcc,sizeof(DATA),DATA);
-}
-
-void odomkni()
-{
- wait(1);
- char DATA[]= {0x00};
- poslemSpravu(VYTAH,0xcc,sizeof(DATA),DATA);
- wait(1);
-}
-
-void stop()
-{
- char DATA[]= {0x01};
- poslemSpravu(MOTOR,0xcc,sizeof(DATA),DATA);
-}
-
-void hore()
-{
- char DATA[]= {0x02,0x64,0x00,0x00,0x00};
- poslemSpravu(MOTOR,0xcc,sizeof(DATA),DATA);
-}
-
-void dole()
-{
- char DATA[]= {0x02,0x9c,0xff,0xff,0xff};
- poslemSpravu(MOTOR,0xcc,sizeof(DATA),DATA);
}
void prijmemSpravu()
{
- //pc.attach(&prijmemSpravu);§
myled=0;
for (int j=0;j<4;j++)
@@ -198,203 +78,196 @@
}
}
}
- // if(buff_index<100)
- // {
- buffer_kto[buff_index]=prijemSpravy[2];
- buffer_co[buff_index]=prijemSpravy[4];
- // buff_index++;
- /*}
- else
- {
- buff_index=0;
- buffer_kto[buff_index]=prijemSpravy[2];
- buffer_co[buff_index]=prijemSpravy[4];
- buff_index++;
- }*/
-myled=1;
- pc.attach(&prijmemSpravu);
+ buffer_kto[buff_index]=prijemSpravy[2];
+ buffer_co[buff_index]=prijemSpravy[4];
+
+ myled=1;
+ pc.attach(&prijmemSpravu);
}
void rozhodni()
{
myled2=0;
char bData=buffer_co[cyklus];
- switch(buffer_kto[cyklus])
+ switch(buffer_kto[cyklus])
{
case 0xb4: /* vytah tla4idlo 4 poschodie */
- poslemSpravu(VYTAH_DIODA_4,0xCC,0x01, &diode_DATA[1]);
- diode_cislo[4]=1;
-
- pohyb(4);
-
+ poslemSpravu(VYTAH_DIODA_4,0xCC,0x01, &diode_DATA[1]);
+ diode_cislo[4]=1;
+ pohyb(4);
break;
case 0xb3: /* vytah tla4idlo 3 poschodie */
- poslemSpravu(VYTAH_DIODA_3,0xCC,0x01, &diode_DATA[1]);
+ poslemSpravu(VYTAH_DIODA_3,0xCC,0x01, &diode_DATA[1]);
diode_cislo[3]=1;
- pohyb(3);
-
+ pohyb(3);
break;
case 0xb2: /* vytah tla4idlo 2 poschodie */
- poslemSpravu(VYTAH_DIODA_2,0xCC,0x01, &diode_DATA[1]);
- diode_cislo[2]=1;
- pohyb(2);
+ poslemSpravu(VYTAH_DIODA_2,0xCC,0x01, &diode_DATA[1]);
+ diode_cislo[2]=1;
+ pohyb(2);
break;
case 0xb1: /* vytah tla4idlo 1 poschodie */
- poslemSpravu(VYTAH_DIODA_1,0xCC,0x01, &diode_DATA[1]);
+ poslemSpravu(VYTAH_DIODA_1,0xCC,0x01, &diode_DATA[1]);
diode_cislo[1]=1;
pohyb(1);
break;
case 0xb0: /* vytah tla4idlo pr9zemie */
- poslemSpravu(VYTAH_DIODA_P,0xCC,0x01, &diode_DATA[1]);
+ poslemSpravu(VYTAH_DIODA_P,0xCC,0x01, &diode_DATA[1]);
diode_cislo[0]=1;
- pohyb(0);
+ pohyb(0);
break;
case 0xc4: /* chodba tla4idlo 4 poschodie */
- poslemSpravu(POSCHODIE_DIODA_4,0xCC,0x01, &diode_DATA[1]);
+ poslemSpravu(POSCHODIE_DIODA_4,0xCC,0x01, &diode_DATA[1]);
diode_cislo[4]=1;
pohyb(4);
break;
case 0xc3: /* chodba tla4idlo 3 poschodie */
- poslemSpravu(POSCHODIE_DIODA_3,0xCC,0x01, &diode_DATA[1]);
+ poslemSpravu(POSCHODIE_DIODA_3,0xCC,0x01, &diode_DATA[1]);
diode_cislo[3]=1;
- pohyb(3);
+ pohyb(3);
break;
case 0xc2: /* chodba tla4idlo 2 poschodie */
- poslemSpravu(POSCHODIE_DIODA_2,0xCC,0x01, &diode_DATA[1]);
+ poslemSpravu(POSCHODIE_DIODA_2,0xCC,0x01, &diode_DATA[1]);
diode_cislo[2]=1;
- pohyb(2);
+ pohyb(2);
break;
case 0xc1: /* chodba tla4idlo 1 poschodie */
