Lukas Seyfrid
/
SeyfridLukas
semestralna praca
main.cpp
- Committer:
- seyfrid_L
- Date:
- 2018-01-09
- Revision:
- 7:f906eb062d36
- Parent:
- 6:8c336acc90f9
- Child:
- 8:3edf2e10899d
File content as of revision 7:f906eb062d36:
#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 main() { term.baud(57600); term.attach(&prijmiSpravu, Serial::RxIrq); disp.attach(&disp_Vyt, 0.5); sleduj_cas.attach(&watchdog, 1.4); acc.MotionDetection(&EM); init(); //int aDataIn[] = {*prerusVysielanie()}; // int dataSize1 = ARRAY_SIZE(aDataIn); // posliSpravu(0xD0,0xAA,dataSize1,aDataIn); while(1){ tlacitka(); } } 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 prijmiSpravu() { prijmi = 1; for(int i = 0; i < 4; i++) { adresa[i] = term.getc(); } 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)){ } } logikaRiadenia(); } void uvolniEM() { int aDataIn[] = {0x00}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(EM_BRAKE,0xAA,dataSize1,aDataIn); } void EM() { int aDataIn[] = {0x01}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(EM_BRAKE,0xAA,dataSize1,aDataIn); } void resWatch() { int aDataIn[] = {0x01}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(WATCHDOG,0xAA,dataSize1,aDataIn); } void logikaRiadenia(){ if(init_flag == 1){ if (dajPoschodie() == SWITCH_P){ stop(); init_flag = 0; poschodie = 0; } } else { if(p_0 == 1) { if (dajPoschodie() == SWITCH_P){ ledPoff(); ledPoffC(); stop(); odomkniVytah() ; poschodie = 0; p_0 = 0; } } if(p_1 == 1) { if (dajPoschodie() == SWITCH_1){ led1off(); led1offC(); stop(); odomkniVytah() ; poschodie = 1; p_1 = 0; } } if(p_2 == 1) { if (dajPoschodie() == SWITCH_2){ led2off(); led2offC(); stop(); odomkniVytah() ; poschodie = 2; p_2 = 0; } } if (p_3 == 1){ if (dajPoschodie() == SWITCH_3){ led3off(); led3offC(); stop(); odomkniVytah() ; poschodie = 3; p_3 = 0; } } if(p_4 == 1) { if (dajPoschodie() == SWITCH_4){ led4off(); led4off(); stop(); odomkniVytah() ; poschodie = 4; p_4 = 0; } } } } void tlacitka() { switch(adresa[2]) { case W_P_BUTTON: { p_0 = 1; ledPon(); if (poschodie > 0) { smerDole(); } else if (poschodie < 0) { smerHore(); } else { p_0 = 0; ledPoff(); } break; } case W_1_BUTTON: { p_1 = 1; led1on(); if (poschodie > 1) { smerDole(); } else if (poschodie < 1) { smerHore(); } else { p_1 = 0; led1off(); } break; } case W_2_BUTTON: { p_2 = 1; led2on(); if (poschodie > 2) { smerDole(); } else if (poschodie < 2) { smerHore(); } else { p_2 = 0; led2off(); } break; } case W_3_BUTTON: { p_3 = 1; led3on(); if (poschodie > 3) { smerDole(); } else if (poschodie < 3) { smerHore(); } else { p_3 = 0; led3off(); } break; } case W_4_BUTTON: { p_4 = 1; led4on(); if (poschodie > 4) { smerDole(); } else if (poschodie < 4) { smerHore(); } else { p_4 = 0; led4off(); } break; } case C_P_BUTTON: { p_0 = 1; ledPonC(); if (poschodie > 0) { smerDole(); } else if (poschodie < 0) { smerHore(); } else { p_0 = 0; ledPoffC(); } break; } case C_1_BUTTON: { p_1 = 1; led1onC(); if (poschodie > 1) { smerDole(); } else if (poschodie < 1) { smerHore(); } else { p_1 = 0; led1off(); } break; } case C_2_BUTTON: { p_2 = 1; led2onC(); if (poschodie > 2) { smerDole(); } else if (poschodie < 2) { smerHore(); } else { p_2 = 0; led2offC(); } break; } case C_3_BUTTON: { p_3 = 1; led3onC(); if (poschodie > 3) { smerDole(); } else if (poschodie < 3) { smerHore(); } else { p_3 = 0; led3offC(); } break; } case C_4_BUTTON: { p_4 = 1; led4onC(); if (poschodie > 4) { smerDole(); } else if (poschodie < 4) { smerHore(); } else { p_4 = 0; led4offC(); } break; } } } void