Lukas Seyfrid / Mbed OS SeyfridLukas

semestralna praca

Dependencies:   FRDM_MMA8451Q

main.cpp@5:8c5c19be2126, 2018-01-05 (annotated)

Committer:
seyfrid_L
Date:
Fri Jan 05 13:11:52 2018 +0000
Revision:
5:8c5c19be2126
Parent:
4:dee1ebc51d2e
Child:
6:8c336acc90f9
Vytah zastavuje a rozbieha sa podla zvoleneho poschodia. Funguju tlacitka aaj vo vytahu a na stene.;

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 4:dee1ebc51d2e 7 DigitalOut led1(LED2);
seyfrid_L 0:ce8ad4f285d3 8
seyfrid_L 1:dbb18c6be96a 9
seyfrid_L 1:dbb18c6be96a 10
seyfrid_L 5:8c5c19be2126 11
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 5:8c5c19be2126 65 void prijmiSpravu()
seyfrid_L 3:d473fb175cec 66 {
seyfrid_L 3:d473fb175cec 67
seyfrid_L 3:d473fb175cec 68
seyfrid_L 3:d473fb175cec 69 prijmi = 1;
seyfrid_L 3:d473fb175cec 70 for(int i = 0; i < 4; i++) {
seyfrid_L 3:d473fb175cec 71 adresa[i] = term.getc();
seyfrid_L 3:d473fb175cec 72 }
seyfrid_L 3:d473fb175cec 73
seyfrid_L 3:d473fb175cec 74
seyfrid_L 3:d473fb175cec 75 if(adresa[3] == 0x00) {
seyfrid_L 3:d473fb175cec 76 sprava[0] = term.getc();
seyfrid_L 3:d473fb175cec 77 }else{
seyfrid_L 3:d473fb175cec 78 for(int i = 0; i < adresa[3]; i++){
seyfrid_L 3:d473fb175cec 79 sprava[i]=term.getc();
seyfrid_L 3:d473fb175cec 80 }
seyfrid_L 3:d473fb175cec 81 adresa[4]=term.getc();
seyfrid_L 3:d473fb175cec 82 if(adresa[4] == getCrc(adresa[1], adresa[2],adresa[3],sprava)){
seyfrid_L 5:8c5c19be2126 83
seyfrid_L 3:d473fb175cec 84 }
seyfrid_L 3:d473fb175cec 85 }
seyfrid_L 5:8c5c19be2126 86
seyfrid_L 5:8c5c19be2126 87 nice();
seyfrid_L 3:d473fb175cec 88
seyfrid_L 3:d473fb175cec 89 }
seyfrid_L 3:d473fb175cec 90
seyfrid_L 5:8c5c19be2126 91 void nice(){
seyfrid_L 5:8c5c19be2126 92
seyfrid_L 5:8c5c19be2126 93
seyfrid_L 5:8c5c19be2126 94 if(p_0 == 1)
seyfrid_L 5:8c5c19be2126 95 {
seyfrid_L 5:8c5c19be2126 96 if (dajPoschodie() == SWITCH_P){
seyfrid_L 5:8c5c19be2126 97 ledPoff();
seyfrid_L 5:8c5c19be2126 98 ledPoffC();
seyfrid_L 5:8c5c19be2126 99 stop();
seyfrid_L 5:8c5c19be2126 100 odomkniVytah() ;
seyfrid_L 5:8c5c19be2126 101 p_0 = 0;
seyfrid_L 5:8c5c19be2126 102 }
seyfrid_L 5:8c5c19be2126 103
seyfrid_L 5:8c5c19be2126 104 }
seyfrid_L 5:8c5c19be2126 105
seyfrid_L 5:8c5c19be2126 106
seyfrid_L 5:8c5c19be2126 107 if(p_1 == 1)
seyfrid_L 5:8c5c19be2126 108 {
seyfrid_L 5:8c5c19be2126 109 if (dajPoschodie() == SWITCH_1){
seyfrid_L 5:8c5c19be2126 110 led1off();
seyfrid_L 5:8c5c19be2126 111 led1offC();
seyfrid_L 5:8c5c19be2126 112 stop();
seyfrid_L 5:8c5c19be2126 113 odomkniVytah() ;
seyfrid_L 5:8c5c19be2126 114 p_1 = 0;
seyfrid_L 5:8c5c19be2126 115 }
seyfrid_L 5:8c5c19be2126 116
seyfrid_L 5:8c5c19be2126 117 }
seyfrid_L 5:8c5c19be2126 118
seyfrid_L 5:8c5c19be2126 119 if(p_2 == 1)
seyfrid_L 5:8c5c19be2126 120 {
seyfrid_L 5:8c5c19be2126 121 if (dajPoschodie() == SWITCH_2){
seyfrid_L 5:8c5c19be2126 122 led2off();
