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Dependencies:   MMA8451Q mbed

model.cpp@8:96c852630824, 2016-12-11 (annotated)

Committer:
skirmish
Date:
Sun Dec 11 16:28:43 2016 +0000
Revision:
8:96c852630824
Parent:
7:9521d6ae3747
Child:
9:97b26dcd1035
resend

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skirmish 0:41e22e385908 1 #include "model.h"
skirmish 8:96c852630824 2
skirmish 8:96c852630824 3 Model::Model(Serial *pci,Timer _tm):cmd(new Commands)
skirmish 7:9521d6ae3747 4 {
skirmish 7:9521d6ae3747 5 pc=pci;
skirmish 7:9521d6ae3747 6 pc->baud(57600);
skirmish 7:9521d6ae3747 7 char data[1];
skirmish 7:9521d6ae3747 8 data[0]=0x43;
skirmish 7:9521d6ae3747 9 // for(int i =0;i<2;i++){
skirmish 7:9521d6ae3747 10 // sendPacket(0xa0,0xd0,0x00,data,1);}
skirmish 7:9521d6ae3747 11 // data[0]=0x44;
skirmish 7:9521d6ae3747 12 // for(int i =0;i<15;i++){
skirmish 7:9521d6ae3747 13 // sendPacket(0xa0,0xd0,0x00,data,1);}
skirmish 8:96c852630824 14 cmd->MotorDown[0]=0x2;
skirmish 8:96c852630824 15 cmd->MotorDown[1]=0xff;
skirmish 8:96c852630824 16 cmd->MotorDown[2]=0xff;
skirmish 8:96c852630824 17 cmd->MotorDown[3]=0xff;
skirmish 8:96c852630824 18 cmd->MotorDown[4]=0xfb;
skirmish 8:96c852630824 19 cmd->MotorUp[0]=0x2;
skirmish 8:96c852630824 20 cmd->MotorUp[1]=0x00;
skirmish 8:96c852630824 21 cmd->MotorUp[2]=0x00;
skirmish 8:96c852630824 22 cmd->MotorUp[3]=0x00;
skirmish 8:96c852630824 23 cmd->MotorUp[4]=0x14;
skirmish 8:96c852630824 24 cmd->MotorStop[0]=0x1;
skirmish 8:96c852630824 25 cmd->LedOn[0]=0x01;
skirmish 8:96c852630824 26 cmd->LedOff[0]=0x00;
skirmish 8:96c852630824 27 cmd->ArrowDown[0]=0x02;
skirmish 8:96c852630824 28 cmd->ArrowUp[0]=0x01;
skirmish 8:96c852630824 29 mapPoschodie.insert(pair<string, bool>("p1",false));
skirmish 8:96c852630824 30 mapPoschodie.insert(pair<string, bool>("p2",false));
skirmish 8:96c852630824 31 mapPoschodie.insert(pair<string, bool>("p3",false));
skirmish 8:96c852630824 32 mapPoschodie.insert(pair<string, bool>("p4",false));
skirmish 8:96c852630824 33 mapPoschodie.insert(pair<string, bool>("p0",false));
skirmish 8:96c852630824 34 poschodie=4;
skirmish 8:96c852630824 35 direction=0;
skirmish 8:96c852630824 36 p4=1;
skirmish 8:96c852630824 37 p3=1;
skirmish 8:96c852630824 38 p2=1;
skirmish 8:96c852630824 39 p1=1;
skirmish 8:96c852630824 40 p0=1;
skirmish 8:96c852630824 41 }
skirmish 8:96c852630824 42 void Model::setDataForResend(char targetAdd,char sourceAdd,int dataLength,char *data )
skirmish 8:96c852630824 43 {
skirmish 8:96c852630824 44
skirmish 8:96c852630824 45 }
skirmish 8:96c852630824 46 Serial* Model::getSerial(void)
skirmish 8:96c852630824 47 {
skirmish 8:96c852630824 48 return pc;
skirmish 7:9521d6ae3747 49 }
skirmish 1:998a963e2ead 50 char Model::crcCalc(char targetAddr, char senderAddr, char *data,int DataSize)
skirmish 0:41e22e385908 51 {
skirmish 1:998a963e2ead 52 int dataLenght = DataSize;
skirmish 0:41e22e385908 53 char crc = 0x00;
skirmish 0:41e22e385908 54 crc = crcArray[crc^targetAddr];
skirmish 0:41e22e385908 55 crc = crcArray[crc^senderAddr];
skirmish 0:41e22e385908 56 for(int i = 0 ; i < dataLenght ; i++) {
skirmish 0:41e22e385908 57 crc = crcArray[crc^data[i]];
skirmish 0:41e22e385908 58 }
