Lukas Seyfrid / Mbed OS SeyfridLukas

semestralna praca

Dependencies:   FRDM_MMA8451Q

main.cpp@4:dee1ebc51d2e, 2017-12-11 (annotated)

Committer:
seyfrid_L
Date:
Mon Dec 11 15:13:35 2017 +0000
Revision:
4:dee1ebc51d2e
Parent:
3:d473fb175cec
Child:
5:8c5c19be2126
obojsmerna komunikacia - citam adresu tlacitok na vytahu a na zaklade toho hybem vytahom;

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 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 4:dee1ebc51d2e 65 void 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 4:dee1ebc51d2e 72 if(adresa[i] == W_1_BUTTON){smerDole();}
seyfrid_L 4:dee1ebc51d2e 73 else if(adresa[i]== W_2_BUTTON)
seyfrid_L 4:dee1ebc51d2e 74 {
seyfrid_L 4:dee1ebc51d2e 75
seyfrid_L 4:dee1ebc51d2e 76 smerHore();
seyfrid_L 4:dee1ebc51d2e 77
seyfrid_L 4:dee1ebc51d2e 78 if(adresa[i] == 0xE2){stop();}
seyfrid_L 4:dee1ebc51d2e 79 }
seyfrid_L 4:dee1ebc51d2e 80
seyfrid_L 3:d473fb175cec 81 }
seyfrid_L 3:d473fb175cec 82
seyfrid_L 3:d473fb175cec 83
seyfrid_L 3:d473fb175cec 84 if(adresa[3] == 0x00) {
seyfrid_L 3:d473fb175cec 85 sprava[0] = term.getc();
seyfrid_L 3:d473fb175cec 86 }else{
seyfrid_L 3:d473fb175cec 87 for(int i = 0; i < adresa[3]; i++){
seyfrid_L 3:d473fb175cec 88 sprava[i]=term.getc();
seyfrid_L 4:dee1ebc51d2e 89
seyfrid_L 3:d473fb175cec 90 }
seyfrid_L 3:d473fb175cec 91 adresa[4]=term.getc();
seyfrid_L 4:dee1ebc51d2e 92
seyfrid_L 3:d473fb175cec 93 if(adresa[4] == getCrc(adresa[1], adresa[2],adresa[3],sprava)){
seyfrid_L 4:dee1ebc51d2e 94
seyfrid_L 3:d473fb175cec 95 }
seyfrid_L 4:dee1ebc51d2e 96
seyfrid_L 3:d473fb175cec 97 }
seyfrid_L 4:dee1ebc51d2e 98
seyfrid_L 3:d473fb175cec 99
seyfrid_L 3:d473fb175cec 100 }
seyfrid_L 3:d473fb175cec 101
seyfrid_L 0:ce8ad4f285d3 102
seyfrid_L 4:dee1ebc51d2e 103
seyfrid_L 0:ce8ad4f285d3 104
seyfrid_L 0:ce8ad4f285d3 105
seyfrid_L 0:ce8ad4f285d3 106 int main() {
seyfrid_L 0:ce8ad4f285d3 107
seyfrid_L 0:ce8ad4f285d3 108 term.baud(57600);
seyfrid_L 3:d473fb175cec 109
seyfrid_L 3:d473fb175cec 110
seyfrid_L 3:d473fb175cec 111
seyfrid_L 4:dee1ebc51d2e 112 //int aDataIn[] = {*prerusVysielanie()};
seyfrid_L 4:dee1ebc51d2e 113 // int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 4:dee1ebc51d2e 114 // posliSpravu(0xD0,0xAA,dataSize1,aDataIn);
seyfrid_L 4:dee1ebc51d2e 115
seyfrid_L 4:dee1ebc51d2e 116
seyfrid_L 4:dee1ebc51d2e 117 prerusVysielanie();
seyfrid_L 1:dbb18c6be96a 118
seyfrid_L 1:dbb18c6be96a 119
seyfrid_L 0:ce8ad4f285d3 120
seyfrid_L 0:ce8ad4f285d3 121
seyfrid_L 0:ce8ad4f285d3 122 }
seyfrid_L 0:ce8ad4f285d3 123
seyfrid_L 1:dbb18c6be96a 124
seyfrid_L 1:dbb18c6be96a 125 void stop()
seyfrid_L 1:dbb18c6be96a 126 {
seyfrid_L 1:dbb18c6be96a 127 int aDataIn[] = {0x1};
seyfrid_L 1:dbb18c6be96a 128 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 1:dbb18c6be96a 129 posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
seyfrid_L 1:dbb18c6be96a 130 }