seyfrid_L 5:8c5c19be2126 123 led2offC();
seyfrid_L 5:8c5c19be2126 124 stop();
seyfrid_L 5:8c5c19be2126 125 odomkniVytah() ;
seyfrid_L 5:8c5c19be2126 126 p_2 = 0;
seyfrid_L 5:8c5c19be2126 127 }
seyfrid_L 5:8c5c19be2126 128
seyfrid_L 5:8c5c19be2126 129 }
seyfrid_L 5:8c5c19be2126 130
seyfrid_L 5:8c5c19be2126 131 if (p_3 == 1){
seyfrid_L 5:8c5c19be2126 132
seyfrid_L 5:8c5c19be2126 133 if (dajPoschodie() == SWITCH_3){
seyfrid_L 5:8c5c19be2126 134 led3off();
seyfrid_L 5:8c5c19be2126 135 led3offC();
seyfrid_L 5:8c5c19be2126 136 stop();
seyfrid_L 5:8c5c19be2126 137 odomkniVytah() ;
seyfrid_L 5:8c5c19be2126 138 p_3 = 0;
seyfrid_L 5:8c5c19be2126 139 }
seyfrid_L 5:8c5c19be2126 140 }
seyfrid_L 5:8c5c19be2126 141
seyfrid_L 5:8c5c19be2126 142 if(p_4 == 1)
seyfrid_L 5:8c5c19be2126 143 {
seyfrid_L 5:8c5c19be2126 144 if (dajPoschodie() == SWITCH_4){
seyfrid_L 5:8c5c19be2126 145 led4off();
seyfrid_L 5:8c5c19be2126 146 led4off();
seyfrid_L 5:8c5c19be2126 147 stop();
seyfrid_L 5:8c5c19be2126 148 odomkniVytah() ;
seyfrid_L 5:8c5c19be2126 149 p_4 = 0;
seyfrid_L 5:8c5c19be2126 150 }
seyfrid_L 5:8c5c19be2126 151
seyfrid_L 5:8c5c19be2126 152 }
seyfrid_L 5:8c5c19be2126 153
seyfrid_L 5:8c5c19be2126 154 }
seyfrid_L 0:ce8ad4f285d3 155
seyfrid_L 4:dee1ebc51d2e 156
seyfrid_L 5:8c5c19be2126 157 void tlacitka()
seyfrid_L 5:8c5c19be2126 158 {
seyfrid_L 5:8c5c19be2126 159 switch(adresa[2])
seyfrid_L 5:8c5c19be2126 160 {
seyfrid_L 5:8c5c19be2126 161 case W_P_BUTTON:
seyfrid_L 5:8c5c19be2126 162 {
seyfrid_L 5:8c5c19be2126 163 p_0 = 1;
seyfrid_L 5:8c5c19be2126 164 smerDole();
seyfrid_L 5:8c5c19be2126 165 ledPon();
seyfrid_L 5:8c5c19be2126 166
seyfrid_L 5:8c5c19be2126 167 break;
seyfrid_L 5:8c5c19be2126 168 }
seyfrid_L 5:8c5c19be2126 169
seyfrid_L 5:8c5c19be2126 170 case W_1_BUTTON:
seyfrid_L 5:8c5c19be2126 171 {
seyfrid_L 5:8c5c19be2126 172 p_1 = 1;
seyfrid_L 5:8c5c19be2126 173 smerHore();
seyfrid_L 5:8c5c19be2126 174 led1on();
seyfrid_L 5:8c5c19be2126 175 break;
seyfrid_L 5:8c5c19be2126 176 }
seyfrid_L 5:8c5c19be2126 177
seyfrid_L 5:8c5c19be2126 178 case W_2_BUTTON:
seyfrid_L 5:8c5c19be2126 179 {
seyfrid_L 5:8c5c19be2126 180 p_2 = 1;
seyfrid_L 5:8c5c19be2126 181 smerDole();
seyfrid_L 5:8c5c19be2126 182 led2on();
seyfrid_L 5:8c5c19be2126 183 break;
seyfrid_L 5:8c5c19be2126 184 }
seyfrid_L 5:8c5c19be2126 185
seyfrid_L 5:8c5c19be2126 186 case W_3_BUTTON:
seyfrid_L 5:8c5c19be2126 187 {
seyfrid_L 5:8c5c19be2126 188 p_3 = 1;
seyfrid_L 5:8c5c19be2126 189
seyfrid_L 5:8c5c19be2126 190 smerDole();
seyfrid_L 5:8c5c19be2126 191 led3on();
seyfrid_L 5:8c5c19be2126 192
seyfrid_L 5:8c5c19be2126 193 break;
seyfrid_L 5:8c5c19be2126 194 }
seyfrid_L 5:8c5c19be2126 195
seyfrid_L 5:8c5c19be2126 196 case W_4_BUTTON:
seyfrid_L 5:8c5c19be2126 197 {
seyfrid_L 5:8c5c19be2126 198 p_4 = 1;
seyfrid_L 5:8c5c19be2126 199 smerHore();
seyfrid_L 5:8c5c19be2126 200 led4on();
seyfrid_L 5:8c5c19be2126 201 break;
