File content as of revision 2:84b5e49b4549:

#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    // |-----------|
#define POSCHODIE_BUTTON_3  0xc3    // |-----------|
#define POSCHODIE_BUTTON_4  0xc4    // └-----------┘

#define VYTAH_DIODA_P   0x20        // ┌--------------------------┐ 
#define VYTAH_DIODA_1   0x21        // | DATA 0x00-> OFF 0x01->ON |
#define VYTAH_DIODA_2   0x22        // |--------------------------|
#define VYTAH_DIODA_3   0x23        // |--------------------------|
#define VYTAH_DIODA_4   0x24        // |--------------------------|

#define POSCHODIE_DIODA_P   0x10    // |--------------------------|
#define POSCHODIE_DIODA_1   0x11    // |--------------------------|
#define POSCHODIE_DIODA_2   0x12    // |--------------------------|
#define POSCHODIE_DIODA_3   0x13    // |--------------------------|
#define POSCHODIE_DIODA_4   0x14    // └--------------------------┘

#define VYTAH   0xf0    // DATA 0x00-> UNLOCK  0x01-> LOCK
#define BRZDA   0xf     // DATA 0x00-> DEACTIVATE  0x01-> ACTIVATE

#define FLOOR_LIMIT_SWITCH_P    0xe0    // ┌------------------------------------------┐ 
#define FLOOR_LIMIT_SWITCH_1    0xe1    // | DATA 0x00-> LOW 0x01->WIDE 0x02-> NARROW |
#define FLOOR_LIMIT_SWITCH_2    0xe2    // |------------------------------------------|
#define FLOOR_LIMIT_SWITCH_3    0xe3    // |------------------------------------------|
#define FLOOR_LIMIT_SWITCH_4    0xe4    // └------------------------------------------┘

#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, 57600);

int i;
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)];



char demo[]= {1,2,3,4,5,6};
char prijemSpravy[15];
char diode_DATA[]={0x00,0x01};
int diode_cislo[]={0,0,0,0,0};
int stav=5;


int main()
{
    
    //dole();
while(true)
{
    pc.attach(&prijmemSpravu);
    
    
    switch(prijemSpravy[2])
    {
        case 0xb4: /* vytah tla4idlo 4 poschodie   */
        poslemSpravu(VYTAH_DIODA_4,0xCC,0x01, &diode_DATA[1]);
        diode_cislo[4]=1;
        dole();
            
        break;
        
        case 0xb3: /* vytah tla4idlo 3 poschodie   */
        poslemSpravu(VYTAH_DIODA_3,0xCC,0x01, &diode_DATA[1]);
            
        break;
        
        case 0xb2: /* vytah tla4idlo 2 poschodie   */
        poslemSpravu(VYTAH_DIODA_2,0xCC,0x01, &diode_DATA[1]);
        diode_cislo[2]=1;
            
        break;
        
        case 0xb1: /* vytah tla4idlo 1 poschodie   */
        poslemSpravu(VYTAH_DIODA_1,0xCC,0x01, &diode_DATA[1]);
            
        break;
        
        case 0xb0: /* vytah tla4idlo pr9zemie   */
        poslemSpravu(VYTAH_DIODA_P,0xCC,0x01, &diode_DATA[1]);
            
        break;
        
        case 0xc4: /* chodba tla4idlo 4 poschodie   */
        poslemSpravu(POSCHODIE_DIODA_4,0xCC,0x01, &diode_DATA[1]);
            
        break;
        
        case 0xc3: /* chodba tla4idlo 3 poschodie   */
        poslemSpravu(POSCHODIE_DIODA_3,0xCC,0x01, &diode_DATA[1]);
            
        break;
        
        case 0xc2: /* chodba tla4idlo 2 poschodie   */
        poslemSpravu(POSCHODIE_DIODA_2,0xCC,0x01, &diode_DATA[1]);
            
        break;
        
        case 0xc1: /* chodba tla4idlo 1 poschodie   */
        poslemSpravu(POSCHODIE_DIODA_1,0xCC,0x01, &diode_DATA[1]);
            
        break;
        
        case 0xc0: /* chodba tla4idlo pr9zemie   */
        poslemSpravu(POSCHODIE_DIODA_P,0xCC,0x01, &diode_DATA[1]);
            
        break;
        
        
        
        
        case 0xe4: /* info pre odomknutie 4 poschodie   */
            if(prijemSpravy[4]==0x01&&diode_cislo[4]==1){stop();
            poslemSpravu(VYTAH_DIODA_4,0xCC,0x01, &diode_DATA[0]);
            poslemSpravu(POSCHODIE_DIODA_4,0xCC,0x01, &diode_DATA[0]);}
        break;
        
        case 0xe3: /* info pre odomknutie 3 poschodie   */
            if(prijemSpravy[4]==0x01){stop();
            poslemSpravu(VYTAH_DIODA_3,0xCC,0x01, &diode_DATA[0]);
            poslemSpravu(POSCHODIE_DIODA_3,0xCC,0x01, &diode_DATA[0]);}
        break;
        
        case 0xe2: /* info pre odomknutie 2 poschodie   */
            if(prijemSpravy[4]==0x01&&diode_cislo[2]==1){stop();
            poslemSpravu(VYTAH_DIODA_2,0xCC,0x01, &diode_DATA[0]);
            poslemSpravu(POSCHODIE_DIODA_2,0xCC,0x01, &diode_DATA[0]);}
        break;
        
        case 0xe1: /* info pre odomknutie 1 poschodie   */
            if(prijemSpravy[4]==0x01){stop();
            poslemSpravu(VYTAH_DIODA_1,0xCC,0x01, &diode_DATA[0]);
            poslemSpravu(POSCHODIE_DIODA_1,0xCC,0x01, &diode_DATA[0]);}
        break;
        
        case 0xe0: /* info pre odomknutie pr9zemie   */
            if(prijemSpravy[4]==0x01){stop();
            poslemSpravu(VYTAH_DIODA_P,0xCC,0x01, &diode_DATA[0]);
            poslemSpravu(POSCHODIE_DIODA_P,0xCC,0x01, &diode_DATA[0]);}
        break;
        
        
        
        
        
        case 0xf: /* zachranna brzda */
            
        break;
        
        case 0xfe: /* watchdog */
            
        break;
    }
    /*stop();
    wait(1);
    hore();*/
}   
}
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 prijmemSpravu()
{
    //pc.attach(&prijmemSpravu);
    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)
        {
            if(pc.readable()==1)
            {
                prijemSpravy[j+4]=pc.getc();
                break;                                  
            }
        }    
    }
   pc.attach(&prijmemSpravu);
}

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[5]={0,0,0,0,0};

    for(int i=0;i<5;i++)
        {
            while(true)
            {
                if(pc.readable()==1)
                {
                    kontrola[i]=pc.getc();
                    break;  
                }
            }
        }
      
    if(kontrola[0]!=0xA0&&kontrola[1]!=0x00&&kontrola[2]!=0x00&&kontrola[3]!=0x00&&kontrola[4]!=0x00)
        {
           // poslemSpravu();
        }
}