skirmish 0:41e22e385908 59 return crc;
skirmish 0:41e22e385908 60 }
skirmish 1:998a963e2ead 61 void Model::sendPacket(char startByte,char target,char source,char *data,int DataSize)
skirmish 0:41e22e385908 62 {
skirmish 0:41e22e385908 63 //packet format : || start byte: a0 | reciever adress - 1B | sender adress - 1B | data lenght - 1B | data - 0-265B | crc8 - 1B ||
skirmish 1:998a963e2ead 64 int dataLenght = DataSize;
skirmish 1:998a963e2ead 65 char crc8 = crcCalc(target, source, data,dataLenght);
skirmish 7:9521d6ae3747 66 pc->putc(startByte);
skirmish 7:9521d6ae3747 67 pc->putc(target);
skirmish 7:9521d6ae3747 68 pc->putc(source);
skirmish 7:9521d6ae3747 69 pc->putc(dataLenght);
skirmish 0:41e22e385908 70 for (int i = 0 ; i < dataLenght ; i++) {
skirmish 7:9521d6ae3747 71 pc->putc(data[i]);
skirmish 0:41e22e385908 72 }
skirmish 7:9521d6ae3747 73 pc->putc(crc8);
skirmish 0:41e22e385908 74 }
skirmish 1:998a963e2ead 75 void Model::doSomething(char data)
skirmish 1:998a963e2ead 76 {
skirmish 7:9521d6ae3747 77 if( mapPoschodie.find("p4")->second==true&&p4==true) {
skirmish 7:9521d6ae3747 78 p4=false;
skirmish 7:9521d6ae3747 79 sendPacket(0xa0,0x14,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 80 sendPacket(0xa0,0x24,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 81 if(direction==0) { //chod nahor
skirmish 8:96c852630824 82 if(poschodie<4) {
skirmish 8:96c852630824 83 upMotor();
skirmish 8:96c852630824 84 }
skirmish 7:9521d6ae3747 85 }
skirmish 7:9521d6ae3747 86 }
skirmish 7:9521d6ae3747 87 if( mapPoschodie.find("p3")->second==true&&p3==true) {
skirmish 7:9521d6ae3747 88 p3=false;
skirmish 7:9521d6ae3747 89 sendPacket(0xa0,0x13,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 90 sendPacket(0xa0,0x23,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 91 if(direction==0) {
skirmish 7:9521d6ae3747 92 if(poschodie<3) {
skirmish 7:9521d6ae3747 93 upMotor();
skirmish 7:9521d6ae3747 94 } else {
skirmish 7:9521d6ae3747 95 downMotor();
skirmish 2:3cb49ae40d02 96 }
skirmish 7:9521d6ae3747 97 }
skirmish 7:9521d6ae3747 98 }
skirmish 7:9521d6ae3747 99
skirmish 7:9521d6ae3747 100 if( mapPoschodie.find("p2")->second==true&&p2==true) {
skirmish 7:9521d6ae3747 101 p2=false;
skirmish 7:9521d6ae3747 102 sendPacket(0xa0,0x12,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 103 sendPacket(0xa0,0x22,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 104 if(direction==0) {
skirmish 7:9521d6ae3747 105 if(poschodie<2) {
skirmish 7:9521d6ae3747 106 upMotor();
skirmish 7:9521d6ae3747 107 } else {
skirmish 7:9521d6ae3747 108 downMotor();
skirmish 1:998a963e2ead 109 }
skirmish 7:9521d6ae3747 110 }
skirmish 7:9521d6ae3747 111 }
skirmish 7:9521d6ae3747 112
skirmish 7:9521d6ae3747 113
skirmish 7:9521d6ae3747 114 if( mapPoschodie.find("p1")->second==true&&p1==true) {
skirmish 7:9521d6ae3747 115 p1=false;
skirmish 7:9521d6ae3747 116 sendPacket(0xa0,0x11,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 117 sendPacket(0xa0,0x21,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 118 if(direction==0) {
skirmish 7:9521d6ae3747 119 if(poschodie<1) {
skirmish 7:9521d6ae3747 120 upMotor();
skirmish 7:9521d6ae3747 121 } else {
skirmish 7:9521d6ae3747 122 downMotor();
skirmish 2:3cb49ae40d02 123 }