seyfrid_L 5:8c5c19be2126 202 }
seyfrid_L 5:8c5c19be2126 203
seyfrid_L 5:8c5c19be2126 204 case C_P_BUTTON:
seyfrid_L 5:8c5c19be2126 205 {
seyfrid_L 5:8c5c19be2126 206 p_0 = 1;
seyfrid_L 5:8c5c19be2126 207 smerHore();
seyfrid_L 5:8c5c19be2126 208 ledPon();
seyfrid_L 5:8c5c19be2126 209 break;
seyfrid_L 5:8c5c19be2126 210 }
seyfrid_L 5:8c5c19be2126 211
seyfrid_L 5:8c5c19be2126 212 case C_1_BUTTON:
seyfrid_L 5:8c5c19be2126 213 {
seyfrid_L 5:8c5c19be2126 214 p_1 = 1;
seyfrid_L 5:8c5c19be2126 215 smerHore();
seyfrid_L 5:8c5c19be2126 216 led1on();
seyfrid_L 5:8c5c19be2126 217 break;
seyfrid_L 5:8c5c19be2126 218 }
seyfrid_L 5:8c5c19be2126 219
seyfrid_L 5:8c5c19be2126 220 case C_2_BUTTON:
seyfrid_L 5:8c5c19be2126 221 {
seyfrid_L 5:8c5c19be2126 222 p_2 = 1;
seyfrid_L 5:8c5c19be2126 223 smerHore();
seyfrid_L 5:8c5c19be2126 224 led2on();
seyfrid_L 5:8c5c19be2126 225 break;
seyfrid_L 5:8c5c19be2126 226 }
seyfrid_L 5:8c5c19be2126 227
seyfrid_L 5:8c5c19be2126 228 case C_3_BUTTON:
seyfrid_L 5:8c5c19be2126 229 {
seyfrid_L 5:8c5c19be2126 230 p_3 = 1;
seyfrid_L 5:8c5c19be2126 231 smerHore();
seyfrid_L 5:8c5c19be2126 232 led3on();
seyfrid_L 5:8c5c19be2126 233 break;
seyfrid_L 5:8c5c19be2126 234 }
seyfrid_L 5:8c5c19be2126 235
seyfrid_L 5:8c5c19be2126 236 case C_4_BUTTON:
seyfrid_L 5:8c5c19be2126 237 {
seyfrid_L 5:8c5c19be2126 238 p_4 = 1;
seyfrid_L 5:8c5c19be2126 239 smerHore();
seyfrid_L 5:8c5c19be2126 240 led4on();
seyfrid_L 5:8c5c19be2126 241 break;
seyfrid_L 5:8c5c19be2126 242 }
seyfrid_L 5:8c5c19be2126 243
seyfrid_L 5:8c5c19be2126 244
seyfrid_L 5:8c5c19be2126 245
seyfrid_L 5:8c5c19be2126 246
seyfrid_L 5:8c5c19be2126 247 }
seyfrid_L 5:8c5c19be2126 248
seyfrid_L 5:8c5c19be2126 249 }
seyfrid_L 5:8c5c19be2126 250
seyfrid_L 5:8c5c19be2126 251
seyfrid_L 5:8c5c19be2126 252
seyfrid_L 5:8c5c19be2126 253
seyfrid_L 5:8c5c19be2126 254 int dajPoschodie()
seyfrid_L 5:8c5c19be2126 255 {
seyfrid_L 5:8c5c19be2126 256 int poschodie;
seyfrid_L 5:8c5c19be2126 257
seyfrid_L 5:8c5c19be2126 258 switch(adresa[2])
seyfrid_L 5:8c5c19be2126 259 {
seyfrid_L 5:8c5c19be2126 260 case SWITCH_P:
seyfrid_L 5:8c5c19be2126 261 {
seyfrid_L 5:8c5c19be2126 262 poschodie = SWITCH_P;
seyfrid_L 5:8c5c19be2126 263 cisloPochodia_dislpej = 0;
seyfrid_L 5:8c5c19be2126 264 break;
seyfrid_L 5:8c5c19be2126 265 }
seyfrid_L 5:8c5c19be2126 266
seyfrid_L 5:8c5c19be2126 267 case SWITCH_1:
seyfrid_L 5:8c5c19be2126 268 {
seyfrid_L 5:8c5c19be2126 269 poschodie = SWITCH_1;
seyfrid_L 5:8c5c19be2126 270 cisloPochodia_dislpej = 1;
seyfrid_L 5:8c5c19be2126 271 break;
seyfrid_L 5:8c5c19be2126 272 }
seyfrid_L 5:8c5c19be2126 273 case SWITCH_2:
seyfrid_L 5:8c5c19be2126 274 {
seyfrid_L 5:8c5c19be2126 275 poschodie = SWITCH_2;
seyfrid_L 5:8c5c19be2126 276 cisloPochodia_dislpej = 2;
seyfrid_L 5:8c5c19be2126 277 break;
seyfrid_L 5:8c5c19be2126 278 }
seyfrid_L 5:8c5c19be2126 279
seyfrid_L 5:8c5c19be2126 280 case SWITCH_3:
