Lukas Seyfrid / Mbed OS SeyfridLukas

semestralna praca

Dependencies:   FRDM_MMA8451Q

main.cpp@2:0c88bf3817fe, 2017-12-06 (annotated)

Committer:
seyfrid_L
Date:
Wed Dec 06 08:51:19 2017 +0000
Revision:
2:0c88bf3817fe
Parent:
1:dbb18c6be96a
Child:
3:d473fb175cec
lcd display idu sipky hore a dole, ukazuje iba prizemie;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
seyfrid_L 0:ce8ad4f285d3 1 #include "mbed.h"
seyfrid_L 0:ce8ad4f285d3 2 #include "Adresar.h"
seyfrid_L 1:dbb18c6be96a 3 #include "main.h"
seyfrid_L 0:ce8ad4f285d3 4 #define ARRAY_SIZE(array) sizeof(array)/sizeof(*array)
seyfrid_L 0:ce8ad4f285d3 5
seyfrid_L 0:ce8ad4f285d3 6 Serial term(USBTX, USBRX);
seyfrid_L 0:ce8ad4f285d3 7 DigitalOut led1(LED2);
seyfrid_L 0:ce8ad4f285d3 8
seyfrid_L 1:dbb18c6be96a 9
seyfrid_L 1:dbb18c6be96a 10
seyfrid_L 0:ce8ad4f285d3 11 int prijmi;
seyfrid_L 0:ce8ad4f285d3 12
seyfrid_L 0:ce8ad4f285d3 13 int getCrc(int addrRx, int addrTx, int dataSize, int aData[])
seyfrid_L 0:ce8ad4f285d3 14 {
seyfrid_L 0:ce8ad4f285d3 15 int aCRC[] = {0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
seyfrid_L 0:ce8ad4f285d3 16 157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
seyfrid_L 0:ce8ad4f285d3 17 35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
seyfrid_L 0:ce8ad4f285d3 18 190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
seyfrid_L 0:ce8ad4f285d3 19 70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
seyfrid_L 0:ce8ad4f285d3 20 219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
seyfrid_L 0:ce8ad4f285d3 21 101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
seyfrid_L 0:ce8ad4f285d3 22 248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
seyfrid_L 0:ce8ad4f285d3 23 140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
seyfrid_L 0:ce8ad4f285d3 24 17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
seyfrid_L 0:ce8ad4f285d3 25 175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
seyfrid_L 0:ce8ad4f285d3 26 50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
seyfrid_L 0:ce8ad4f285d3 27 202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
seyfrid_L 0:ce8ad4f285d3 28 87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
seyfrid_L 0:ce8ad4f285d3 29 233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
seyfrid_L 0:ce8ad4f285d3 30 116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53
seyfrid_L 0:ce8ad4f285d3 31 };
seyfrid_L 0:ce8ad4f285d3 32 int crc = 0;
seyfrid_L 0:ce8ad4f285d3 33 crc = aCRC[crc ^ addrRx];
seyfrid_L 0:ce8ad4f285d3 34 crc = aCRC[crc ^ addrTx];
seyfrid_L 0:ce8ad4f285d3 35 for(int i = 0; i < dataSize; i++){
seyfrid_L 0:ce8ad4f285d3 36 crc = aCRC[crc ^ aData[i]];
seyfrid_L 0:ce8ad4f285d3 37 }
seyfrid_L 0:ce8ad4f285d3 38 return crc;
seyfrid_L 0:ce8ad4f285d3 39 }
seyfrid_L 0:ce8ad4f285d3 40
seyfrid_L 0:ce8ad4f285d3 41 void posliSpravu(int addrRx, int addrTx,int dataSize, int aData[])
seyfrid_L 0:ce8ad4f285d3 42 {
seyfrid_L 0:ce8ad4f285d3 43
seyfrid_L 0:ce8ad4f285d3 44 int aPacket[5+dataSize];
seyfrid_L 0:ce8ad4f285d3 45 aPacket[0] = 0xA0;
seyfrid_L 0:ce8ad4f285d3 46 aPacket[1] = addrRx;
seyfrid_L 0:ce8ad4f285d3 47 aPacket[2] = addrTx;
seyfrid_L 0:ce8ad4f285d3 48 aPacket[3] = dataSize;