skirmish 7:9521d6ae3747 124 }
skirmish 7:9521d6ae3747 125 }
skirmish 7:9521d6ae3747 126
skirmish 7:9521d6ae3747 127 if( mapPoschodie.find("p0")->second==true&&p0==1) {
skirmish 7:9521d6ae3747 128 p0=0;
skirmish 7:9521d6ae3747 129 sendPacket(0xa0,0x10,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 130 sendPacket(0xa0,0x20,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 131 if(mapPoschodie.find("p4")->second==false || mapPoschodie.find("p3")->second==false || mapPoschodie.find("p2")->second==false|| mapPoschodie.find("p1")->second==false ) {
skirmish 7:9521d6ae3747 132 if(direction==0)
skirmish 7:9521d6ae3747 133 downMotor();
skirmish 7:9521d6ae3747 134 }
skirmish 7:9521d6ae3747 135 }
skirmish 7:9521d6ae3747 136
skirmish 7:9521d6ae3747 137 switch(data) {
skirmish 7:9521d6ae3747 138 case 0xe4:
skirmish 7:9521d6ae3747 139 p4=1;
skirmish 7:9521d6ae3747 140 poschodie=4;
skirmish 7:9521d6ae3747 141 cmd->ArrowDown[1]=0x34;
skirmish 7:9521d6ae3747 142 cmd->ArrowUp[1]=0x34;
skirmish 7:9521d6ae3747 143 if(direction==-1) {
skirmish 7:9521d6ae3747 144 sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
skirmish 7:9521d6ae3747 145 } else {
skirmish 7:9521d6ae3747 146 sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
skirmish 2:3cb49ae40d02 147 }
skirmish 2:3cb49ae40d02 148 if( mapPoschodie.find("p4")->second==true) {
skirmish 2:3cb49ae40d02 149 mapPoschodie.find("p4")->second=false;
skirmish 2:3cb49ae40d02 150 sendPacket(0xa0,0x24,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 151 sendPacket(0xa0,0x14,0x00,cmd->LedOff,1);
skirmish 5:8ab8a587e609 152 stopMotor();
skirmish 2:3cb49ae40d02 153 wait(3);
skirmish 2:3cb49ae40d02 154 if(mapPoschodie.find("p3")->second==true||mapPoschodie.find("p2")->second==true||mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
skirmish 5:8ab8a587e609 155 downMotor();
skirmish 2:3cb49ae40d02 156 }
skirmish 2:3cb49ae40d02 157 }
skirmish 1:998a963e2ead 158 break;
skirmish 1:998a963e2ead 159 case 0xe3:
skirmish 7:9521d6ae3747 160 p3=1;
skirmish 1:998a963e2ead 161 poschodie=3;
skirmish 7:9521d6ae3747 162 cmd->ArrowDown[1]=0x33;
skirmish 7:9521d6ae3747 163 cmd->ArrowUp[1]=0x33;
skirmish 7:9521d6ae3747 164 if(direction==-1) {
skirmish 7:9521d6ae3747 165 sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
skirmish 7:9521d6ae3747 166 } else {
skirmish 7:9521d6ae3747 167 sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
skirmish 7:9521d6ae3747 168 }
skirmish 1:998a963e2ead 169 if( mapPoschodie.find("p3")->second==true) {
skirmish 1:998a963e2ead 170 mapPoschodie.find("p3")->second=false;
skirmish 2:3cb49ae40d02 171 sendPacket(0xa0,0x13,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 172 sendPacket(0xa0,0x23,0x00,cmd->LedOff,1);
skirmish 7:9521d6ae3747 173 stopMotor();
skirmish 2:3cb49ae40d02 174 wait(3);
skirmish 2:3cb49ae40d02 175 if(mapPoschodie.find("p2")->second==true||mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
skirmish 5:8ab8a587e609 176 downMotor();
skirmish 2:3cb49ae40d02 177 } else if(mapPoschodie.find("p4")->second==true) {
skirmish 5:8ab8a587e609 178 upMotor();
skirmish 2:3cb49ae40d02 179 }
skirmish 1:998a963e2ead 180 }
skirmish 1:998a963e2ead 181 break;
skirmish 1:998a963e2ead 182 case 0xe2:
