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Dependencies:   MMA8451Q mbed

communication.cpp@12:1c7b59097090, 2016-12-19 (annotated)

Committer:
skirmish
Date:
Mon Dec 19 17:47:06 2016 +0000
Revision:
12:1c7b59097090
Parent:
11:95e4e04a7dd2
Child:
13:e3089b058fab
len zaloha

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skirmish 11:95e4e04a7dd2 1 #include "communication.h"
skirmish 11:95e4e04a7dd2 2 #include "mbed.h"
skirmish 11:95e4e04a7dd2 3 //DigitalOut cervena(LED1);
skirmish 11:95e4e04a7dd2 4 //DigitalOut zelena(LED2);
skirmish 11:95e4e04a7dd2 5
skirmish 11:95e4e04a7dd2 6 communication::communication(Serial *_pc):zelena(LED2),cervena(LED1)
skirmish 11:95e4e04a7dd2 7 {
skirmish 11:95e4e04a7dd2 8 pc=_pc;
skirmish 12:1c7b59097090 9 pom =0;
skirmish 12:1c7b59097090 10 sourceAdd=0x05;
skirmish 11:95e4e04a7dd2 11 pc->baud(57600);
skirmish 11:95e4e04a7dd2 12 tc.attach(this,&communication::TickerCallBack,1);
skirmish 11:95e4e04a7dd2 13 pc->attach(this,&communication::SerialCallBack,Serial::RxIrq);
skirmish 11:95e4e04a7dd2 14 DataIn= new char[6]();
skirmish 11:95e4e04a7dd2 15 mapPoschodie.insert(pair<string, bool>("p1",false));
skirmish 11:95e4e04a7dd2 16 mapPoschodie.insert(pair<string, bool>("p2",false));
skirmish 11:95e4e04a7dd2 17 mapPoschodie.insert(pair<string, bool>("p3",false));
skirmish 11:95e4e04a7dd2 18 mapPoschodie.insert(pair<string, bool>("p4",false));
skirmish 11:95e4e04a7dd2 19 mapPoschodie.insert(pair<string, bool>("p0",false));
skirmish 12:1c7b59097090 20 poschodie=4;
skirmish 12:1c7b59097090 21 watchDog[0]=0x01;
skirmish 12:1c7b59097090 22 sendPacket(0xa0,0xfe,0x0, watchDog,1);
skirmish 12:1c7b59097090 23 watchDog[1]=0x02;
skirmish 11:95e4e04a7dd2 24 }
skirmish 11:95e4e04a7dd2 25
skirmish 11:95e4e04a7dd2 26 unsigned char communication::crcArray[]= {
skirmish 11:95e4e04a7dd2 27 0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
skirmish 11:95e4e04a7dd2 28 157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
skirmish 11:95e4e04a7dd2 29 35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
skirmish 11:95e4e04a7dd2 30 190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
skirmish 11:95e4e04a7dd2 31 70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
skirmish 11:95e4e04a7dd2 32 219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
skirmish 11:95e4e04a7dd2 33 101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
skirmish 11:95e4e04a7dd2 34 248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
skirmish 11:95e4e04a7dd2 35 140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
skirmish 11:95e4e04a7dd2 36 17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
skirmish 11:95e4e04a7dd2 37 175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
skirmish 11:95e4e04a7dd2 38 50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
skirmish 11:95e4e04a7dd2 39 202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
skirmish 11:95e4e04a7dd2 40 87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
skirmish 11:95e4e04a7dd2 41 233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
skirmish 11:95e4e04a7dd2 42 116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53
skirmish 11:95e4e04a7dd2 43 };
skirmish 11:95e4e04a7dd2 44
skirmish 11:95e4e04a7dd2 45 char communication::crcCalc(char targetAddr, char senderAddr, char *data,int DataSize)
skirmish 11:95e4e04a7dd2 46 {
skirmish 11:95e4e04a7dd2 47 int dataLenght = DataSize;
skirmish 11:95e4e04a7dd2 48 char crc = 0x00;
skirmish 11:95e4e04a7dd2 49 crc = crcArray[crc^targetAddr];
skirmish 11:95e4e04a7dd2 50 crc = crcArray[crc^senderAddr];
skirmish 11:95e4e04a7dd2 51 for(int i = 0 ; i < dataLenght ; i++) {
skirmish 11:95e4e04a7dd2 52 crc = crcArray[crc^data[i]];