seyfrid_L 0:ce8ad4f285d3 49
seyfrid_L 0:ce8ad4f285d3 50 for(int i = 0; i < dataSize; i++){
seyfrid_L 0:ce8ad4f285d3 51 aPacket[4+i] = aData[i];
seyfrid_L 0:ce8ad4f285d3 52 }
seyfrid_L 0:ce8ad4f285d3 53
seyfrid_L 0:ce8ad4f285d3 54 int crc = getCrc(addrRx, addrTx, dataSize, aData);
seyfrid_L 0:ce8ad4f285d3 55 aPacket[4+dataSize] = crc;
seyfrid_L 0:ce8ad4f285d3 56
seyfrid_L 0:ce8ad4f285d3 57
seyfrid_L 0:ce8ad4f285d3 58 prijmi = 0;
seyfrid_L 0:ce8ad4f285d3 59
seyfrid_L 0:ce8ad4f285d3 60 for(int i = 0; i < ARRAY_SIZE(aPacket); i++){
seyfrid_L 0:ce8ad4f285d3 61 term.putc(aPacket[i]);
seyfrid_L 0:ce8ad4f285d3 62 }
seyfrid_L 0:ce8ad4f285d3 63 }
seyfrid_L 0:ce8ad4f285d3 64
seyfrid_L 0:ce8ad4f285d3 65
seyfrid_L 2:0c88bf3817fe 66 int dajPoschodie()
seyfrid_L 1:dbb18c6be96a 67 {
seyfrid_L 1:dbb18c6be96a 68 int poschodie;
seyfrid_L 2:0c88bf3817fe 69 switch(adresa[2]){
seyfrid_L 2:0c88bf3817fe 70 case SWITCH_P:{
seyfrid_L 2:0c88bf3817fe 71 poschodie = SWITCH_P;
seyfrid_L 2:0c88bf3817fe 72 cisloPochodia_dislpej = 0;
seyfrid_L 2:0c88bf3817fe 73 break;
seyfrid_L 2:0c88bf3817fe 74 }
seyfrid_L 2:0c88bf3817fe 75 case SWITCH_1:{
seyfrid_L 2:0c88bf3817fe 76 poschodie = SWITCH_1;
seyfrid_L 2:0c88bf3817fe 77 cisloPochodia_dislpej = 1;
seyfrid_L 2:0c88bf3817fe 78 break;
seyfrid_L 1:dbb18c6be96a 79 }
seyfrid_L 2:0c88bf3817fe 80 case SWITCH_2:{
seyfrid_L 2:0c88bf3817fe 81 poschodie = SWITCH_2;
seyfrid_L 2:0c88bf3817fe 82 cisloPochodia_dislpej = 2;
seyfrid_L 2:0c88bf3817fe 83 break;
seyfrid_L 2:0c88bf3817fe 84 }
seyfrid_L 2:0c88bf3817fe 85 case SWITCH_3:{
seyfrid_L 2:0c88bf3817fe 86 poschodie = SWITCH_3;
seyfrid_L 2:0c88bf3817fe 87 cisloPochodia_dislpej = 3;
seyfrid_L 2:0c88bf3817fe 88 break;
seyfrid_L 2:0c88bf3817fe 89 }
seyfrid_L 2:0c88bf3817fe 90 case SWITCH_4:{
seyfrid_L 2:0c88bf3817fe 91 poschodie = SWITCH_4;
seyfrid_L 2:0c88bf3817fe 92 cisloPochodia_dislpej = 4;
seyfrid_L 2:0c88bf3817fe 93 break;
seyfrid_L 2:0c88bf3817fe 94 }
seyfrid_L 2:0c88bf3817fe 95 }
seyfrid_L 2:0c88bf3817fe 96 return poschodie;
seyfrid_L 2:0c88bf3817fe 97 }
seyfrid_L 0:ce8ad4f285d3 98
seyfrid_L 0:ce8ad4f285d3 99
seyfrid_L 0:ce8ad4f285d3 100 int main() {
seyfrid_L 0:ce8ad4f285d3 101
seyfrid_L 0:ce8ad4f285d3 102 term.baud(57600);
seyfrid_L 0:ce8ad4f285d3 103
seyfrid_L 0:ce8ad4f285d3 104
seyfrid_L 1:dbb18c6be96a 105 //int aDataIn[] = {0x01,0x50,0x31,0x32};
seyfrid_L 1:dbb18c6be96a 106 //int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 1:dbb18c6be96a 107 //posliSpravu(C_LCD,0xAA,dataSize1,aDataIn);
seyfrid_L 1:dbb18c6be96a 108
seyfrid_L 1:dbb18c6be96a 109 zamkniVytah();
seyfrid_L 1:dbb18c6be96a 110 wait(1);
seyfrid_L 1:dbb18c6be96a 111 odomkniVytah();
seyfrid_L 1:dbb18c6be96a 112 wait(1);
seyfrid_L 1:dbb18c6be96a 113 zamkniVytah();
seyfrid_L 1:dbb18c6be96a 114 wait(1);
seyfrid_L 2:0c88bf3817fe 115 smerHore();disp_Vyt();
seyfrid_L 2:0c88bf3817fe 116 //wait(2);
seyfrid_L 2:0c88bf3817fe 117 //dajPoschodie();
seyfrid_L 2:0c88bf3817fe 118 //stop();
seyfrid_L 2:0c88bf3817fe 119 //int aDataIn[] = {dajPoschodie()};
seyfrid_L 2:0c88bf3817fe 120 //int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 121 //posliSpravu(0xD0,0xAA,dataSize1,aDataIn);
seyfrid_L 1:dbb18c6be96a 122
seyfrid_L 1:dbb18c6be96a 123
