File content as of revision 4:dee1ebc51d2e:

#include "mbed.h"
#include "Adresar.h"
#include "main.h"
#define ARRAY_SIZE(array) sizeof(array)/sizeof(*array)

Serial term(USBTX, USBRX);
DigitalOut led1(LED2);



int prijmi;

int getCrc(int addrRx, int addrTx, int dataSize, int aData[])
{
    int aCRC[] =   {0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
                    157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
                    35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
                    190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
                    70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
                    219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
                    101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
                    248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
                    140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
                    17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
                    175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
                    50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
                    202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
                    87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
                    233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
                    116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53
                   };              
    int crc = 0;
    crc = aCRC[crc ^ addrRx];
    crc = aCRC[crc ^ addrTx];
    for(int i = 0; i < dataSize; i++){
        crc = aCRC[crc ^ aData[i]];
    }
    return crc;    
}

void posliSpravu(int addrRx, int addrTx,int dataSize, int aData[])
 {
     
     int aPacket[5+dataSize];
    aPacket[0] = 0xA0;
    aPacket[1] = addrRx;
    aPacket[2] = addrTx;
    aPacket[3] = dataSize;
    
    for(int i = 0; i < dataSize; i++){
        aPacket[4+i] = aData[i];
    }
    
    int crc = getCrc(addrRx, addrTx, dataSize, aData);
    aPacket[4+dataSize] = crc;
    
    
    prijmi = 0;
    
    for(int i = 0; i < ARRAY_SIZE(aPacket); i++){
        term.putc(aPacket[i]);       
    }
}

void prerusVysielanie()
{
   
    
    prijmi = 1;
    for(int i = 0; i < 4; i++) {
        adresa[i] = term.getc();
        if(adresa[i] == W_1_BUTTON){smerDole();}
        else if(adresa[i]== W_2_BUTTON)
        {
            
            smerHore();
            
            if(adresa[i] == 0xE2){stop();}
        }
        
    }
    
   
    if(adresa[3] == 0x00) {
        sprava[0] = term.getc();
    }else{        
        for(int i = 0; i < adresa[3]; i++){
            sprava[i]=term.getc();  
            
        }
        adresa[4]=term.getc();
        
        if(adresa[4] == getCrc(adresa[1], adresa[2],adresa[3],sprava)){
         
        }
        
    }
  
   
}





int main() {
    
    term.baud(57600);
   

      
    //int aDataIn[] = {*prerusVysielanie()};
    // int dataSize1 = ARRAY_SIZE(aDataIn);
   // posliSpravu(0xD0,0xAA,dataSize1,aDataIn);
   
   
    prerusVysielanie();
     
     
    
    
}


void stop()
{
    int aDataIn[] = {0x1};
     int dataSize1 = ARRAY_SIZE(aDataIn);
    posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
    }

void smerHore()
{
    //int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
     //int dataSize1 = ARRAY_SIZE(aDataIn);
     //posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
     
      pohyb++;
        if(pohyb_flag == 0){
            pohyb_flag = 1;
            zamkniVytah();
            int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
            int dataSize = ARRAY_SIZE(aDataIn);
            posliSpravu(MOTOR,0x00,dataSize, aDataIn); 
            smerJazdy = 1;
            
        }
        if(pohyb > 2){
            pohyb = 0;
            pohyb_flag = 1;
            zamkniVytah();
            int aDataIn[] = {0x2, 0x64, 0x00, 0x00, 0x00};
            int dataSize = ARRAY_SIZE(aDataIn);
            posliSpravu(MOTOR,0x00,dataSize, aDataIn); 
            smerJazdy = 1;    
            
        } 
     
}


void smerDole()
{
    int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
    int dataSize1 = ARRAY_SIZE(aDataIn);
     posliSpravu(MOTOR,0xAA,dataSize1,aDataIn);
     
     pohyb++;
        if(pohyb_flag == 0){
            pohyb_flag = -1;
            zamkniVytah();
            int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
            int dataSize = ARRAY_SIZE(aDataIn);
            posliSpravu(MOTOR,0x00,dataSize, aDataIn); 
            smerJazdy = -1;
            
        }
        if(pohyb > 2){
            pohyb = 0;
            pohyb_flag = -1;
            zamkniVytah();
            int aDataIn[] = {0x2, 0x9C, 0xff, 0xff, 0xff};
            int dataSize = ARRAY_SIZE(aDataIn);
            posliSpravu(MOTOR,0x00,dataSize, aDataIn); 
            smerJazdy = -1;   
            
        }
    
}




 void zamkniVytah()
 {
     int adata[1] = {0x01};
    int dataSize = ARRAY_SIZE(adata);
     posliSpravu(0xF0,0xAA,dataSize,adata);
     
}

void odomkniVytah()
{
    int adata[1] = {0x00};
    int dataSize = ARRAY_SIZE(adata);
     posliSpravu(0xF0,0xAA,dataSize,adata);
    }
    
void disp_Vyt()
{
        int aDataIn[2];
    int dataSize = ARRAY_SIZE(aDataIn);  
    switch(pohyb_flag){
        case 0:{
            aDataIn[0] = 0x03;
            break;    
        }
        case 1:{
            aDataIn[0] = 0x01;
            break;    
        } 
        case -1:{
            aDataIn[0] = 0x02; 
            break;   
        }     
    }
    switch(cisloPochodia_dislpej){
        case 0:{
            aDataIn[1] = 0x50;   
            break; 
        } 
        case 1:{
            aDataIn[1] = 0x31;   
            break; 
        }
        case 2:{
            aDataIn[1] = 0x32;   
            break; 
        }
        case 3:{
            aDataIn[1] = 0x33;   
            break; 
        }
        case 4:{
            aDataIn[1] = 0x34;   
            break; 
        }   
    }
    if(cisloPochodia_dislpej != disp_poschodie){
        posliSpravu(C_LCD,0x00,dataSize, aDataIn); 
    }else if(pohyb_flag != display_smer){
        posliSpravu(C_LCD,0x00,dataSize, aDataIn);     
    }
    disp_poschodie = cisloPochodia_dislpej; 
    display_smer = pohyb_flag; 
        }