seyfrid_L 5:8c5c19be2126 281 {
seyfrid_L 5:8c5c19be2126 282 poschodie = SWITCH_3;
seyfrid_L 5:8c5c19be2126 283 cisloPochodia_dislpej = 3;
seyfrid_L 5:8c5c19be2126 284 break;
seyfrid_L 5:8c5c19be2126 285 }
seyfrid_L 5:8c5c19be2126 286 case SWITCH_4:
seyfrid_L 5:8c5c19be2126 287 {
seyfrid_L 5:8c5c19be2126 288 poschodie = SWITCH_4;
seyfrid_L 5:8c5c19be2126 289 cisloPochodia_dislpej = 4;
seyfrid_L 5:8c5c19be2126 290 break;
seyfrid_L 5:8c5c19be2126 291 }
seyfrid_L 5:8c5c19be2126 292
seyfrid_L 5:8c5c19be2126 293
seyfrid_L 5:8c5c19be2126 294
seyfrid_L 5:8c5c19be2126 295 }
seyfrid_L 5:8c5c19be2126 296
seyfrid_L 5:8c5c19be2126 297 return poschodie;
seyfrid_L 5:8c5c19be2126 298
seyfrid_L 5:8c5c19be2126 299 }
seyfrid_L 5:8c5c19be2126 300
seyfrid_L 0:ce8ad4f285d3 301
seyfrid_L 0:ce8ad4f285d3 302
seyfrid_L 0:ce8ad4f285d3 303 int main() {
seyfrid_L 0:ce8ad4f285d3 304
seyfrid_L 0:ce8ad4f285d3 305 term.baud(57600);
seyfrid_L 5:8c5c19be2126 306 term.attach(&prijmiSpravu, Serial::RxIrq);
seyfrid_L 3:d473fb175cec 307
seyfrid_L 3:d473fb175cec 308
seyfrid_L 4:dee1ebc51d2e 309 //int aDataIn[] = {*prerusVysielanie()};
seyfrid_L 4:dee1ebc51d2e 310 // int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 4:dee1ebc51d2e 311 // posliSpravu(0xD0,0xAA,dataSize1,aDataIn);
seyfrid_L 4:dee1ebc51d2e 312
seyfrid_L 5:8c5c19be2126 313
seyfrid_L 5:8c5c19be2126 314 while(1){
seyfrid_L 5:8c5c19be2126 315 //prijmi = 0;
seyfrid_L 5:8c5c19be2126 316 tlacitka();
seyfrid_L 5:8c5c19be2126 317 }
seyfrid_L 5:8c5c19be2126 318
seyfrid_L 5:8c5c19be2126 319
seyfrid_L 5:8c5c19be2126 320
seyfrid_L 1:dbb18c6be96a 321
seyfrid_L 1:dbb18c6be96a 322
seyfrid_L 0:ce8ad4f285d3 323
seyfrid_L 0:ce8ad4f285d3 324
seyfrid_L 0:ce8ad4f285d3 325 }
seyfrid_L 0:ce8ad4f285d3 326
seyfrid_L 1:dbb18c6be96a 327
seyfrid_L 1:dbb18c6be96a 328 void stop()
seyfrid_L 1:dbb18c6be96a 329 {
seyfrid_L 1:dbb18c6be96a 330 int aDataIn[] = {0x1};
seyfrid_L 1:dbb18c6be96a 331 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 1:dbb18c6be96a 332 posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
seyfrid_L 1:dbb18c6be96a 333 }
seyfrid_L 1:dbb18c6be96a 334
seyfrid_L 1:dbb18c6be96a 335 void smerHore()
seyfrid_L 1:dbb18c6be96a 336 {
seyfrid_L 5:8c5c19be2126 337
seyfrid_L 2:0c88bf3817fe 338 pohyb++;
seyfrid_L 2:0c88bf3817fe 339 if(pohyb_flag == 0){
seyfrid_L 2:0c88bf3817fe 340 pohyb_flag = 1;
seyfrid_L 2:0c88bf3817fe 341 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 342 int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
seyfrid_L 2:0c88bf3817fe 343 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 344 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 345 smerJazdy = 1;
seyfrid_L 3:d473fb175cec 346
seyfrid_L 2:0c88bf3817fe 347 }
seyfrid_L 2:0c88bf3817fe 348 if(pohyb > 2){
seyfrid_L 2:0c88bf3817fe 349 pohyb = 0;
seyfrid_L 2:0c88bf3817fe 350 pohyb_flag = 1;
