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Dependencies:   MMA8451Q mbed

communication.cpp@13:e3089b058fab, 2016-12-19 (annotated)

Committer:
skirmish
Date:
Mon Dec 19 18:54:01 2016 +0000
Revision:
13:e3089b058fab
Parent:
12:1c7b59097090 
version 0.1

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 13:e3089b058fab 5 #include "MMA8451Q.h"
skirmish 13:e3089b058fab 6 #define MMA8451_I2C_ADDRESS (0x1d<<1)
skirmish 13:e3089b058fab 7 #define ON 0
skirmish 13:e3089b058fab 8 #define OFF !ON
skirmish 13:e3089b058fab 9 //Setup the interrupts for the MMA8451Q
skirmish 13:e3089b058fab 10 InterruptIn accInt1(PTA14);
skirmish 13:e3089b058fab 11 InterruptIn accInt2(PTA15);//not used in this prog but this is the other int from the accelorometer
skirmish 13:e3089b058fab 12 uint8_t togstat=0;//Led status
skirmish 13:e3089b058fab 13 DigitalOut bled(LED_BLUE);
skirmish 11:95e4e04a7dd2 14 communication::communication(Serial *_pc):zelena(LED2),cervena(LED1)
skirmish 11:95e4e04a7dd2 15 {
skirmish 11:95e4e04a7dd2 16 pc=_pc;
skirmish 12:1c7b59097090 17 pom =0;
skirmish 12:1c7b59097090 18 sourceAdd=0x05;
skirmish 11:95e4e04a7dd2 19 pc->baud(57600);
skirmish 11:95e4e04a7dd2 20 tc.attach(this,&communication::TickerCallBack,1);
skirmish 11:95e4e04a7dd2 21 pc->attach(this,&communication::SerialCallBack,Serial::RxIrq);
skirmish 11:95e4e04a7dd2 22 DataIn= new char[6]();
skirmish 11:95e4e04a7dd2 23 mapPoschodie.insert(pair<string, bool>("p1",false));
skirmish 11:95e4e04a7dd2 24 mapPoschodie.insert(pair<string, bool>("p2",false));
skirmish 11:95e4e04a7dd2 25 mapPoschodie.insert(pair<string, bool>("p3",false));
skirmish 11:95e4e04a7dd2 26 mapPoschodie.insert(pair<string, bool>("p4",false));
skirmish 11:95e4e04a7dd2 27 mapPoschodie.insert(pair<string, bool>("p0",false));
skirmish 13:e3089b058fab 28 sendDataOk=false;
skirmish 12:1c7b59097090 29 poschodie=4;
skirmish 12:1c7b59097090 30 watchDog[0]=0x01;
skirmish 12:1c7b59097090 31 sendPacket(0xa0,0xfe,0x0, watchDog,1);
skirmish 13:e3089b058fab 32 watchDog[0]=0x02;
skirmish 13:e3089b058fab 33 MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS);
skirmish 13:e3089b058fab 34 acc.setDoubleTap();
skirmish 13:e3089b058fab 35 accInt1.rise(this,&communication::tapTrue);
skirmish 13:e3089b058fab 36 }
skirmish 13:e3089b058fab 37 void communication::tapTrue(void)
skirmish 13:e3089b058fab 38 {
skirmish 13:e3089b058fab 39 if(togstat == 0) {
skirmish 13:e3089b058fab 40 breakEm[0]=0x01;
skirmish 13:e3089b058fab 41 sendPacket(0xa0,0xf,0x00,breakEm,1);
skirmish 13:e3089b058fab 42 togstat = 1;
skirmish 13:e3089b058fab 43 bled=ON;
skirmish 13:e3089b058fab 44 } else if(togstat==1) {
skirmish 13:e3089b058fab 45 breakEm[0]=0x00;
skirmish 13:e3089b058fab 46 /*deaktivacia brzdy*/
skirmish 13:e3089b058fab 47 sendPacket(0xa0,0xf,0x00,breakEm,1);
skirmish 13:e3089b058fab 48 togstat = 2;
skirmish 13:e3089b058fab 49 bled=OFF;
skirmish 13:e3089b058fab 50 } else {
skirmish 13:e3089b058fab 51 togstat=0;