- poslemSpravu(POSCHODIE_DIODA_1,0xCC,0x01, &diode_DATA[1]);
+ poslemSpravu(POSCHODIE_DIODA_1,0xCC,0x01, &diode_DATA[1]);
diode_cislo[1]=1;
pohyb(1);
break;
case 0xc0: /* chodba tla4idlo pr9zemie */
- poslemSpravu(POSCHODIE_DIODA_P,0xCC,0x01, &diode_DATA[1]);
+ poslemSpravu(POSCHODIE_DIODA_P,0xCC,0x01, &diode_DATA[1]);
diode_cislo[0]=1;
- pohyb(0);
+ pohyb(0);
break;
case 0xe4: /* info pre odomknutie 4 poschodie */
- if(bData==0x01&&diode_cislo[4]==1){stop();
- poslemSpravu(VYTAH_DIODA_4,0xCC,0x01, &diode_DATA[0]);
- poslemSpravu(POSCHODIE_DIODA_4,0xCC,0x01, &diode_DATA[0]);
- diode_cislo[4]=0;
- stav=4;}
- if(bData==0x02&&stav==4){wait(1);odomkni();//}
- /*for (int kk=0;kk<5;kk++)
- {}*/
- if (diode_cislo[0]==1) pohyb(0);
- else if (diode_cislo[1]==1) pohyb(1);
- else if (diode_cislo[2]==1) pohyb(2);
- else if (diode_cislo[3]==1) pohyb(3);}
- //else if (diode_cislo[4]==1) pohyb(4);
-
-
+ if(bData==0x01&&diode_cislo[4]==1)
+ {
+ stop();
+ poslemSpravu(VYTAH_DIODA_4,0xCC,0x01, &diode_DATA[0]);
+ poslemSpravu(POSCHODIE_DIODA_4,0xCC,0x01, &diode_DATA[0]);
+ diode_cislo[4]=0;
+ stav=4;
+ }
+
+ if(bData==0x02&&stav==4)
+ {
+ wait(1);
+ odomkni();
+
+ if (diode_cislo[0]==1) pohyb(0);
+ else if (diode_cislo[1]==1) pohyb(1);
+ else if (diode_cislo[2]==1) pohyb(2);
+ else if (diode_cislo[3]==1) pohyb(3);
+ }
break;
case 0xe3: /* info pre odomknutie 3 poschodie */
- if(bData==0x01&&diode_cislo[3]==1){stop();
- poslemSpravu(VYTAH_DIODA_3,0xCC,0x01, &diode_DATA[0]);
- poslemSpravu(POSCHODIE_DIODA_3,0xCC,0x01, &diode_DATA[0]);
- diode_cislo[3]=0;
- stav=3;}
- if(bData==0x02&&stav==3){wait(1);odomkni();
+ if(bData==0x01&&diode_cislo[3]==1)
+ {
+ stop();
+ poslemSpravu(VYTAH_DIODA_3,0xCC,0x01, &diode_DATA[0]);
+ poslemSpravu(POSCHODIE_DIODA_3,0xCC,0x01, &diode_DATA[0]);
+ diode_cislo[3]=0;
+ stav=3;
+ }
+
+ if(bData==0x02&&stav==3)
+ {
+ wait(1);
+ odomkni();
- if (diode_cislo[0]==1) pohyb(0);
- else if (diode_cislo[1]==1) pohyb(1);
- else if (diode_cislo[2]==1) pohyb(2);
- //else if (diode_cislo[3]==1) pohyb(3);
- else if (diode_cislo[4]==1) pohyb(4);}
+ if (diode_cislo[0]==1) pohyb(0);
+ else if (diode_cislo[1]==1) pohyb(1);
+ else if (diode_cislo[2]==1) pohyb(2);
+ else if (diode_cislo[4]==1) pohyb(4);
+ }
break;
case 0xe2: /* info pre odomknutie 2 poschodie */
- if(bData==0x01&&diode_cislo[2]==1){stop();
- poslemSpravu(VYTAH_DIODA_2,0xCC,0x01, &diode_DATA[0]);
- poslemSpravu(POSCHODIE_DIODA_2,0xCC,0x01, &diode_DATA[0]);
- diode_cislo[2]=0;
- stav=2;}
- if(bData==0x02&&stav==2){wait(1);odomkni();//}
-
- //vytahDisplay(2,2);
-
- if (diode_cislo[0]==1) pohyb(0);
- else if (diode_cislo[1]==1) pohyb(1);
- // else if (diode_cislo[2]==1) pohyb(2);
- else if (diode_cislo[3]==1) pohyb(3);
- else if (diode_cislo[4]==1) pohyb(4);}
-
+ if(bData==0x01&&diode_cislo[2]==1)
+ {
+ stop();
+ poslemSpravu(VYTAH_DIODA_2,0xCC,0x01, &diode_DATA[0]);
