Benedikt Kičin / Mbed 2 deprecated kicin2vytah

Benedikt Kicin, vytah semestralka

Dependencies:   mbed

komunikacia.cpp@0:2574b54351ed, 2018-01-24 (annotated)

Committer:
kicin2
Date:
Wed Jan 24 07:55:50 2018 +0000
Revision:
0:2574b54351ed
Child:
1:5e6b55099364
kicin2 vytah

Who changed what in which revision?

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kicin2 0:2574b54351ed 1 /*!
kicin2 0:2574b54351ed 2 * \file komunikacia.cpp
kicin2 0:2574b54351ed 3 * \author Benedikt Kicin
kicin2 0:2574b54351ed 4 * subor komunikacia.cpp sluzi na komunikaciu aplikacie s riadiacou jednotkou*/
kicin2 0:2574b54351ed 5
kicin2 0:2574b54351ed 6 #include "komunikacia.h"
kicin2 0:2574b54351ed 7
kicin2 0:2574b54351ed 8 Serial pc(USBTX, USBRX);
kicin2 0:2574b54351ed 9 bool ack = false;
kicin2 0:2574b54351ed 10
kicin2 0:2574b54351ed 11 const char crc[256] = {
kicin2 0:2574b54351ed 12 0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
kicin2 0:2574b54351ed 13 157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
kicin2 0:2574b54351ed 14 35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
kicin2 0:2574b54351ed 15 190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
kicin2 0:2574b54351ed 16 70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
kicin2 0:2574b54351ed 17 219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
kicin2 0:2574b54351ed 18 101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
kicin2 0:2574b54351ed 19 248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
kicin2 0:2574b54351ed 20 140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
kicin2 0:2574b54351ed 21 17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
kicin2 0:2574b54351ed 22 175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
kicin2 0:2574b54351ed 23 50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
kicin2 0:2574b54351ed 24 202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
kicin2 0:2574b54351ed 25 87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
kicin2 0:2574b54351ed 26 233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
kicin2 0:2574b54351ed 27 116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53
kicin2 0:2574b54351ed 28 };
kicin2 0:2574b54351ed 29
kicin2 0:2574b54351ed 30 /**
kicin2 0:2574b54351ed 31 *Funkcia na nastavenie prenosovej rychlosti
kicin2 0:2574b54351ed 32 */
kicin2 0:2574b54351ed 33 void initCommunication()
kicin2 0:2574b54351ed 34 {
kicin2 0:2574b54351ed 35 pc.baud(57600);//nastavenie prenosovej rychlosti
kicin2 0:2574b54351ed 36 }
kicin2 0:2574b54351ed 37
kicin2 0:2574b54351ed 38 /**
kicin2 0:2574b54351ed 39 *Funkcia na vytvorenie CRC kodovania z dat a adresies
kicin2 0:2574b54351ed 40 *@param adresaPrij - adresa prijimatela
kicin2 0:2574b54351ed 41 *@param adresaOdos - adresa odosielatela
kicin2 0:2574b54351ed 42 *@param dlzkaDat - dlzka pola dat
kicin2 0:2574b54351ed 43 *@param data[] - pole dat, data
kicin2 0:2574b54351ed 44 */
kicin2 0:2574b54351ed 45 unsigned char vytvorCRC(unsigned char adresaPrij,unsigned char adresaOdos,unsigned char dlzkaDat, unsigned char data[])
kicin2 0:2574b54351ed 46 {
kicin2 0:2574b54351ed 47 unsigned char vysledneCRC = 0x00;
kicin2 0:2574b54351ed 48 //znak ^(xor) je jedna ked su hodnoty rozdielne, t.j. 01 alebo 10
kicin2 0:2574b54351ed 49 vysledneCRC = crc[vysledneCRC ^ adresaPrij];//crc vypocet z adresy prijmatela
kicin2 0:2574b54351ed 50 vysledneCRC = crc[vysledneCRC ^ adresaOdos];//crc vypocet z adresy odosielatela
kicin2 0:2574b54351ed 51 unsigned char i = 0;
kicin2 0:2574b54351ed 52 do {
kicin2 0:2574b54351ed 53 vysledneCRC = crc[vysledneCRC ^ data[i]];
kicin2 0:2574b54351ed 54 i++;
kicin2 0:2574b54351ed 55 } while(i<dlzkaDat);//crc vypocet z dat
kicin2 0:2574b54351ed 56 return(vysledneCRC);
kicin2 0:2574b54351ed 57 }
kicin2 0:2574b54351ed 58
kicin2 0:2574b54351ed 59 /**
kicin2 0:2574b54351ed 60 *Funkcia na odosielanie bajtov
kicin2 0:2574b54351ed 61 *@param adresaPrij - adresa prijimatela, komu to posielam
kicin2 0:2574b54351ed 62 *@param data - data k prenosu
