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Dependencies:   MMA8451Q mbed

model.cpp@10:dc94bacfccc6, 2016-12-14 (annotated)

Committer:
skirmish
Date:
Wed Dec 14 17:52:35 2016 +0000
Revision:
10:dc94bacfccc6
Parent:
9:97b26dcd1035
Child:
11:95e4e04a7dd2
rozdelenie

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skirmish 0:41e22e385908 1 #include "model.h"
skirmish 9:97b26dcd1035 2 int pom=0;
skirmish 9:97b26dcd1035 3 DigitalOut cervena(LED1);
skirmish 9:97b26dcd1035 4 DigitalOut zelena(LED2);
skirmish 10:dc94bacfccc6 5 Model::Model(Serial *pci)//:cmd(new Commands)
skirmish 7:9521d6ae3747 6 {
skirmish 10:dc94bacfccc6 7 cmd= new Commands();
skirmish 7:9521d6ae3747 8 pc=pci;
skirmish 7:9521d6ae3747 9 pc->baud(57600);
skirmish 9:97b26dcd1035 10 pc->attach(this,&Model::SerialCallBack,Serial::RxIrq);
skirmish 9:97b26dcd1035 11 tc.attach(this,&Model::TickerCallBack,1);
skirmish 8:96c852630824 12 cmd->MotorDown[0]=0x2;
skirmish 8:96c852630824 13 cmd->MotorDown[1]=0xff;
skirmish 8:96c852630824 14 cmd->MotorDown[2]=0xff;
skirmish 8:96c852630824 15 cmd->MotorDown[3]=0xff;
skirmish 8:96c852630824 16 cmd->MotorDown[4]=0xfb;
skirmish 8:96c852630824 17 cmd->MotorUp[0]=0x2;
skirmish 8:96c852630824 18 cmd->MotorUp[1]=0x00;
skirmish 8:96c852630824 19 cmd->MotorUp[2]=0x00;
skirmish 8:96c852630824 20 cmd->MotorUp[3]=0x00;
skirmish 8:96c852630824 21 cmd->MotorUp[4]=0x14;
skirmish 8:96c852630824 22 cmd->MotorStop[0]=0x1;
skirmish 9:97b26dcd1035 23 cmd->Lock[0]=0x00;
skirmish 9:97b26dcd1035 24 watchDog[0]=0x01;
skirmish 9:97b26dcd1035 25 sendPacket(0xa0,0xfe,0x0, watchDog,1);
skirmish 9:97b26dcd1035 26 watchDog[0]=0x2;
skirmish 10:dc94bacfccc6 27
skirmish 9:97b26dcd1035 28 DataIn= new char[6]();
skirmish 8:96c852630824 29 cmd->LedOn[0]=0x01;
skirmish 8:96c852630824 30 cmd->LedOff[0]=0x00;
skirmish 8:96c852630824 31 cmd->ArrowDown[0]=0x02;
skirmish 8:96c852630824 32 cmd->ArrowUp[0]=0x01;
skirmish 8:96c852630824 33 mapPoschodie.insert(pair<string, bool>("p1",false));
skirmish 8:96c852630824 34 mapPoschodie.insert(pair<string, bool>("p2",false));
skirmish 8:96c852630824 35 mapPoschodie.insert(pair<string, bool>("p3",false));
skirmish 8:96c852630824 36 mapPoschodie.insert(pair<string, bool>("p4",false));
skirmish 8:96c852630824 37 mapPoschodie.insert(pair<string, bool>("p0",false));
skirmish 8:96c852630824 38 poschodie=4;
skirmish 8:96c852630824 39 direction=0;
skirmish 8:96c852630824 40 p4=1;
skirmish 8:96c852630824 41 p3=1;
skirmish 8:96c852630824 42 p2=1;
skirmish 8:96c852630824 43 p1=1;
skirmish 8:96c852630824 44 p0=1;
skirmish 8:96c852630824 45 }