seyfrid_L 2:0c88bf3817fe 351 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 352 int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
seyfrid_L 2:0c88bf3817fe 353 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 354 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 355 smerJazdy = 1;
seyfrid_L 3:d473fb175cec 356
seyfrid_L 2:0c88bf3817fe 357 }
seyfrid_L 2:0c88bf3817fe 358
seyfrid_L 1:dbb18c6be96a 359 }
seyfrid_L 1:dbb18c6be96a 360
seyfrid_L 1:dbb18c6be96a 361
seyfrid_L 1:dbb18c6be96a 362 void smerDole()
seyfrid_L 1:dbb18c6be96a 363 {
seyfrid_L 1:dbb18c6be96a 364 int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
seyfrid_L 1:dbb18c6be96a 365 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 1:dbb18c6be96a 366 posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
seyfrid_L 2:0c88bf3817fe 367
seyfrid_L 2:0c88bf3817fe 368 pohyb++;
seyfrid_L 2:0c88bf3817fe 369 if(pohyb_flag == 0){
seyfrid_L 2:0c88bf3817fe 370 pohyb_flag = -1;
seyfrid_L 2:0c88bf3817fe 371 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 372 int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
seyfrid_L 2:0c88bf3817fe 373 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 374 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 375 smerJazdy = -1;
seyfrid_L 3:d473fb175cec 376
seyfrid_L 2:0c88bf3817fe 377 }
seyfrid_L 2:0c88bf3817fe 378 if(pohyb > 2){
seyfrid_L 2:0c88bf3817fe 379 pohyb = 0;
seyfrid_L 2:0c88bf3817fe 380 pohyb_flag = -1;
seyfrid_L 2:0c88bf3817fe 381 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 382 int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
seyfrid_L 2:0c88bf3817fe 383 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 384 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 385 smerJazdy = -1;
seyfrid_L 3:d473fb175cec 386
seyfrid_L 2:0c88bf3817fe 387 }
seyfrid_L 1:dbb18c6be96a 388
seyfrid_L 1:dbb18c6be96a 389 }
seyfrid_L 1:dbb18c6be96a 390
seyfrid_L 1:dbb18c6be96a 391
seyfrid_L 1:dbb18c6be96a 392
seyfrid_L 1:dbb18c6be96a 393
seyfrid_L 1:dbb18c6be96a 394 void zamkniVytah()
seyfrid_L 1:dbb18c6be96a 395 {
seyfrid_L 1:dbb18c6be96a 396 int adata[1] = {0x01};
seyfrid_L 1:dbb18c6be96a 397 int dataSize = ARRAY_SIZE(adata);
seyfrid_L 1:dbb18c6be96a 398 posliSpravu(0xF0,0xAA,dataSize,adata);
seyfrid_L 1:dbb18c6be96a 399
seyfrid_L 1:dbb18c6be96a 400 }
seyfrid_L 1:dbb18c6be96a 401
seyfrid_L 1:dbb18c6be96a 402 void odomkniVytah()
seyfrid_L 1:dbb18c6be96a 403 {
seyfrid_L 1:dbb18c6be96a 404 int adata[1] = {0x00};
seyfrid_L 1:dbb18c6be96a 405 int dataSize = ARRAY_SIZE(adata);
seyfrid_L 1:dbb18c6be96a 406 posliSpravu(0xF0,0xAA,dataSize,adata);
seyfrid_L 2:0c88bf3817fe 407 }
seyfrid_L 2:0c88bf3817fe 408
seyfrid_L 2:0c88bf3817fe 409 void disp_Vyt()
seyfrid_L 2:0c88bf3817fe 410 {
seyfrid_L 2:0c88bf3817fe 411 int aDataIn[2];
seyfrid_L 2:0c88bf3817fe 412 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 413 switch(pohyb_flag){
