Diff: main.cpp
- Revision:
- 1:6c18e74f3ff4
- Parent:
- 0:40602b91b27f
- Child:
- 2:84b5e49b4549
--- a/main.cpp Thu Dec 07 10:39:01 2017 +0000
+++ b/main.cpp Mon Dec 11 14:24:45 2017 +0000
@@ -1,14 +1,15 @@
#include "mbed.h"
+#include "headre.h"
#define DISPLAY 0x30 // DATA smer 0x01-> UP 0x02-> DOWN , text (string)
#define TERMINAL 0xD0 // Vypise vsetko
-
+
#define VYTAH_BUTTON_P 0xb0 // ┌-----------┐
#define VYTAH_BUTTON_1 0xb1 // | DATA 0xFF |
#define VYTAH_BUTTON_2 0xb2 // |-----------|
#define VYTAH_BUTTON_3 0xb3 // |-----------|
#define VYTAH_BUTTON_4 0xb4 // |-----------|
-
+
#define POSCHODIE_BUTTON_P 0xc0 // |-----------|
#define POSCHODIE_BUTTON_1 0xc1 // |-----------|
#define POSCHODIE_BUTTON_2 0xc2 // |-----------|
@@ -39,12 +40,12 @@
#define MOTOR 0xf1 // DATA 0x1-> STOP 0x02-> UP/DOWN 32bit <-100,100> 0x3-> MOTOR ENCODER COUNT (double)
#define WATCHDOG 0xfe // DATA 0x01-> time out ELSE regular reset ( 1500ms )
-Serial pc(USBTX, USBRX);
+Serial pc(USBTX, USBRX, 57600);
int i;
+unsigned int velkost;
char crc=0x00;
-char crc8table[256] =
- {
+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,
@@ -61,22 +62,227 @@
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)];
-char demo[]={1,2,3,4,5,6};
+char demo[]= {1,2,3,4,5,6};
+char prijemSpravy[15];
+
+
int main()
{
- pc.printf("Start!\r\n");
- pc.printf("velkost! %d\r\n",sizeof(demo));
-
- for (i=0;i<sizeof(demo);i++)
+
+ for (int j=0;j<4;j++)
+ {
+ while(true)
+ {
+ if(pc.readable()==1)
+ {
+ prijemSpravy[j]=pc.getc;
+ break;
+ }
+ }
+ }
+
+ int pom= prijemSpravy[3] + 1;
+
+ for (int j=0;j<pom;j++)
+ {
+ while(true)
{
- // crc^ demo[i]= new crc hodnota v tabulke crc8table[]
- //protokol simulatoru [1] 3tart bit adresa prijemcu adresa odosialetela , velkost dat, data, crc
- crc=crc8table[crc^demo[i]];
- pc.printf(" %d .crc: %x\r\n",i,crc);
+ if(pc.readable()==1)
+ {
+ prijemSpravy[j+4]=pc.getc;
+ break;
+ }
+ }
+ }
+
+ switch(prijemSpravy[2])
+ {
+ case 0xb4: /* vytah tla4idlo 4 poschodie */
+
+ break;
+
+ case 0xb3: /* vytah tla4idlo 3 poschodie */
+
+ break;
+
+ case 0xb2: /* vytah tla4idlo 2 poschodie */
+
+ break;
+
+ case 0xb1: /* vytah tla4idlo 1 poschodie */
+
+ break;
+
+ case 0xb0: /* vytah tla4idlo pr9zemie */
+
+ break;
+
+ case 0xc4: /* chodba tla4idlo 4 poschodie */
+
+ break;
+
+ case 0xc3: /* chodba tla4idlo 3 poschodie */
+
+ break;
+
+ case 0xc2: /* chodba tla4idlo 2 poschodie */
+
+ break;
+
+ case 0xc1: /* chodba tla4idlo 1 poschodie */
+
+ break;
+
+ case 0xc0: /* chodba tla4idlo pr9zemie */
+
+ break;
+
+
+
+
+ case 0xe4: /* info pre odomknutie 4 poschodie */
+
+ break;
+
+ case 0xe3: /* info pre odomknutie 3 poschodie */
+
+ break;
+
+ case 0xe2: /* info pre odomknutie 2 poschodie */
+
+ break;
+
+ case 0xe1: /* info pre odomknutie 1 poschodie */
+
+ break;
+
+ case 0xe0: /* info pre odomknutie pr9zemie */
+
+ break;
+
+
+
+
+
+ case 0xf: /* zachranna brzda */
+
+ break;
+
+ case 0xfe: /* watchdog */
+
+ break;
+ }
+
+ //poslemSpravu(TERMINAL,0xCC, 6, demo);
+ /* zamkni();
+ wait(1);
+ odomkni();
+ wait(1);
+ zamkni();
+ wait(1);
+ dole();
+ wait(1);
+ dole();
+ dole();
+ wait(2);
+ stop();
+
+ wait(5);
+ odomkni();
+ wait(1);
+ zamkni();
+ hore();
+ wait(2);
+ stop();
+ wait(5);
+ odomkni(); */
+
+}
+void zamkni()
+{
+ char DATA[]= {0x01};
+ poslemSpravu(VYTAH,0xcc,sizeof(DATA),DATA);
+}
+
+void odomkni()
+{
+ char DATA[]= {0x00};
+ poslemSpravu(VYTAH,0xcc,sizeof(DATA),DATA);
+}
+
+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 poslemSpravu(char adrRX, char adrTX, int velkost, char DATA[] )
+{
+ crc=0x00;
+ char odosli[5+velkost];
+ odosli[0]=0xA0;
+ odosli[1]=adrRX;
+ odosli[2]=adrTX;
+ odosli[3]=velkost;
+
+ crc=crc8table[crc^adrRX];
+ crc=crc8table[crc^adrTX];
+
+ for (i=0; i<velkost; i++) {
+ odosli[4+i]=DATA[i];
+ }
+
+ for (i=0; i<velkost; i++) {
+ crc=crc8table[crc^DATA[i]];
+ }
+
+ odosli[velkost+4]=crc;
+
+ for (i=0; i<velkost+5; i++) {
+ pc.putc(odosli[i]);
+ }
+
+}
+
+void kontrola()
+{
+ char kontrola[4];
+
+ for(int i=0;i<5;i++)
+ {
+ while(true)
+ {
+ if(pc.readable()==1)
+ {
+ kontola[i]=pc.getc();
+ break;
+ }
+ }
}
-
+
+ if(kontrola[0]!=0xA0&&kontrola[1]!=0x00&&kontrola[2]!=0x00&&kontrola[3]!=0x00&&kontrola[4]!=0x00)
+ {
+ poslemSpravu();
+ }
}
\ No newline at end of file
Roman Ciesarík
