Lukas Seyfrid / Mbed OS SeyfridLukas

semestralna praca

Dependencies:   FRDM_MMA8451Q

main.cpp@3:d473fb175cec, 2017-12-06 (annotated)

Committer:
seyfrid_L
Date:
Wed Dec 06 10:53:16 2017 +0000
Revision:
3:d473fb175cec
Parent:
2:0c88bf3817fe
Child:
4:dee1ebc51d2e
viem prijat spravu z terminalu

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 3:d473fb175cec 7 DigitalOut led1(LED1);
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 3:d473fb175cec 65 int *prerusVysielanie()
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 //return sprava[i];
seyfrid_L 3:d473fb175cec 81 }
seyfrid_L 3:d473fb175cec 82 adresa[4]=term.getc();
seyfrid_L 3:d473fb175cec 83 if(adresa[4] == getCrc(adresa[1], adresa[2],adresa[3],sprava)){
seyfrid_L 3:d473fb175cec 84 return sprava;
seyfrid_L 3:d473fb175cec 85 }
seyfrid_L 3:d473fb175cec 86 }
seyfrid_L 3:d473fb175cec 87 return sprava;
seyfrid_L 3:d473fb175cec 88
seyfrid_L 3:d473fb175cec 89 // riadeniePohybu();
seyfrid_L 3:d473fb175cec 90
seyfrid_L 3:d473fb175cec 91
seyfrid_L 3:d473fb175cec 92 }
seyfrid_L 3:d473fb175cec 93
seyfrid_L 0:ce8ad4f285d3 94
seyfrid_L 2:0c88bf3817fe 95 int dajPoschodie()
seyfrid_L 1:dbb18c6be96a 96 {
seyfrid_L 1:dbb18c6be96a 97 int poschodie;
seyfrid_L 2:0c88bf3817fe 98 switch(adresa[2]){
seyfrid_L 2:0c88bf3817fe 99 case SWITCH_P:{
seyfrid_L 2:0c88bf3817fe 100 poschodie = SWITCH_P;
seyfrid_L 2:0c88bf3817fe 101 cisloPochodia_dislpej = 0;
seyfrid_L 2:0c88bf3817fe 102 break;
seyfrid_L 2:0c88bf3817fe 103 }
seyfrid_L 2:0c88bf3817fe 104 case SWITCH_1:{
seyfrid_L 2:0c88bf3817fe 105 poschodie = SWITCH_1;
seyfrid_L 2:0c88bf3817fe 106 cisloPochodia_dislpej = 1;
seyfrid_L 2:0c88bf3817fe 107 break;
seyfrid_L 1:dbb18c6be96a 108 }
seyfrid_L 2:0c88bf3817fe 109 case SWITCH_2:{
seyfrid_L 2:0c88bf3817fe 110 poschodie = SWITCH_2;
seyfrid_L 2:0c88bf3817fe 111 cisloPochodia_dislpej = 2;
seyfrid_L 2:0c88bf3817fe 112 break;
seyfrid_L 2:0c88bf3817fe 113 }
seyfrid_L 2:0c88bf3817fe 114 case SWITCH_3:{
seyfrid_L 2:0c88bf3817fe 115 poschodie = SWITCH_3;
seyfrid_L 2:0c88bf3817fe 116 cisloPochodia_dislpej = 3;
seyfrid_L 2:0c88bf3817fe 117 break;
seyfrid_L 2:0c88bf3817fe 118 }
seyfrid_L 2:0c88bf3817fe 119 case SWITCH_4:{
seyfrid_L 2:0c88bf3817fe 120 poschodie = SWITCH_4;
seyfrid_L 2:0c88bf3817fe 121 cisloPochodia_dislpej = 4;
seyfrid_L 2:0c88bf3817fe 122 break;
seyfrid_L 2:0c88bf3817fe 123 }
seyfrid_L 2:0c88bf3817fe 124 }
seyfrid_L 2:0c88bf3817fe 125 return poschodie;
seyfrid_L 2:0c88bf3817fe 126 }
seyfrid_L 0:ce8ad4f285d3 127
seyfrid_L 0:ce8ad4f285d3 128
seyfrid_L 0:ce8ad4f285d3 129 int main() {
seyfrid_L 0:ce8ad4f285d3 130
seyfrid_L 0:ce8ad4f285d3 131 term.baud(57600);
seyfrid_L 3:d473fb175cec 132
seyfrid_L 3:d473fb175cec 133
seyfrid_L 3:d473fb175cec 134 led1 = 0;
seyfrid_L 3:d473fb175cec 135 wait(2);
seyfrid_L 3:d473fb175cec 136 led1 = 1;
seyfrid_L 3:d473fb175cec 137 while(true){
seyfrid_L 3:d473fb175cec 138
seyfrid_L 3:d473fb175cec 139 int aDataIn[] = {*prerusVysielanie()};
seyfrid_L 3:d473fb175cec 140 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 3:d473fb175cec 141 posliSpravu(0xD0,0xAA,dataSize1,aDataIn);
seyfrid_L 3:d473fb175cec 142 wait(1);
seyfrid_L 3:d473fb175cec 143 }
seyfrid_L 1:dbb18c6be96a 144
seyfrid_L 1:dbb18c6be96a 145