seyfrid_L 2:0c88bf3817fe 414 case 0:{
seyfrid_L 2:0c88bf3817fe 415 aDataIn[0] = 0x03;
seyfrid_L 2:0c88bf3817fe 416 break;
seyfrid_L 2:0c88bf3817fe 417 }
seyfrid_L 2:0c88bf3817fe 418 case 1:{
seyfrid_L 2:0c88bf3817fe 419 aDataIn[0] = 0x01;
seyfrid_L 2:0c88bf3817fe 420 break;
seyfrid_L 2:0c88bf3817fe 421 }
seyfrid_L 2:0c88bf3817fe 422 case -1:{
seyfrid_L 2:0c88bf3817fe 423 aDataIn[0] = 0x02;
seyfrid_L 2:0c88bf3817fe 424 break;
seyfrid_L 2:0c88bf3817fe 425 }
seyfrid_L 2:0c88bf3817fe 426 }
seyfrid_L 2:0c88bf3817fe 427 switch(cisloPochodia_dislpej){
seyfrid_L 2:0c88bf3817fe 428 case 0:{
seyfrid_L 2:0c88bf3817fe 429 aDataIn[1] = 0x50;
seyfrid_L 2:0c88bf3817fe 430 break;
seyfrid_L 2:0c88bf3817fe 431 }
seyfrid_L 2:0c88bf3817fe 432 case 1:{
seyfrid_L 2:0c88bf3817fe 433 aDataIn[1] = 0x31;
seyfrid_L 2:0c88bf3817fe 434 break;
seyfrid_L 2:0c88bf3817fe 435 }
seyfrid_L 2:0c88bf3817fe 436 case 2:{
seyfrid_L 2:0c88bf3817fe 437 aDataIn[1] = 0x32;
seyfrid_L 2:0c88bf3817fe 438 break;
seyfrid_L 2:0c88bf3817fe 439 }
seyfrid_L 2:0c88bf3817fe 440 case 3:{
seyfrid_L 2:0c88bf3817fe 441 aDataIn[1] = 0x33;
seyfrid_L 2:0c88bf3817fe 442 break;
seyfrid_L 2:0c88bf3817fe 443 }
seyfrid_L 2:0c88bf3817fe 444 case 4:{
seyfrid_L 2:0c88bf3817fe 445 aDataIn[1] = 0x34;
seyfrid_L 2:0c88bf3817fe 446 break;
seyfrid_L 2:0c88bf3817fe 447 }
seyfrid_L 2:0c88bf3817fe 448 }
seyfrid_L 2:0c88bf3817fe 449 if(cisloPochodia_dislpej != disp_poschodie){
seyfrid_L 2:0c88bf3817fe 450 posliSpravu(C_LCD,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 451 }else if(pohyb_flag != display_smer){
seyfrid_L 2:0c88bf3817fe 452 posliSpravu(C_LCD,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 453 }
seyfrid_L 2:0c88bf3817fe 454 disp_poschodie = cisloPochodia_dislpej;
seyfrid_L 2:0c88bf3817fe 455 display_smer = pohyb_flag;
seyfrid_L 5:8c5c19be2126 456 }
seyfrid_L 5:8c5c19be2126 457 /*************************************************************/
seyfrid_L 5:8c5c19be2126 458 void ledPon()
seyfrid_L 5:8c5c19be2126 459 {
seyfrid_L 5:8c5c19be2126 460 int aDataIn[] = {0x1};
seyfrid_L 5:8c5c19be2126 461 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 462 posliSpravu(0x10,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 463 }
seyfrid_L 5:8c5c19be2126 464
seyfrid_L 5:8c5c19be2126 465 void led1on()
seyfrid_L 5:8c5c19be2126 466 {
seyfrid_L 5:8c5c19be2126 467 int aDataIn[] = {0x1};
seyfrid_L 5:8c5c19be2126 468 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 469 posliSpravu(0x11,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 470 }
seyfrid_L 5:8c5c19be2126 471
seyfrid_L 5:8c5c19be2126 472 void led2on()
seyfrid_L 5:8c5c19be2126 473 {
seyfrid_L 5:8c5c19be2126 474 int aDataIn[] = {0x1};
seyfrid_L 5:8c5c19be2126 475 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 476 posliSpravu(0x12,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 477 }
seyfrid_L 5:8c5c19be2126 478