seyfrid_L 0:ce8ad4f285d3 124
seyfrid_L 0:ce8ad4f285d3 125
seyfrid_L 0:ce8ad4f285d3 126 }
seyfrid_L 0:ce8ad4f285d3 127
seyfrid_L 1:dbb18c6be96a 128
seyfrid_L 2:0c88bf3817fe 129 void tlac_vytah()
seyfrid_L 2:0c88bf3817fe 130 {
seyfrid_L 2:0c88bf3817fe 131 if (prijmi == 1)
seyfrid_L 2:0c88bf3817fe 132 {
seyfrid_L 2:0c88bf3817fe 133
seyfrid_L 2:0c88bf3817fe 134 }
seyfrid_L 2:0c88bf3817fe 135 }
seyfrid_L 2:0c88bf3817fe 136
seyfrid_L 2:0c88bf3817fe 137
seyfrid_L 1:dbb18c6be96a 138 void stop()
seyfrid_L 1:dbb18c6be96a 139 {
seyfrid_L 1:dbb18c6be96a 140 int aDataIn[] = {0x1};
seyfrid_L 1:dbb18c6be96a 141 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 1:dbb18c6be96a 142 posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
seyfrid_L 1:dbb18c6be96a 143 }
seyfrid_L 1:dbb18c6be96a 144
seyfrid_L 1:dbb18c6be96a 145 void smerHore()
seyfrid_L 1:dbb18c6be96a 146 {
seyfrid_L 2:0c88bf3817fe 147 //int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
seyfrid_L 2:0c88bf3817fe 148 //int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 149 //posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
seyfrid_L 2:0c88bf3817fe 150
seyfrid_L 2:0c88bf3817fe 151 pohyb++;
seyfrid_L 2:0c88bf3817fe 152 if(pohyb_flag == 0){
seyfrid_L 2:0c88bf3817fe 153 pohyb_flag = 1;
seyfrid_L 2:0c88bf3817fe 154 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 155 int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
seyfrid_L 2:0c88bf3817fe 156 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 157 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 158 smerJazdy = 1;
seyfrid_L 2:0c88bf3817fe 159 }
seyfrid_L 2:0c88bf3817fe 160 if(pohyb > 2){
seyfrid_L 2:0c88bf3817fe 161 pohyb = 0;
seyfrid_L 2:0c88bf3817fe 162 pohyb_flag = 1;
seyfrid_L 2:0c88bf3817fe 163 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 164 int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
seyfrid_L 2:0c88bf3817fe 165 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 166 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 167 smerJazdy = 1;
seyfrid_L 2:0c88bf3817fe 168 }
seyfrid_L 2:0c88bf3817fe 169
seyfrid_L 1:dbb18c6be96a 170 }
seyfrid_L 1:dbb18c6be96a 171
seyfrid_L 1:dbb18c6be96a 172
seyfrid_L 1:dbb18c6be96a 173 void smerDole()
seyfrid_L 1:dbb18c6be96a 174 {
seyfrid_L 1:dbb18c6be96a 175 int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
seyfrid_L 1:dbb18c6be96a 176 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 1:dbb18c6be96a 177 posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
seyfrid_L 2:0c88bf3817fe 178
seyfrid_L 2:0c88bf3817fe 179 pohyb++;
seyfrid_L 2:0c88bf3817fe 180 if(pohyb_flag == 0){
seyfrid_L 2:0c88bf3817fe 181 pohyb_flag = -1;
seyfrid_L 2:0c88bf3817fe 182 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 183 int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
seyfrid_L 2:0c88bf3817fe 184 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 185 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 186 smerJazdy = -1;
seyfrid_L 2:0c88bf3817fe 187 }
seyfrid_L 2:0c88bf3817fe 188 if(pohyb > 2){
seyfrid_L 2:0c88bf3817fe 189 pohyb = 0;
seyfrid_L 2:0c88bf3817fe 190 pohyb_flag = -1;