skirmish 1:998a963e2ead 183 poschodie=2;
skirmish 7:9521d6ae3747 184 p2=1;
skirmish 7:9521d6ae3747 185 cmd->ArrowDown[1]=0x32;
skirmish 7:9521d6ae3747 186 cmd->ArrowUp[1]=0x32;
skirmish 7:9521d6ae3747 187 if(direction==-1) {
skirmish 7:9521d6ae3747 188 sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
skirmish 7:9521d6ae3747 189 } else {
skirmish 7:9521d6ae3747 190 sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
skirmish 7:9521d6ae3747 191 }
skirmish 1:998a963e2ead 192 if( mapPoschodie.find("p2")->second==true) {
skirmish 1:998a963e2ead 193 mapPoschodie.find("p2")->second=false;
skirmish 2:3cb49ae40d02 194 sendPacket(0xa0,0x12,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 195 sendPacket(0xa0,0x22,0x00,cmd->LedOff,1);
skirmish 1:998a963e2ead 196 sendPacket(0xa0,0xf1,0x00,cmd->MotorStop,1);
skirmish 2:3cb49ae40d02 197 wait(3);
skirmish 6:5c4bd6bb6c3c 198 if(mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
skirmish 5:8ab8a587e609 199 downMotor();
skirmish 2:3cb49ae40d02 200 } else if(mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
skirmish 5:8ab8a587e609 201 upMotor();
skirmish 2:3cb49ae40d02 202 }
skirmish 1:998a963e2ead 203 }
skirmish 2:3cb49ae40d02 204
skirmish 1:998a963e2ead 205 break;
skirmish 1:998a963e2ead 206 case 0xe1:
skirmish 1:998a963e2ead 207 poschodie=1;
skirmish 7:9521d6ae3747 208 cmd->ArrowDown[1]=0x31;
skirmish 7:9521d6ae3747 209 cmd->ArrowUp[1]=0x31;
skirmish 7:9521d6ae3747 210 p1=1;
skirmish 7:9521d6ae3747 211
skirmish 7:9521d6ae3747 212 if(direction==-1) {
skirmish 7:9521d6ae3747 213 sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
skirmish 7:9521d6ae3747 214 } else {
skirmish 7:9521d6ae3747 215 sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
skirmish 7:9521d6ae3747 216 }
skirmish 1:998a963e2ead 217 if( mapPoschodie.find("p1")->second==true) {
skirmish 1:998a963e2ead 218 mapPoschodie.find("p1")->second=false;
skirmish 2:3cb49ae40d02 219 sendPacket(0xa0,0x11,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 220 sendPacket(0xa0,0x21,0x00,cmd->LedOff,1);
skirmish 5:8ab8a587e609 221 stopMotor();
skirmish 2:3cb49ae40d02 222 wait(3);
skirmish 2:3cb49ae40d02 223 if(mapPoschodie.find("p0")->second==true) {
skirmish 5:8ab8a587e609 224 downMotor();
skirmish 2:3cb49ae40d02 225 } else if(mapPoschodie.find("p2")->second==true||mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
skirmish 5:8ab8a587e609 226 upMotor();
skirmish 2:3cb49ae40d02 227 }
skirmish 1:998a963e2ead 228 }
skirmish 1:998a963e2ead 229 break;
skirmish 1:998a963e2ead 230 case 0xe0:
skirmish 1:998a963e2ead 231 poschodie=0;
skirmish 7:9521d6ae3747 232 p0=1;
skirmish 7:9521d6ae3747 233 cmd->ArrowDown[1]=0x50;
skirmish 7:9521d6ae3747 234 cmd->ArrowUp[1]=0x50;
skirmish 7:9521d6ae3747 235 if(direction==-1) {
skirmish 7:9521d6ae3747 236 sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
skirmish 7:9521d6ae3747 237 } else {
skirmish 7:9521d6ae3747 238 sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
skirmish 7:9521d6ae3747 239 }
skirmish 1:998a963e2ead 240 if( mapPoschodie.find("p0")->second==true) {
skirmish 1:998a963e2ead 241 mapPoschodie.find("p0")->second=false;
skirmish 2:3cb49ae40d02 242 sendPacket(0xa0,0x10,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 243 sendPacket(0xa0,0x20,0x00,cmd->LedOff,1);