seyfrid_L 5:8c5c19be2126 479 void led3on()
seyfrid_L 5:8c5c19be2126 480 {
seyfrid_L 5:8c5c19be2126 481 int aDataIn[] = {0x1};
seyfrid_L 5:8c5c19be2126 482 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 483 posliSpravu(0x13,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 484 }
seyfrid_L 5:8c5c19be2126 485
seyfrid_L 5:8c5c19be2126 486 void led4on()
seyfrid_L 5:8c5c19be2126 487 {
seyfrid_L 5:8c5c19be2126 488 int aDataIn[] = {0x1};
seyfrid_L 5:8c5c19be2126 489 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 490 posliSpravu(0x14,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 491 }
seyfrid_L 5:8c5c19be2126 492
seyfrid_L 5:8c5c19be2126 493
seyfrid_L 5:8c5c19be2126 494
seyfrid_L 5:8c5c19be2126 495 void ledPoff()
seyfrid_L 5:8c5c19be2126 496 {
seyfrid_L 5:8c5c19be2126 497 int aDataIn[] = {0x0};
seyfrid_L 5:8c5c19be2126 498 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 499 posliSpravu(0x10,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 500 }
seyfrid_L 5:8c5c19be2126 501
seyfrid_L 5:8c5c19be2126 502 void led1off()
seyfrid_L 5:8c5c19be2126 503 {
seyfrid_L 5:8c5c19be2126 504 int aDataIn[] = {0x0};
seyfrid_L 5:8c5c19be2126 505 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 506 posliSpravu(0x11,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 507 }
seyfrid_L 5:8c5c19be2126 508
seyfrid_L 5:8c5c19be2126 509 void led2off()
seyfrid_L 5:8c5c19be2126 510 {
seyfrid_L 5:8c5c19be2126 511 int aDataIn[] = {0x0};
seyfrid_L 5:8c5c19be2126 512 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 513 posliSpravu(0x12,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 514 }
seyfrid_L 5:8c5c19be2126 515
seyfrid_L 5:8c5c19be2126 516 void led3off()
seyfrid_L 5:8c5c19be2126 517 {
seyfrid_L 5:8c5c19be2126 518 int aDataIn[] = {0x0};
seyfrid_L 5:8c5c19be2126 519 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 520 posliSpravu(0x13,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 521 }
seyfrid_L 5:8c5c19be2126 522
seyfrid_L 5:8c5c19be2126 523 void led4off()
seyfrid_L 5:8c5c19be2126 524 {
seyfrid_L 5:8c5c19be2126 525 int aDataIn[] = {0x0};
seyfrid_L 5:8c5c19be2126 526 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 527 posliSpravu(0x14,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 528 }
seyfrid_L 5:8c5c19be2126 529
seyfrid_L 5:8c5c19be2126 530
seyfrid_L 5:8c5c19be2126 531 /************************************************************************************/
seyfrid_L 5:8c5c19be2126 532
seyfrid_L 5:8c5c19be2126 533
seyfrid_L 5:8c5c19be2126 534 void ledPonC()
seyfrid_L 5:8c5c19be2126 535 {
seyfrid_L 5:8c5c19be2126 536 int aDataIn[] = {0x1};
seyfrid_L 5:8c5c19be2126 537 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 538 posliSpravu(0x20,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 539 }
seyfrid_L 5:8c5c19be2126 540
seyfrid_L 5:8c5c19be2126 541 void led1onC()
seyfrid_L 5:8c5c19be2126 542 {