skirmish 13:e3089b058fab 52 watchDog[0]=0x01;
skirmish 13:e3089b058fab 53 sendPacket(0xa0,0xfe,0x00,watchDog,1);
skirmish 13:e3089b058fab 54 bled=ON;
skirmish 13:e3089b058fab 55 }
skirmish 11:95e4e04a7dd2 56 }
skirmish 11:95e4e04a7dd2 57
skirmish 11:95e4e04a7dd2 58 unsigned char communication::crcArray[]= {
skirmish 11:95e4e04a7dd2 59 0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
skirmish 11:95e4e04a7dd2 60 157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
skirmish 11:95e4e04a7dd2 61 35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
skirmish 11:95e4e04a7dd2 62 190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
skirmish 11:95e4e04a7dd2 63 70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
skirmish 11:95e4e04a7dd2 64 219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
skirmish 11:95e4e04a7dd2 65 101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
skirmish 11:95e4e04a7dd2 66 248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
skirmish 11:95e4e04a7dd2 67 140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
skirmish 11:95e4e04a7dd2 68 17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
skirmish 11:95e4e04a7dd2 69 175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
skirmish 11:95e4e04a7dd2 70 50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
skirmish 11:95e4e04a7dd2 71 202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
skirmish 11:95e4e04a7dd2 72 87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
skirmish 11:95e4e04a7dd2 73 233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
skirmish 11:95e4e04a7dd2 74 116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53
skirmish 11:95e4e04a7dd2 75 };
skirmish 11:95e4e04a7dd2 76
skirmish 11:95e4e04a7dd2 77 char communication::crcCalc(char targetAddr, char senderAddr, char *data,int DataSize)
skirmish 11:95e4e04a7dd2 78 {
skirmish 11:95e4e04a7dd2 79 int dataLenght = DataSize;
skirmish 11:95e4e04a7dd2 80 char crc = 0x00;
skirmish 11:95e4e04a7dd2 81 crc = crcArray[crc^targetAddr];
skirmish 11:95e4e04a7dd2 82 crc = crcArray[crc^senderAddr];
skirmish 11:95e4e04a7dd2 83 for(int i = 0 ; i < dataLenght ; i++) {
skirmish 11:95e4e04a7dd2 84 crc = crcArray[crc^data[i]];
skirmish 11:95e4e04a7dd2 85 }
skirmish 11:95e4e04a7dd2 86 return crc;
skirmish 11:95e4e04a7dd2 87 }
skirmish 11:95e4e04a7dd2 88 void communication::sendPacket(char startByte,char target,char source,char *data,int DataSize)
skirmish 11:95e4e04a7dd2 89 {
skirmish 12:1c7b59097090 90 sendDataOk=true;
skirmish 12:1c7b59097090 91 int cnt=0;
skirmish 12:1c7b59097090 92 while(sendDataOk) {
skirmish 12:1c7b59097090 93 //packet format : || start byte: a0 | reciever adress - 1B | sender adress - 1B | data lenght - 1B | data - 0-265B | crc8 - 1B ||
skirmish 12:1c7b59097090 94 int dataLenght = DataSize;
skirmish 12:1c7b59097090 95 char crc8 = crcCalc(target, source, data,dataLenght);
skirmish 12:1c7b59097090 96 pc->putc(startByte);
skirmish 12:1c7b59097090 97 pc->putc(target);
