Diff: communication.cpp

Revision:

11:95e4e04a7dd2

Parent:

10:dc94bacfccc6

Child:

12:1c7b59097090

--- a/communication.cpp	Wed Dec 14 17:52:35 2016 +0000
+++ b/communication.cpp	Sun Dec 18 13:52:01 2016 +0000
@@ -1,1 +1,123 @@
-#include "communication.h"
\ No newline at end of file
+#include "communication.h"
+#include "mbed.h"
+//DigitalOut cervena(LED1);
+//DigitalOut zelena(LED2);
+
+communication::communication(Serial *_pc):zelena(LED2),cervena(LED1)
+{
+    pc=_pc;
+     pom =0;
+    pc->baud(57600);
+    tc.attach(this,&communication::TickerCallBack,1);
+    pc->attach(this,&communication::SerialCallBack,Serial::RxIrq);
+    
+    DataIn= new char[6]();
+    mapPoschodie.insert(pair<string, bool>("p1",false));
+    mapPoschodie.insert(pair<string, bool>("p2",false));
+    mapPoschodie.insert(pair<string, bool>("p3",false));
+    mapPoschodie.insert(pair<string, bool>("p4",false));
+    mapPoschodie.insert(pair<string, bool>("p0",false));
+}
+
+unsigned char communication::crcArray[]= {
+    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
+};
+
+char communication::crcCalc(char targetAddr, char senderAddr, char *data,int DataSize)
+{
+    int dataLenght = DataSize;
+    char crc = 0x00;
+    crc = crcArray[crc^targetAddr];
+    crc = crcArray[crc^senderAddr];
+    for(int i = 0 ; i < dataLenght ; i++) {
+        crc = crcArray[crc^data[i]];
+    }
+    return crc;
+}
+void communication::sendPacket(char startByte,char target,char source,char *data,int DataSize)
+{
+    //packet format : || start byte: a0 | reciever adress - 1B | sender adress - 1B | data lenght - 1B | data - 0-265B | crc8 - 1B ||
+    int dataLenght = DataSize;
+    char crc8 = crcCalc(target, source, data,dataLenght);
+    pc->putc(startByte);
+    pc->putc(target);
+    pc->putc(source);
+    pc->putc(dataLenght);
+    for (int i = 0 ; i < dataLenght ; i++) {
+        pc->putc(data[i]);
+    }
+    pc->putc(crc8);
+}
+void communication::TickerCallBack()
+{
+//    sendPacket(0xa0,0xfe,0x00, watchDog,1);
+    pom++;
+    if (pom==1) {
+        zelena =0;
+        cervena=1;
+    } else {
+        zelena=1;
+        cervena=0;
+        pom=0;
+    }
+
+}
+void communication::SerialCallBack()
+{
+    pom++;
+    if(pom==1) {
+        zelena=0;
+    } else {
+        zelena=1;
+        pom=0;
+    }
+    startByteIn=pc->getc();
+    targetAdd=pc->getc();
+    sourceAdd=pc->getc();
+    DataLength=pc->getc();
+    for (unsigned int i=0; i< DataLength; i++) {
+        DataIn[i]=pc->getc();
+    }
+//    if(DataLength!=0x00)
+    CrcIn=pc->getc();
+    switch( sourceAdd) {
+        case 0xc4:
+        case 0xb4:
+            mapPoschodie.find("p4")->second=true;
+            break;
+        case 0xb3:
+        case 0xc3:
+            mapPoschodie.find("p3")->second=true;
+            break;
+        case 0xb2:
+        case 0xc2:
+            mapPoschodie.find("p2")->second=true;
+            break;
+        case 0xb1:
+        case 0xc1:
+            mapPoschodie.find("p1")->second=true;
+            break;
+        case 0xb0:
+        case 0xc0:
+            mapPoschodie.find("p0")->second=true;
+            break;
+        default:
+            ;
+    }
+
+}