skirmish 5:8ab8a587e609 244 stopMotor();
skirmish 6:5c4bd6bb6c3c 245 wait(3);
skirmish 6:5c4bd6bb6c3c 246 if(mapPoschodie.find("p1")->second==true||mapPoschodie.find("p2")->second==true||mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
skirmish 6:5c4bd6bb6c3c 247 upMotor();
skirmish 6:5c4bd6bb6c3c 248 }
skirmish 5:8ab8a587e609 249 }
skirmish 2:3cb49ae40d02 250
skirmish 1:998a963e2ead 251 break;
skirmish 0:41e22e385908 252 default:
skirmish 7:9521d6ae3747 253 break;
skirmish 2:3cb49ae40d02 254
skirmish 0:41e22e385908 255 }
skirmish 3:9ee509852c9a 256
skirmish 3:9ee509852c9a 257 }
skirmish 3:9ee509852c9a 258
skirmish 2:3cb49ae40d02 259 void Model::setDoorStatus(bool mValue)
skirmish 2:3cb49ae40d02 260 {
skirmish 2:3cb49ae40d02 261 if(mValue==true) {
skirmish 2:3cb49ae40d02 262 cmd->Lock[1]=0x01;//Lock door
skirmish 2:3cb49ae40d02 263 } else {
skirmish 2:3cb49ae40d02 264 cmd->Lock[1]=0x00;//;Unlock door
skirmish 2:3cb49ae40d02 265 }
skirmish 2:3cb49ae40d02 266 sendPacket(0xa0,0xf0,0x0, cmd->Lock,1);
skirmish 2:3cb49ae40d02 267 }
skirmish 5:8ab8a587e609 268 void Model::stopMotor()
skirmish 5:8ab8a587e609 269 {
skirmish 5:8ab8a587e609 270 direction=0;
skirmish 5:8ab8a587e609 271 sendPacket(0xa0,0xf1,0x00,cmd->MotorStop,1);
skirmish 5:8ab8a587e609 272 };
skirmish 5:8ab8a587e609 273 void Model::downMotor()
skirmish 5:8ab8a587e609 274 {
skirmish 5:8ab8a587e609 275 direction=-1;
skirmish 5:8ab8a587e609 276 sendPacket(0xa0,0xf1,0x00,cmd->MotorDown,5);
skirmish 5:8ab8a587e609 277 };
skirmish 5:8ab8a587e609 278 void Model::upMotor()
skirmish 5:8ab8a587e609 279 {
skirmish 5:8ab8a587e609 280 direction=1;
skirmish 5:8ab8a587e609 281 sendPacket(0xa0,0xf1,0x00,cmd->MotorUp,5);
skirmish 5:8ab8a587e609 282 };
skirmish 1:998a963e2ead 283 unsigned char Model::crcArray[]= {
skirmish 1:998a963e2ead 284 0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
skirmish 1:998a963e2ead 285 157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
skirmish 1:998a963e2ead 286 35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
skirmish 1:998a963e2ead 287 190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
skirmish 1:998a963e2ead 288 70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
skirmish 1:998a963e2ead 289 219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
skirmish 1:998a963e2ead 290 101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
skirmish 1:998a963e2ead 291 248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
skirmish 1:998a963e2ead 292 140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
skirmish 1:998a963e2ead 293 17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
skirmish 1:998a963e2ead 294 175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
skirmish 1:998a963e2ead 295 50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
skirmish 1:998a963e2ead 296 202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
skirmish 1:998a963e2ead 297 87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
skirmish 1:998a963e2ead 298 233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
skirmish 1:998a963e2ead 299 116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53
skirmish 1:998a963e2ead 300 };