seyfrid_L 1:dbb18c6be96a 131
seyfrid_L 1:dbb18c6be96a 132 void smerHore()
seyfrid_L 1:dbb18c6be96a 133 {
seyfrid_L 2:0c88bf3817fe 134 //int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
seyfrid_L 2:0c88bf3817fe 135 //int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 136 //posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
seyfrid_L 2:0c88bf3817fe 137
seyfrid_L 2:0c88bf3817fe 138 pohyb++;
seyfrid_L 2:0c88bf3817fe 139 if(pohyb_flag == 0){
seyfrid_L 2:0c88bf3817fe 140 pohyb_flag = 1;
seyfrid_L 2:0c88bf3817fe 141 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 142 int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
seyfrid_L 2:0c88bf3817fe 143 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 144 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 145 smerJazdy = 1;
seyfrid_L 3:d473fb175cec 146
seyfrid_L 2:0c88bf3817fe 147 }
seyfrid_L 2:0c88bf3817fe 148 if(pohyb > 2){
seyfrid_L 2:0c88bf3817fe 149 pohyb = 0;
seyfrid_L 2:0c88bf3817fe 150 pohyb_flag = 1;
seyfrid_L 2:0c88bf3817fe 151 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 152 int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
seyfrid_L 2:0c88bf3817fe 153 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 154 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 155 smerJazdy = 1;
seyfrid_L 3:d473fb175cec 156
seyfrid_L 2:0c88bf3817fe 157 }
seyfrid_L 2:0c88bf3817fe 158
seyfrid_L 1:dbb18c6be96a 159 }
seyfrid_L 1:dbb18c6be96a 160
seyfrid_L 1:dbb18c6be96a 161
seyfrid_L 1:dbb18c6be96a 162 void smerDole()
seyfrid_L 1:dbb18c6be96a 163 {
seyfrid_L 1:dbb18c6be96a 164 int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
seyfrid_L 1:dbb18c6be96a 165 int dataSize1 = ARRAY_SIZE(aDataIn);
seyfrid_L 1:dbb18c6be96a 166 posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
seyfrid_L 2:0c88bf3817fe 167
seyfrid_L 2:0c88bf3817fe 168 pohyb++;
seyfrid_L 2:0c88bf3817fe 169 if(pohyb_flag == 0){
seyfrid_L 2:0c88bf3817fe 170 pohyb_flag = -1;
seyfrid_L 2:0c88bf3817fe 171 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 172 int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
seyfrid_L 2:0c88bf3817fe 173 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 174 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 175 smerJazdy = -1;
seyfrid_L 3:d473fb175cec 176
seyfrid_L 2:0c88bf3817fe 177 }
seyfrid_L 2:0c88bf3817fe 178 if(pohyb > 2){
seyfrid_L 2:0c88bf3817fe 179 pohyb = 0;
seyfrid_L 2:0c88bf3817fe 180 pohyb_flag = -1;
seyfrid_L 2:0c88bf3817fe 181 zamkniVytah();
seyfrid_L 2:0c88bf3817fe 182 int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
seyfrid_L 2:0c88bf3817fe 183 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 184 posliSpravu(MOTOR,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 185 smerJazdy = -1;
seyfrid_L 3:d473fb175cec 186
seyfrid_L 2:0c88bf3817fe 187 }
seyfrid_L 1:dbb18c6be96a 188