skirmish 11:95e4e04a7dd2 53 }
skirmish 11:95e4e04a7dd2 54 return crc;
skirmish 11:95e4e04a7dd2 55 }
skirmish 11:95e4e04a7dd2 56 void communication::sendPacket(char startByte,char target,char source,char *data,int DataSize)
skirmish 11:95e4e04a7dd2 57 {
skirmish 12:1c7b59097090 58 sendDataOk=true;
skirmish 12:1c7b59097090 59 int cnt=0;
skirmish 12:1c7b59097090 60 while(sendDataOk) {
skirmish 12:1c7b59097090 61 //packet format : || start byte: a0 | reciever adress - 1B | sender adress - 1B | data lenght - 1B | data - 0-265B | crc8 - 1B ||
skirmish 12:1c7b59097090 62 int dataLenght = DataSize;
skirmish 12:1c7b59097090 63 char crc8 = crcCalc(target, source, data,dataLenght);
skirmish 12:1c7b59097090 64 pc->putc(startByte);
skirmish 12:1c7b59097090 65 pc->putc(target);
skirmish 12:1c7b59097090 66 pc->putc(source);
skirmish 12:1c7b59097090 67 pc->putc(dataLenght);
skirmish 12:1c7b59097090 68 for (int i = 0 ; i < dataLenght ; i++) {
skirmish 12:1c7b59097090 69 pc->putc(data[i]);
skirmish 12:1c7b59097090 70 }
skirmish 12:1c7b59097090 71 pc->putc(crc8);
skirmish 12:1c7b59097090 72 wait(0.003);
skirmish 11:95e4e04a7dd2 73 }
skirmish 11:95e4e04a7dd2 74 }
skirmish 11:95e4e04a7dd2 75 void communication::TickerCallBack()
skirmish 11:95e4e04a7dd2 76 {
skirmish 12:1c7b59097090 77 sendPacket(0xa0,0xfe,0x00, watchDog,1);
skirmish 11:95e4e04a7dd2 78 pom++;
skirmish 11:95e4e04a7dd2 79 if (pom==1) {
skirmish 11:95e4e04a7dd2 80 zelena =0;
skirmish 11:95e4e04a7dd2 81 cervena=1;
skirmish 11:95e4e04a7dd2 82 } else {
skirmish 11:95e4e04a7dd2 83 zelena=1;
skirmish 11:95e4e04a7dd2 84 cervena=0;
skirmish 11:95e4e04a7dd2 85 pom=0;
skirmish 11:95e4e04a7dd2 86 }
skirmish 11:95e4e04a7dd2 87 }
skirmish 11:95e4e04a7dd2 88 void communication::SerialCallBack()
skirmish 11:95e4e04a7dd2 89 {
skirmish 12:1c7b59097090 90
skirmish 11:95e4e04a7dd2 91 startByteIn=pc->getc();
skirmish 11:95e4e04a7dd2 92 targetAdd=pc->getc();
skirmish 11:95e4e04a7dd2 93 sourceAdd=pc->getc();
skirmish 11:95e4e04a7dd2 94 DataLength=pc->getc();
skirmish 11:95e4e04a7dd2 95 for (unsigned int i=0; i< DataLength; i++) {
skirmish 11:95e4e04a7dd2 96 DataIn[i]=pc->getc();
skirmish 11:95e4e04a7dd2 97 }
skirmish 11:95e4e04a7dd2 98 CrcIn=pc->getc();
skirmish 11:95e4e04a7dd2 99 switch( sourceAdd) {
skirmish 11:95e4e04a7dd2 100 case 0xc4:
skirmish 11:95e4e04a7dd2 101 case 0xb4:
skirmish 12:1c7b59097090 102 if(poschodie!=4)
skirmish 12:1c7b59097090 103 mapPoschodie.find("p4")->second=true;
skirmish 11:95e4e04a7dd2 104 break;
skirmish 11:95e4e04a7dd2 105 case 0xb3:
skirmish 11:95e4e04a7dd2 106 case 0xc3:
skirmish 12:1c7b59097090 107 if(poschodie!=3)
skirmish 12:1c7b59097090 108 mapPoschodie.find("p3")->second=true;
skirmish 11:95e4e04a7dd2 109 break;
skirmish 11:95e4e04a7dd2 110 case 0xb2:
skirmish 11:95e4e04a7dd2 111 case 0xc2:
skirmish 12:1c7b59097090 112 if(poschodie!=2)
skirmish 12:1c7b59097090 113 mapPoschodie.find("p2")->second=true;
skirmish 11:95e4e04a7dd2 114 break;
skirmish 11:95e4e04a7dd2 115 case 0xb1:
skirmish 11:95e4e04a7dd2 116 case 0xc1:
skirmish 12:1c7b59097090 117 if(poschodie!=1)
skirmish 12:1c7b59097090 118 mapPoschodie.find("p1")->second=true;
skirmish 11:95e4e04a7dd2 119 break;
skirmish 11:95e4e04a7dd2 120 case 0xb0:
skirmish 11:95e4e04a7dd2 121 case 0xc0:
skirmish 12:1c7b59097090 122 if(poschodie!=0)
skirmish 12:1c7b59097090 123 mapPoschodie.find("p0")->second=true;
skirmish 11:95e4e04a7dd2 124 break;
skirmish 11:95e4e04a7dd2 125 default:
skirmish 11:95e4e04a7dd2 126 ;
skirmish 11:95e4e04a7dd2 127 }
skirmish 12:1c7b59097090 128 //osetrenie ACK
skirmish 12:1c7b59097090 129 if(sourceAdd==0x00)
skirmish 12:1c7b59097090 130 sendDataOk=false;
skirmish 12:1c7b59097090 131 }
skirmish 11:95e4e04a7dd2 132