seyfrid_L 0:ce8ad4f285d3 146
seyfrid_L 0:ce8ad4f285d3 147
seyfrid_L 0:ce8ad4f285d3 148 }
seyfrid_L 0:ce8ad4f285d3 149
seyfrid_L 1:dbb18c6be96a 150
seyfrid_L 2:0c88bf3817fe 151 void tlac_vytah()
seyfrid_L 2:0c88bf3817fe 152 {
seyfrid_L 2:0c88bf3817fe 153 if (prijmi == 1)
seyfrid_L 2:0c88bf3817fe 154 {
seyfrid_L 2:0c88bf3817fe 155
seyfrid_L 2:0c88bf3817fe 156 }
seyfrid_L 2:0c88bf3817fe 157 }
seyfrid_L 2:0c88bf3817fe 158
seyfrid_L 2:0c88bf3817fe 159
seyfrid_L 1:dbb18c6be96a 160 void stop()
seyfrid_L 1:dbb18c6be96a 161 {
seyfrid_L 1:dbb18c6be96a 162 int aDataIn[] = {0x1};
seyfrid_L 1:dbb18c6be96a 163 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 1:dbb18c6be96a 164 posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
seyfrid_L 1:dbb18c6be96a 165 }
seyfrid_L 1:dbb18c6be96a 166
seyfrid_L 1:dbb18c6be96a 167 void smerHore()
seyfrid_L 1:dbb18c6be96a 168 {
seyfrid_L 2:0c88bf3817fe 169 //int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
seyfrid_L 2:0c88bf3817fe 170 //int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 171 //posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
seyfrid_L 2:0c88bf3817fe 172
seyfrid_L 2:0c88bf3817fe 173 pohyb++;
seyfrid_L 2:0c88bf3817fe 174 if(pohyb_flag == 0){
seyfrid_L 2:0c88bf3817fe 175 pohyb_flag = 1;
seyfrid_L 2:0c88bf3817fe 176 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 177 int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
seyfrid_L 2:0c88bf3817fe 178 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 179 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 180 smerJazdy = 1;
seyfrid_L 3:d473fb175cec 181
seyfrid_L 2:0c88bf3817fe 182 }
seyfrid_L 2:0c88bf3817fe 183 if(pohyb > 2){
seyfrid_L 2:0c88bf3817fe 184 pohyb = 0;
seyfrid_L 2:0c88bf3817fe 185 pohyb_flag = 1;
seyfrid_L 2:0c88bf3817fe 186 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 187 int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
seyfrid_L 2:0c88bf3817fe 188 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 189 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 190 smerJazdy = 1;
seyfrid_L 3:d473fb175cec 191
seyfrid_L 2:0c88bf3817fe 192 }
seyfrid_L 2:0c88bf3817fe 193
seyfrid_L 1:dbb18c6be96a 194 }
seyfrid_L 1:dbb18c6be96a 195
seyfrid_L 1:dbb18c6be96a 196
seyfrid_L 1:dbb18c6be96a 197 void smerDole()
seyfrid_L 1:dbb18c6be96a 198 {
seyfrid_L 1:dbb18c6be96a 199 int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
seyfrid_L 1:dbb18c6be96a 200 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 1:dbb18c6be96a 201 posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
seyfrid_L 2:0c88bf3817fe 202
seyfrid_L 2:0c88bf3817fe 203 pohyb++;
seyfrid_L 2:0c88bf3817fe 204 if(pohyb_flag == 0){
seyfrid_L 2:0c88bf3817fe 205 pohyb_flag = -1;
seyfrid_L 2:0c88bf3817fe 206 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 207 int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
seyfrid_L 2:0c88bf3817fe 208 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 209 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 210 smerJazdy = -1;
seyfrid_L 3:d473fb175cec 211
seyfrid_L 2:0c88bf3817fe 212 }
seyfrid_L 2:0c88bf3817fe 213 if(pohyb > 2){
seyfrid_L 2:0c88bf3817fe 214 pohyb = 0;
seyfrid_L 2:0c88bf3817fe 215 pohyb_flag = -1;