seyfrid_L 1:dbb18c6be96a 189 }
seyfrid_L 1:dbb18c6be96a 190
seyfrid_L 1:dbb18c6be96a 191
seyfrid_L 1:dbb18c6be96a 192
seyfrid_L 1:dbb18c6be96a 193
seyfrid_L 1:dbb18c6be96a 194 void zamkniVytah()
seyfrid_L 1:dbb18c6be96a 195 {
seyfrid_L 1:dbb18c6be96a 196 int adata[1] = {0x01};
seyfrid_L 1:dbb18c6be96a 197 int dataSize = ARRAY_SIZE(adata);
seyfrid_L 1:dbb18c6be96a 198 posliSpravu(0xF0,0xAA,dataSize,adata);
seyfrid_L 1:dbb18c6be96a 199
seyfrid_L 1:dbb18c6be96a 200 }
seyfrid_L 1:dbb18c6be96a 201
seyfrid_L 1:dbb18c6be96a 202 void odomkniVytah()
seyfrid_L 1:dbb18c6be96a 203 {
seyfrid_L 1:dbb18c6be96a 204 int adata[1] = {0x00};
seyfrid_L 1:dbb18c6be96a 205 int dataSize = ARRAY_SIZE(adata);
seyfrid_L 1:dbb18c6be96a 206 posliSpravu(0xF0,0xAA,dataSize,adata);
seyfrid_L 2:0c88bf3817fe 207 }
seyfrid_L 2:0c88bf3817fe 208
seyfrid_L 2:0c88bf3817fe 209 void disp_Vyt()
seyfrid_L 2:0c88bf3817fe 210 {
seyfrid_L 2:0c88bf3817fe 211 int aDataIn[2];
seyfrid_L 2:0c88bf3817fe 212 int dataSize = ARRAY_SIZE(aDataIn);
seyfrid_L 2:0c88bf3817fe 213 switch(pohyb_flag){
seyfrid_L 2:0c88bf3817fe 214 case 0:{
seyfrid_L 2:0c88bf3817fe 215 aDataIn[0] = 0x03;
seyfrid_L 2:0c88bf3817fe 216 break;
seyfrid_L 2:0c88bf3817fe 217 }
seyfrid_L 2:0c88bf3817fe 218 case 1:{
seyfrid_L 2:0c88bf3817fe 219 aDataIn[0] = 0x01;
seyfrid_L 2:0c88bf3817fe 220 break;
seyfrid_L 2:0c88bf3817fe 221 }
seyfrid_L 2:0c88bf3817fe 222 case -1:{
seyfrid_L 2:0c88bf3817fe 223 aDataIn[0] = 0x02;
seyfrid_L 2:0c88bf3817fe 224 break;
seyfrid_L 2:0c88bf3817fe 225 }
seyfrid_L 2:0c88bf3817fe 226 }
seyfrid_L 2:0c88bf3817fe 227 switch(cisloPochodia_dislpej){
seyfrid_L 2:0c88bf3817fe 228 case 0:{
seyfrid_L 2:0c88bf3817fe 229 aDataIn[1] = 0x50;
seyfrid_L 2:0c88bf3817fe 230 break;
seyfrid_L 2:0c88bf3817fe 231 }
seyfrid_L 2:0c88bf3817fe 232 case 1:{
seyfrid_L 2:0c88bf3817fe 233 aDataIn[1] = 0x31;
seyfrid_L 2:0c88bf3817fe 234 break;
seyfrid_L 2:0c88bf3817fe 235 }
seyfrid_L 2:0c88bf3817fe 236 case 2:{
seyfrid_L 2:0c88bf3817fe 237 aDataIn[1] = 0x32;
seyfrid_L 2:0c88bf3817fe 238 break;
seyfrid_L 2:0c88bf3817fe 239 }
seyfrid_L 2:0c88bf3817fe 240 case 3:{
seyfrid_L 2:0c88bf3817fe 241 aDataIn[1] = 0x33;
seyfrid_L 2:0c88bf3817fe 242 break;
seyfrid_L 2:0c88bf3817fe 243 }
seyfrid_L 2:0c88bf3817fe 244 case 4:{
seyfrid_L 2:0c88bf3817fe 245 aDataIn[1] = 0x34;
seyfrid_L 2:0c88bf3817fe 246 break;
seyfrid_L 2:0c88bf3817fe 247 }
seyfrid_L 2:0c88bf3817fe 248 }
seyfrid_L 2:0c88bf3817fe 249 if(cisloPochodia_dislpej != disp_poschodie){
seyfrid_L 2:0c88bf3817fe 250 posliSpravu(C_LCD,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 251 }else if(pohyb_flag != display_smer){
seyfrid_L 2:0c88bf3817fe 252 posliSpravu(C_LCD,0x00,dataSize, aDataIn);
seyfrid_L 2:0c88bf3817fe 253 }
seyfrid_L 2:0c88bf3817fe 254 disp_poschodie = cisloPochodia_dislpej;
seyfrid_L 2:0c88bf3817fe 255 display_smer = pohyb_flag;
seyfrid_L 2:0c88bf3817fe 256 }