seyfrid_L 5:8c5c19be2126 543 int aDataIn[] = {0x1};
seyfrid_L 5:8c5c19be2126 544 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 545 posliSpravu(0x21,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 546 }
seyfrid_L 5:8c5c19be2126 547
seyfrid_L 5:8c5c19be2126 548 void led2onC()
seyfrid_L 5:8c5c19be2126 549 {
seyfrid_L 5:8c5c19be2126 550 int aDataIn[] = {0x1};
seyfrid_L 5:8c5c19be2126 551 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 552 posliSpravu(0x22,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 553 }
seyfrid_L 5:8c5c19be2126 554
seyfrid_L 5:8c5c19be2126 555 void led3onC()
seyfrid_L 5:8c5c19be2126 556 {
seyfrid_L 5:8c5c19be2126 557 int aDataIn[] = {0x1};
seyfrid_L 5:8c5c19be2126 558 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 559 posliSpravu(0x23,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 560 }
seyfrid_L 5:8c5c19be2126 561
seyfrid_L 5:8c5c19be2126 562 void led4onC()
seyfrid_L 5:8c5c19be2126 563 {
seyfrid_L 5:8c5c19be2126 564 int aDataIn[] = {0x1};
seyfrid_L 5:8c5c19be2126 565 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 566 posliSpravu(0x24,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 567 }
seyfrid_L 5:8c5c19be2126 568
seyfrid_L 5:8c5c19be2126 569
seyfrid_L 5:8c5c19be2126 570
seyfrid_L 5:8c5c19be2126 571 void ledPoffC()
seyfrid_L 5:8c5c19be2126 572 {
seyfrid_L 5:8c5c19be2126 573 int aDataIn[] = {0x0};
seyfrid_L 5:8c5c19be2126 574 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 575 posliSpravu(0x20,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 576 }
seyfrid_L 5:8c5c19be2126 577
seyfrid_L 5:8c5c19be2126 578 void led1offC()
seyfrid_L 5:8c5c19be2126 579 {
seyfrid_L 5:8c5c19be2126 580 int aDataIn[] = {0x0};
seyfrid_L 5:8c5c19be2126 581 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 582 posliSpravu(0x21,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 583 }
seyfrid_L 5:8c5c19be2126 584
seyfrid_L 5:8c5c19be2126 585 void led2offC()
seyfrid_L 5:8c5c19be2126 586 {
seyfrid_L 5:8c5c19be2126 587 int aDataIn[] = {0x0};
seyfrid_L 5:8c5c19be2126 588 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 589 posliSpravu(0x22,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 590 }
seyfrid_L 5:8c5c19be2126 591
seyfrid_L 5:8c5c19be2126 592 void led3offC()
seyfrid_L 5:8c5c19be2126 593 {
seyfrid_L 5:8c5c19be2126 594 int aDataIn[] = {0x0};
seyfrid_L 5:8c5c19be2126 595 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 596 posliSpravu(0x23,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 597 }
seyfrid_L 5:8c5c19be2126 598
seyfrid_L 5:8c5c19be2126 599 void led4offC()
seyfrid_L 5:8c5c19be2126 600 {
seyfrid_L 5:8c5c19be2126 601 int aDataIn[] = {0x0};
seyfrid_L 5:8c5c19be2126 602 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 5:8c5c19be2126 603 posliSpravu(0x24,0xAA,dataSize1,aDataIn);
seyfrid_L 5:8c5c19be2126 604 }
seyfrid_L 5:8c5c19be2126 605