skirmish 12:1c7b59097090 98 pc->putc(source);
skirmish 12:1c7b59097090 99 pc->putc(dataLenght);
skirmish 12:1c7b59097090 100 for (int i = 0 ; i < dataLenght ; i++) {
skirmish 12:1c7b59097090 101 pc->putc(data[i]);
skirmish 12:1c7b59097090 102 }
skirmish 12:1c7b59097090 103 pc->putc(crc8);
skirmish 12:1c7b59097090 104 wait(0.003);
skirmish 11:95e4e04a7dd2 105 }
skirmish 11:95e4e04a7dd2 106 }
skirmish 11:95e4e04a7dd2 107 void communication::TickerCallBack()
skirmish 11:95e4e04a7dd2 108 {
skirmish 12:1c7b59097090 109 sendPacket(0xa0,0xfe,0x00, watchDog,1);
skirmish 11:95e4e04a7dd2 110 pom++;
skirmish 11:95e4e04a7dd2 111 if (pom==1) {
skirmish 11:95e4e04a7dd2 112 zelena =0;
skirmish 11:95e4e04a7dd2 113 cervena=1;
skirmish 11:95e4e04a7dd2 114 } else {
skirmish 11:95e4e04a7dd2 115 zelena=1;
skirmish 11:95e4e04a7dd2 116 cervena=0;
skirmish 11:95e4e04a7dd2 117 pom=0;
skirmish 11:95e4e04a7dd2 118 }
skirmish 11:95e4e04a7dd2 119 }
skirmish 11:95e4e04a7dd2 120 void communication::SerialCallBack()
skirmish 11:95e4e04a7dd2 121 {
skirmish 12:1c7b59097090 122
skirmish 11:95e4e04a7dd2 123 startByteIn=pc->getc();
skirmish 11:95e4e04a7dd2 124 targetAdd=pc->getc();
skirmish 11:95e4e04a7dd2 125 sourceAdd=pc->getc();
skirmish 11:95e4e04a7dd2 126 DataLength=pc->getc();
skirmish 11:95e4e04a7dd2 127 for (unsigned int i=0; i< DataLength; i++) {
skirmish 11:95e4e04a7dd2 128 DataIn[i]=pc->getc();
skirmish 11:95e4e04a7dd2 129 }
skirmish 11:95e4e04a7dd2 130 CrcIn=pc->getc();
skirmish 11:95e4e04a7dd2 131 switch( sourceAdd) {
skirmish 11:95e4e04a7dd2 132 case 0xc4:
skirmish 11:95e4e04a7dd2 133 case 0xb4:
skirmish 12:1c7b59097090 134 if(poschodie!=4)
skirmish 12:1c7b59097090 135 mapPoschodie.find("p4")->second=true;
skirmish 11:95e4e04a7dd2 136 break;
skirmish 11:95e4e04a7dd2 137 case 0xb3:
skirmish 11:95e4e04a7dd2 138 case 0xc3:
skirmish 12:1c7b59097090 139 if(poschodie!=3)
skirmish 12:1c7b59097090 140 mapPoschodie.find("p3")->second=true;
skirmish 11:95e4e04a7dd2 141 break;
skirmish 11:95e4e04a7dd2 142 case 0xb2:
skirmish 11:95e4e04a7dd2 143 case 0xc2:
skirmish 12:1c7b59097090 144 if(poschodie!=2)
skirmish 12:1c7b59097090 145 mapPoschodie.find("p2")->second=true;
skirmish 11:95e4e04a7dd2 146 break;
skirmish 11:95e4e04a7dd2 147 case 0xb1:
skirmish 11:95e4e04a7dd2 148 case 0xc1:
skirmish 12:1c7b59097090 149 if(poschodie!=1)
skirmish 12:1c7b59097090 150 mapPoschodie.find("p1")->second=true;
skirmish 11:95e4e04a7dd2 151 break;
skirmish 11:95e4e04a7dd2 152 case 0xb0:
skirmish 11:95e4e04a7dd2 153 case 0xc0:
skirmish 12:1c7b59097090 154 if(poschodie!=0)
skirmish 12:1c7b59097090 155 mapPoschodie.find("p0")->second=true;
skirmish 11:95e4e04a7dd2 156 break;
skirmish 11:95e4e04a7dd2 157 default:
skirmish 11:95e4e04a7dd2 158 ;
skirmish 11:95e4e04a7dd2 159 }
skirmish 12:1c7b59097090 160 //osetrenie ACK
skirmish 12:1c7b59097090 161 if(sourceAdd==0x00)
skirmish 12:1c7b59097090 162 sendDataOk=false;
skirmish 12:1c7b59097090 163 }
skirmish 11:95e4e04a7dd2 164