seyfrid_L 2:0c88bf3817fe 216 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 217 int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
seyfrid_L 2:0c88bf3817fe 218 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 219 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 220 smerJazdy = -1;
seyfrid_L 3:d473fb175cec 221
seyfrid_L 2:0c88bf3817fe 222 }
seyfrid_L 1:dbb18c6be96a 223
seyfrid_L 1:dbb18c6be96a 224 }
seyfrid_L 1:dbb18c6be96a 225
seyfrid_L 1:dbb18c6be96a 226
seyfrid_L 1:dbb18c6be96a 227
seyfrid_L 1:dbb18c6be96a 228
seyfrid_L 1:dbb18c6be96a 229 void zamkniVytah()
seyfrid_L 1:dbb18c6be96a 230 {
seyfrid_L 1:dbb18c6be96a 231 int adata[1] = {0x01};
seyfrid_L 1:dbb18c6be96a 232 int dataSize = ARRAY_SIZE(adata);
seyfrid_L 1:dbb18c6be96a 233 posliSpravu(0xF0,0xAA,dataSize,adata);
seyfrid_L 1:dbb18c6be96a 234
seyfrid_L 1:dbb18c6be96a 235 }
seyfrid_L 1:dbb18c6be96a 236
seyfrid_L 1:dbb18c6be96a 237 void odomkniVytah()
seyfrid_L 1:dbb18c6be96a 238 {
seyfrid_L 1:dbb18c6be96a 239 int adata[1] = {0x00};
seyfrid_L 1:dbb18c6be96a 240 int dataSize = ARRAY_SIZE(adata);
seyfrid_L 1:dbb18c6be96a 241 posliSpravu(0xF0,0xAA,dataSize,adata);
seyfrid_L 2:0c88bf3817fe 242 }
seyfrid_L 2:0c88bf3817fe 243
seyfrid_L 2:0c88bf3817fe 244 void disp_Vyt()
seyfrid_L 2:0c88bf3817fe 245 {
seyfrid_L 2:0c88bf3817fe 246 int aDataIn[2];
seyfrid_L 2:0c88bf3817fe 247 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 248 switch(pohyb_flag){
seyfrid_L 2:0c88bf3817fe 249 case 0:{
seyfrid_L 2:0c88bf3817fe 250 aDataIn[0] = 0x03;
seyfrid_L 2:0c88bf3817fe 251 break;
seyfrid_L 2:0c88bf3817fe 252 }
seyfrid_L 2:0c88bf3817fe 253 case 1:{
seyfrid_L 2:0c88bf3817fe 254 aDataIn[0] = 0x01;
seyfrid_L 2:0c88bf3817fe 255 break;
seyfrid_L 2:0c88bf3817fe 256 }
seyfrid_L 2:0c88bf3817fe 257 case -1:{
seyfrid_L 2:0c88bf3817fe 258 aDataIn[0] = 0x02;
seyfrid_L 2:0c88bf3817fe 259 break;
seyfrid_L 2:0c88bf3817fe 260 }
seyfrid_L 2:0c88bf3817fe 261 }
seyfrid_L 2:0c88bf3817fe 262 switch(cisloPochodia_dislpej){
seyfrid_L 2:0c88bf3817fe 263 case 0:{
seyfrid_L 2:0c88bf3817fe 264 aDataIn[1] = 0x50;
seyfrid_L 2:0c88bf3817fe 265 break;
seyfrid_L 2:0c88bf3817fe 266 }
seyfrid_L 2:0c88bf3817fe 267 case 1:{
seyfrid_L 2:0c88bf3817fe 268 aDataIn[1] = 0x31;
seyfrid_L 2:0c88bf3817fe 269 break;
seyfrid_L 2:0c88bf3817fe 270 }
seyfrid_L 2:0c88bf3817fe 271 case 2:{
seyfrid_L 2:0c88bf3817fe 272 aDataIn[1] = 0x32;
seyfrid_L 2:0c88bf3817fe 273 break;
seyfrid_L 2:0c88bf3817fe 274 }
seyfrid_L 2:0c88bf3817fe 275 case 3:{
seyfrid_L 2:0c88bf3817fe 276 aDataIn[1] = 0x33;
seyfrid_L 2:0c88bf3817fe 277 break;
seyfrid_L 2:0c88bf3817fe 278 }
seyfrid_L 2:0c88bf3817fe 279 case 4:{
seyfrid_L 2:0c88bf3817fe 280 aDataIn[1] = 0x34;
seyfrid_L 2:0c88bf3817fe 281 break;
seyfrid_L 2:0c88bf3817fe 282 }
seyfrid_L 2:0c88bf3817fe 283 }
seyfrid_L 2:0c88bf3817fe 284 if(cisloPochodia_dislpej != disp_poschodie){
seyfrid_L 2:0c88bf3817fe 285 posliSpravu(C_LCD,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 286 }else if(pohyb_flag != display_smer){
seyfrid_L 2:0c88bf3817fe 287 posliSpravu(C_LCD,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 288 }
seyfrid_L 2:0c88bf3817fe 289 disp_poschodie = cisloPochodia_dislpej;
seyfrid_L 2:0c88bf3817fe 290 display_smer = pohyb_flag;
seyfrid_L 2:0c88bf3817fe 291 }