kicin2 0:2574b54351ed 63 */
kicin2 0:2574b54351ed 64 void posliBajt(unsigned char adresaPrij,unsigned char data)
kicin2 0:2574b54351ed 65 {
kicin2 0:2574b54351ed 66 unsigned char poleDat [1];//pole dat incializacia
kicin2 0:2574b54351ed 67 poleDat[0] = data;//ulozenie dat na prvu zlozku pola
kicin2 0:2574b54351ed 68 posliPaket(adresaPrij, 0x01, poleDat);//odoslanie bajtu
kicin2 0:2574b54351ed 69 }
kicin2 0:2574b54351ed 70
kicin2 0:2574b54351ed 71 /**
kicin2 0:2574b54351ed 72 *Funkcia na odosielanie paketov
kicin2 0:2574b54351ed 73 *@param adresaPrij - adresa prijimatela
kicin2 0:2574b54351ed 74 *@param dlzkaPola - dlzka pola dat
kicin2 0:2574b54351ed 75 *@param pole[] - pole dat k prenosu
kicin2 0:2574b54351ed 76 */
kicin2 0:2574b54351ed 77 void posliPaket(unsigned char adresaPrij, unsigned char dlzkaPola, unsigned char pole[])
kicin2 0:2574b54351ed 78 {
kicin2 0:2574b54351ed 79 pc.putc(0xA0);//startovaci bajt (start)
kicin2 0:2574b54351ed 80 pc.putc(adresaPrij);//adresa prijmatela, kam to pojdem cielova adresa
kicin2 0:2574b54351ed 81 pc.putc(0x00); //adresa odosielatela, kto odosiela
kicin2 0:2574b54351ed 82 pc.putc(dlzkaPola);//pocet dat v bytoch
kicin2 0:2574b54351ed 83 for(int i = 0;i<dlzkaPola;i++){//data
kicin2 0:2574b54351ed 84 pc.putc(pole[i]);
kicin2 0:2574b54351ed 85 }
kicin2 0:2574b54351ed 86 char crc = vytvorCRC(adresaPrij,0x00,dlzkaPola,pole);
kicin2 0:2574b54351ed 87 pc.putc(crc);//vlozenie kodu crc
kicin2 0:2574b54351ed 88 kontrolaAck();//kontrola prijatia ACK
kicin2 0:2574b54351ed 89 if(ack == false){
kicin2 0:2574b54351ed 90 posliPaket(adresaPrij,dlzkaPola,pole);//zopakuj poslanie paketu
kicin2 0:2574b54351ed 91 }
kicin2 0:2574b54351ed 92 else {ack = false;}
kicin2 0:2574b54351ed 93 }
kicin2 0:2574b54351ed 94
kicin2 0:2574b54351ed 95 /**
kicin2 0:2574b54351ed 96 *Funkcia na prijmanie paketov
kicin2 0:2574b54351ed 97 */
kicin2 0:2574b54351ed 98 void prijmiPaket()
kicin2 0:2574b54351ed 99 {
kicin2 0:2574b54351ed 100 unsigned char adresaPrij,adresaOdos,dlzkaPola,precitaneCRC;
kicin2 0:2574b54351ed 101 if(pc.getc() == 0xA0){//prijaty startovaci bajt
kicin2 0:2574b54351ed 102 adresaPrij = pc.getc();//prijata adresa prijmatela
kicin2 0:2574b54351ed 103 if(adresaPrij == 0x00){
kicin2 0:2574b54351ed 104 adresaOdos = pc.getc();//prijata adresa odosielatela, adresa prijimatela nemoze byt ako moja
kicin2 0:2574b54351ed 105 if(adresaOdos != 0x00){//teraz prijima paket
kicin2 0:2574b54351ed 106 dlzkaPola = pc.getc();//prijata dlzka pola
kicin2 0:2574b54351ed 107 unsigned char data[dlzkaPola];//zapise do pola
kicin2 0:2574b54351ed 108 for(int i = 0;i<dlzkaPola;i++){
kicin2 0:2574b54351ed 109 data[i] = pc.getc();//prijate data
kicin2 0:2574b54351ed 110 }
kicin2 0:2574b54351ed 111 precitaneCRC = pc.getc();//prijate crc kodu, prijmi CRC
kicin2 0:2574b54351ed 112 char crc = vytvorCRC(adresaPrij,adresaOdos,dlzkaPola,data);
kicin2 0:2574b54351ed 113 if(crc == precitaneCRC){
kicin2 0:2574b54351ed 114 vykonaj(adresaOdos,data[0]);
kicin2 0:2574b54351ed 115 }
kicin2 0:2574b54351ed 116 }
kicin2 0:2574b54351ed 117 else {//ak bol aj treti prijaty bajt 0, neprijma paket ale ack(A0 0 0 0 0)
kicin2 0:2574b54351ed 118 if(pc.getc() == 0x00){
kicin2 0:2574b54351ed 119 if(pc.getc() == 0x00){
kicin2 0:2574b54351ed 120 ack = true;
kicin2 0:2574b54351ed 121 }
kicin2 0:2574b54351ed 122 }
kicin2 0:2574b54351ed 123 }
kicin2 0:2574b54351ed 124 }
kicin2 0:2574b54351ed 125 }
kicin2 0:2574b54351ed 126 }
kicin2 0:2574b54351ed 127
kicin2 0:2574b54351ed 128 /**
kicin2 0:2574b54351ed 129 *Funkcia na kontrolu spravnosti prenosu
kicin2 0:2574b54351ed 130 */
kicin2 0:2574b54351ed 131 void kontrolaAck()
kicin2 0:2574b54351ed 132 {
kicin2 0:2574b54351ed 133 Timer t;
kicin2 0:2574b54351ed 134 t.reset();//reset timera
kicin2 0:2574b54351ed 135 t.start();//start timera
kicin2 0:2574b54351ed 136 ack = false;
kicin2 0:2574b54351ed 137 while((t.read_ms()<=10)&&(ack == false));
kicin2 0:2574b54351ed 138 t.stop();
kicin2 0:2574b54351ed 139 }