watchdog() { int aDataIn[] = {0x03}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(WATCHDOG,0xAA,dataSize1,aDataIn); } int dajPoschodie() { int poschodie; switch(adresa[2]) { case SWITCH_P: { poschodie = SWITCH_P; cisloPochodia_dislpej = 0; break; } case SWITCH_1: { poschodie = SWITCH_1; cisloPochodia_dislpej = 1; break; } case SWITCH_2: { poschodie = SWITCH_2; cisloPochodia_dislpej = 2; break; } case SWITCH_3: { poschodie = SWITCH_3; cisloPochodia_dislpej = 3; break; } case SWITCH_4: { poschodie = SWITCH_4; cisloPochodia_dislpej = 4; break; } } return poschodie; } void init(){ init_flag = 1; uvolniEM(); resWatch(); smerDole(); } void stop() { int aDataIn[] = {0x1}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(MOTOR,0xAA,dataSize1,aDataIn); odomkniVytah(); } void smerHore() { zamkniVytah(); 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); zamkniVytah(); 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; } /*************************************************************/ void ledPon() { int aDataIn[] = {0x1}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x10,0xAA,dataSize1,aDataIn); } void led1on() { int aDataIn[] = {0x1}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x11,0xAA,dataSize1,aDataIn); } void led2on() { int aDataIn[] = {0x1}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x12,0xAA,dataSize1,aDataIn); } void led3on() { int aDataIn[] = {0x1}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x13,0xAA,dataSize1,aDataIn); } void led4on() { int aDataIn[] = {0x1}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x14,0xAA,dataSize1,aDataIn); } void ledPoff() { int aDataIn[] = {0x0}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x10,0xAA,dataSize1,aDataIn); } void led1off() { int aDataIn[] = {0x0}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x11,0xAA,dataSize1,aDataIn); } void led2off() { int aDataIn[] = {0x0}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x12,0xAA,dataSize1,aDataIn); } void led3off() { int aDataIn[] = {0x0}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x13,0xAA,dataSize1,aDataIn); } void led4off() { int aDataIn[] = {0x0}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x14,0xAA,dataSize1,aDataIn); } /************************************************************************************/ void ledPonC() { int aDataIn[] = {0x1}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x20,0xAA,dataSize1,aDataIn); } void led1onC() { int aDataIn[] = {0x1}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x21,0xAA,dataSize1,aDataIn); } void led2onC() { int aDataIn[] = {0x1}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x22,0xAA,dataSize1,aDataIn); } void led3onC() { int aDataIn[] = {0x1}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x23,0xAA,dataSize1,aDataIn); } void led4onC() { int aDataIn[] = {0x1}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x24,0xAA,dataSize1,aDataIn); } void ledPoffC() { int aDataIn[] = {0x0}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x20,0xAA,dataSize1,aDataIn); } void led1offC() { int aDataIn[] = {0x0}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x21,0xAA,dataSize1,aDataIn); } void led2offC() { int aDataIn[] = {0x0}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x22,0xAA,dataSize1,aDataIn); } void led3offC() { int aDataIn[] = {0x0}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x23,0xAA,dataSize1,aDataIn); } void led4offC() { int aDataIn[] = {0x0}; int dataSize1 = ARRAY_SIZE(aDataIn); posliSpravu(0x24,0xAA,dataSize1,aDataIn); }