+ poslemSpravu(POSCHODIE_DIODA_2,0xCC,0x01, &diode_DATA[0]);
+ diode_cislo[2]=0;
+ stav=2;
+ }
+
+ if(bData==0x02&&stav==2)
+ {
+ wait(1);
+ odomkni();
+
+ if (diode_cislo[0]==1) pohyb(0);
+ else if (diode_cislo[1]==1) pohyb(1);
+ else if (diode_cislo[3]==1) pohyb(3);
+ else if (diode_cislo[4]==1) pohyb(4);
+ }
break;
case 0xe1: /* info pre odomknutie 1 poschodie */
- if(bData==0x01&&diode_cislo[1]==1){stop();
- poslemSpravu(VYTAH_DIODA_1,0xCC,0x01, &diode_DATA[0]);
- poslemSpravu(POSCHODIE_DIODA_1,0xCC,0x01, &diode_DATA[0]);
- diode_cislo[1]=0;
- stav=1;}
- if(bData==0x02&&stav==1){wait(1);odomkni();//}
+ if(bData==0x01&&diode_cislo[1]==1)
+ {
+ stop();
+ poslemSpravu(VYTAH_DIODA_1,0xCC,0x01, &diode_DATA[0]);
+ poslemSpravu(POSCHODIE_DIODA_1,0xCC,0x01, &diode_DATA[0]);
+ diode_cislo[1]=0;
+ stav=1;
+ }
+
+ if(bData==0x02&&stav==1)
+ {
+ wait(1);
+ odomkni();
- if (diode_cislo[0]==1) pohyb(0);
- // else if (diode_cislo[1]==1) pohyb(1);
- else if (diode_cislo[2]==1) pohyb(2);
- else if (diode_cislo[3]==1) pohyb(3);
- else if (diode_cislo[4]==1) pohyb(4);}
+ if (diode_cislo[0]==1) pohyb(0);
+
+ else if (diode_cislo[2]==1) pohyb(2);
+ else if (diode_cislo[3]==1) pohyb(3);
+ else if (diode_cislo[4]==1) pohyb(4);
+ }
break;
case 0xe0: /* info pre odomknutie prízemie */
- if(bData==0x01&&diode_cislo[0]==1){stop();
- poslemSpravu(VYTAH_DIODA_P,0xCC,0x01, &diode_DATA[0]);
- poslemSpravu(POSCHODIE_DIODA_P,0xCC,0x01, &diode_DATA[0]);
- diode_cislo[0]=0;
- stav=0;}
- if(bData==0x02&&stav==0){wait(1);odomkni();//}
-
- //if (diode_cislo[0]==1) pohyb(0);
- if (diode_cislo[1]==1) pohyb(1);
- else if (diode_cislo[2]==1) pohyb(2);
- else if (diode_cislo[3]==1) pohyb(3);
- else if (diode_cislo[4]==1) pohyb(4);}
+ if(bData==0x01&&diode_cislo[0]==1)
+ {
+ stop();
+ poslemSpravu(VYTAH_DIODA_P,0xCC,0x01, &diode_DATA[0]);
+ poslemSpravu(POSCHODIE_DIODA_P,0xCC,0x01, &diode_DATA[0]);
+ diode_cislo[0]=0;
+ stav=0;
+ }
+
+ if(bData==0x02&&stav==0)
+ {
+ wait(1);
+ odomkni();
+
+ if (diode_cislo[1]==1) pohyb(1);
+ else if (diode_cislo[2]==1) pohyb(2);
+ else if (diode_cislo[3]==1) pohyb(3);
+ else if (diode_cislo[4]==1) pohyb(4);}
+ break;
- break;
-
-
-
-
-
- case 0xf: /* zachranna brzda */
-
- break;
-
- case 0xfe: /* watchdog */
-
- break;
default: break;
}
- /*if(cyklus<100)
- {
- //rozhodni(buffer_kto[cyklus], buffer_co[cyklus]);
- cyklus++;
- }
- else
- {
- cyklus=0;
- //rozhodni(buffer_kto[cyklus], buffer_co[cyklus]);
- //cyklus++;
- }
-*/ //pc.attach(&prijmemSpravu);
+
myled=1;
}
@@ -410,17 +283,20 @@
crc=crc8table[crc^adrRX];
crc=crc8table[crc^adrTX];
- for (i=0; i<velkost; i++) {
+ for (i=0; i<velkost; i++)
+ {
odosli[4+i]=DATA[i];
}
- for (i=0; i<velkost; i++) {
+ for (i=0; i<velkost; i++)
+ {
crc=crc8table[crc^DATA[i]];
}
odosli[velkost+4]=crc;
- for (i=0; i<velkost+5; i++) {
+ for (i=0; i<velkost+5; i++)
+ {
pc.putc(odosli[i]);
}
Roman Ciesarík
