Lukas Seyfrid / Mbed OS SeyfridLukas

semestralna praca

Dependencies:   FRDM_MMA8451Q

main.cpp@1:dbb18c6be96a, 2017-12-04 (annotated)

Committer:
seyfrid_L
Date:
Mon Dec 04 15:49:38 2017 +0000
Revision:
1:dbb18c6be96a
Parent:
0:ce8ad4f285d3
Child:
2:0c88bf3817fe
vytah sa hybe oboma smermi a viem ho aj zastavit;

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 1:dbb18c6be96a 66 void dajPoschodie()
seyfrid_L 1:dbb18c6be96a 67 {
seyfrid_L 1:dbb18c6be96a 68 int poschodie;
seyfrid_L 1:dbb18c6be96a 69 if(adresa[2] == 0xE3)
seyfrid_L 1:dbb18c6be96a 70 {
seyfrid_L 1:dbb18c6be96a 71 int aDataIn[] = {0x1E};
seyfrid_L 1:dbb18c6be96a 72 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 1:dbb18c6be96a 73 posliSpravu(0xD0,0xAA,dataSize1,aDataIn);
seyfrid_L 1:dbb18c6be96a 74 }
seyfrid_L 1:dbb18c6be96a 75 }
seyfrid_L 0:ce8ad4f285d3 76
seyfrid_L 0:ce8ad4f285d3 77
seyfrid_L 0:ce8ad4f285d3 78 int main() {
seyfrid_L 0:ce8ad4f285d3 79
seyfrid_L 0:ce8ad4f285d3 80 term.baud(57600);
seyfrid_L 0:ce8ad4f285d3 81
seyfrid_L 0:ce8ad4f285d3 82
seyfrid_L 1:dbb18c6be96a 83 //int aDataIn[] = {0x01,0x50,0x31,0x32};
seyfrid_L 1:dbb18c6be96a 84 //int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 1:dbb18c6be96a 85 //posliSpravu(C_LCD,0xAA,dataSize1,aDataIn);
seyfrid_L 1:dbb18c6be96a 86
seyfrid_L 1:dbb18c6be96a 87 zamkniVytah();
seyfrid_L 1:dbb18c6be96a 88 wait(1);
seyfrid_L 1:dbb18c6be96a 89 odomkniVytah();
seyfrid_L 1:dbb18c6be96a 90 wait(1);
seyfrid_L 1:dbb18c6be96a 91 zamkniVytah();
seyfrid_L 1:dbb18c6be96a 92 wait(1);
seyfrid_L 1:dbb18c6be96a 93 smerDole();
seyfrid_L 1:dbb18c6be96a 94 wait(2);
seyfrid_L 1:dbb18c6be96a 95 dajPoschodie();
seyfrid_L 1:dbb18c6be96a 96
seyfrid_L 1:dbb18c6be96a 97 if (term.getc() == SWITCH_3)
seyfrid_L 1:dbb18c6be96a 98 {
seyfrid_L 1:dbb18c6be96a 99 stop();
seyfrid_L 1:dbb18c6be96a 100 }
seyfrid_L 1:dbb18c6be96a 101
seyfrid_L 0:ce8ad4f285d3 102
seyfrid_L 0:ce8ad4f285d3 103
seyfrid_L 0:ce8ad4f285d3 104 }
seyfrid_L 0:ce8ad4f285d3 105
seyfrid_L 1:dbb18c6be96a 106
seyfrid_L 1:dbb18c6be96a 107 void stop()
seyfrid_L 1:dbb18c6be96a 108 {
seyfrid_L 1:dbb18c6be96a 109 int aDataIn[] = {0x1};
seyfrid_L 1:dbb18c6be96a 110 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 1:dbb18c6be96a 111 posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
seyfrid_L 1:dbb18c6be96a 112 }
seyfrid_L 1:dbb18c6be96a 113
seyfrid_L 1:dbb18c6be96a 114 void smerHore()
seyfrid_L 1:dbb18c6be96a 115 {
seyfrid_L 1:dbb18c6be96a 116 int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
seyfrid_L 1:dbb18c6be96a 117 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 1:dbb18c6be96a 118 posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
seyfrid_L 1:dbb18c6be96a 119 }
seyfrid_L 1:dbb18c6be96a 120
seyfrid_L 1:dbb18c6be96a 121
seyfrid_L 1:dbb18c6be96a 122 void smerDole()
seyfrid_L 1:dbb18c6be96a 123 {
seyfrid_L 1:dbb18c6be96a 124 int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
seyfrid_L 1:dbb18c6be96a 125 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 1:dbb18c6be96a 126 posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
seyfrid_L 1:dbb18c6be96a 127
seyfrid_L 1:dbb18c6be96a 128 }
seyfrid_L 1:dbb18c6be96a 129
seyfrid_L 1:dbb18c6be96a 130
seyfrid_L 1:dbb18c6be96a 131
seyfrid_L 1:dbb18c6be96a 132
seyfrid_L 1:dbb18c6be96a 133 void zamkniVytah()
seyfrid_L 1:dbb18c6be96a 134 {
seyfrid_L 1:dbb18c6be96a 135 int adata[1] = {0x01};
seyfrid_L 1:dbb18c6be96a 136 int dataSize = ARRAY_SIZE(adata);
seyfrid_L 1:dbb18c6be96a 137 posliSpravu(0xF0,0xAA,dataSize,adata);
seyfrid_L 1:dbb18c6be96a 138
seyfrid_L 1:dbb18c6be96a 139 }
seyfrid_L 1:dbb18c6be96a 140
seyfrid_L 1:dbb18c6be96a 141 void odomkniVytah()
seyfrid_L 1:dbb18c6be96a 142 {
seyfrid_L 1:dbb18c6be96a 143 int adata[1] = {0x00};
seyfrid_L 1:dbb18c6be96a 144 int dataSize = ARRAY_SIZE(adata);
seyfrid_L 1:dbb18c6be96a 145 posliSpravu(0xF0,0xAA,dataSize,adata);
seyfrid_L 1:dbb18c6be96a 146 }