seyfrid_L 2:0c88bf3817fe 191 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 192 int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
seyfrid_L 2:0c88bf3817fe 193 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 194 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 195 smerJazdy = -1;
seyfrid_L 2:0c88bf3817fe 196 }
seyfrid_L 1:dbb18c6be96a 197
seyfrid_L 1:dbb18c6be96a 198 }
seyfrid_L 1:dbb18c6be96a 199
seyfrid_L 1:dbb18c6be96a 200
seyfrid_L 1:dbb18c6be96a 201
seyfrid_L 1:dbb18c6be96a 202
seyfrid_L 1:dbb18c6be96a 203 void zamkniVytah()
seyfrid_L 1:dbb18c6be96a 204 {
seyfrid_L 1:dbb18c6be96a 205 int adata[1] = {0x01};
seyfrid_L 1:dbb18c6be96a 206 int dataSize = ARRAY_SIZE(adata);
seyfrid_L 1:dbb18c6be96a 207 posliSpravu(0xF0,0xAA,dataSize,adata);
seyfrid_L 1:dbb18c6be96a 208
seyfrid_L 1:dbb18c6be96a 209 }
seyfrid_L 1:dbb18c6be96a 210
seyfrid_L 1:dbb18c6be96a 211 void odomkniVytah()
seyfrid_L 1:dbb18c6be96a 212 {
seyfrid_L 1:dbb18c6be96a 213 int adata[1] = {0x00};
seyfrid_L 1:dbb18c6be96a 214 int dataSize = ARRAY_SIZE(adata);
seyfrid_L 1:dbb18c6be96a 215 posliSpravu(0xF0,0xAA,dataSize,adata);
seyfrid_L 2:0c88bf3817fe 216 }
seyfrid_L 2:0c88bf3817fe 217
seyfrid_L 2:0c88bf3817fe 218 void disp_Vyt()
seyfrid_L 2:0c88bf3817fe 219 {
seyfrid_L 2:0c88bf3817fe 220 int aDataIn[2];
seyfrid_L 2:0c88bf3817fe 221 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 222 switch(pohyb_flag){
seyfrid_L 2:0c88bf3817fe 223 case 0:{
seyfrid_L 2:0c88bf3817fe 224 aDataIn[0] = 0x03;
seyfrid_L 2:0c88bf3817fe 225 break;
seyfrid_L 2:0c88bf3817fe 226 }
seyfrid_L 2:0c88bf3817fe 227 case 1:{
seyfrid_L 2:0c88bf3817fe 228 aDataIn[0] = 0x01;
seyfrid_L 2:0c88bf3817fe 229 break;
seyfrid_L 2:0c88bf3817fe 230 }
seyfrid_L 2:0c88bf3817fe 231 case -1:{
seyfrid_L 2:0c88bf3817fe 232 aDataIn[0] = 0x02;
seyfrid_L 2:0c88bf3817fe 233 break;
seyfrid_L 2:0c88bf3817fe 234 }
seyfrid_L 2:0c88bf3817fe 235 }
seyfrid_L 2:0c88bf3817fe 236 switch(cisloPochodia_dislpej){
seyfrid_L 2:0c88bf3817fe 237 case 0:{
seyfrid_L 2:0c88bf3817fe 238 aDataIn[1] = 0x50;
seyfrid_L 2:0c88bf3817fe 239 break;
seyfrid_L 2:0c88bf3817fe 240 }
seyfrid_L 2:0c88bf3817fe 241 case 1:{
seyfrid_L 2:0c88bf3817fe 242 aDataIn[1] = 0x31;
seyfrid_L 2:0c88bf3817fe 243 break;
seyfrid_L 2:0c88bf3817fe 244 }
seyfrid_L 2:0c88bf3817fe 245 case 2:{
seyfrid_L 2:0c88bf3817fe 246 aDataIn[1] = 0x32;
seyfrid_L 2:0c88bf3817fe 247 break;
seyfrid_L 2:0c88bf3817fe 248 }
seyfrid_L 2:0c88bf3817fe 249 case 3:{
seyfrid_L 2:0c88bf3817fe 250 aDataIn[1] = 0x33;
seyfrid_L 2:0c88bf3817fe 251 break;
seyfrid_L 2:0c88bf3817fe 252 }
seyfrid_L 2:0c88bf3817fe 253 case 4:{
seyfrid_L 2:0c88bf3817fe 254 aDataIn[1] = 0x34;
seyfrid_L 2:0c88bf3817fe 255 break;
seyfrid_L 2:0c88bf3817fe 256 }
seyfrid_L 2:0c88bf3817fe 257 }
seyfrid_L 2:0c88bf3817fe 258 if(cisloPochodia_dislpej != disp_poschodie){
seyfrid_L 2:0c88bf3817fe 259 posliSpravu(C_LCD,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 260 }else if(pohyb_flag != display_smer){
seyfrid_L 2:0c88bf3817fe 261 posliSpravu(C_LCD,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 262 }
seyfrid_L 2:0c88bf3817fe 263 disp_poschodie = cisloPochodia_dislpej;
seyfrid_L 2:0c88bf3817fe 264 display_smer = pohyb_flag;
seyfrid_L 2:0c88bf3817fe 265 }