skirmish 9:97b26dcd1035 46
skirmish 9:97b26dcd1035 47 void Model::SerialCallBack()
skirmish 8:96c852630824 48 {
skirmish 9:97b26dcd1035 49 pom++;
skirmish 9:97b26dcd1035 50 if(pom==1) {
skirmish 9:97b26dcd1035 51 zelena=0;
skirmish 9:97b26dcd1035 52 } else {
skirmish 9:97b26dcd1035 53 zelena=1;
skirmish 9:97b26dcd1035 54 pom=0;
skirmish 9:97b26dcd1035 55 }
skirmish 9:97b26dcd1035 56 startByteIn=pc->getc();
skirmish 9:97b26dcd1035 57 targetAdd=pc->getc();
skirmish 9:97b26dcd1035 58 sourceAdd=pc->getc();
skirmish 9:97b26dcd1035 59 DataLength=pc->getc();
skirmish 9:97b26dcd1035 60 for (unsigned int i=0; i< DataLength; i++) {
skirmish 9:97b26dcd1035 61 DataIn[i]=pc->getc();
skirmish 9:97b26dcd1035 62 }
skirmish 10:dc94bacfccc6 63 // if(DataLength!=0x00)
skirmish 9:97b26dcd1035 64 CrcIn=pc->getc();
skirmish 9:97b26dcd1035 65 switch( sourceAdd) {
skirmish 9:97b26dcd1035 66 case 0xc4:
skirmish 9:97b26dcd1035 67 case 0xb4:
skirmish 9:97b26dcd1035 68 mapPoschodie.find("p4")->second=true;
skirmish 9:97b26dcd1035 69 break;
skirmish 9:97b26dcd1035 70 case 0xb3:
skirmish 9:97b26dcd1035 71 case 0xc3:
skirmish 9:97b26dcd1035 72 mapPoschodie.find("p3")->second=true;
skirmish 9:97b26dcd1035 73 break;
skirmish 9:97b26dcd1035 74 case 0xb2:
skirmish 9:97b26dcd1035 75 case 0xc2:
skirmish 9:97b26dcd1035 76 mapPoschodie.find("p2")->second=true;
skirmish 9:97b26dcd1035 77 break;
skirmish 9:97b26dcd1035 78 case 0xb1:
skirmish 9:97b26dcd1035 79 case 0xc1:
skirmish 9:97b26dcd1035 80 mapPoschodie.find("p1")->second=true;
skirmish 9:97b26dcd1035 81 break;
skirmish 9:97b26dcd1035 82 case 0xb0:
skirmish 9:97b26dcd1035 83 case 0xc0:
skirmish 9:97b26dcd1035 84 mapPoschodie.find("p0")->second=true;
skirmish 9:97b26dcd1035 85 break;
skirmish 9:97b26dcd1035 86 default:
skirmish 9:97b26dcd1035 87 ;
skirmish 9:97b26dcd1035 88 }
skirmish 8:96c852630824 89
skirmish 8:96c852630824 90 }
skirmish 8:96c852630824 91 Serial* Model::getSerial(void)
skirmish 8:96c852630824 92 {
skirmish 8:96c852630824 93 return pc;
skirmish 7:9521d6ae3747 94 }
skirmish 9:97b26dcd1035 95 void Model::TickerCallBack()
skirmish 9:97b26dcd1035 96 {
skirmish 9:97b26dcd1035 97 sendPacket(0xa0,0xfe,0x00, watchDog,1);
skirmish 9:97b26dcd1035 98 pom++;
skirmish 9:97b26dcd1035 99 if (pom==1) {
skirmish 9:97b26dcd1035 100 zelena =0;
skirmish 9:97b26dcd1035 101 cervena=1;
skirmish 9:97b26dcd1035 102 } else {
skirmish 9:97b26dcd1035 103 zelena=1;
skirmish 9:97b26dcd1035 104 cervena=0;
skirmish 9:97b26dcd1035 105 pom=0;
skirmish 9:97b26dcd1035 106 }
skirmish 9:97b26dcd1035 107
skirmish 9:97b26dcd1035 108 }
skirmish 9:97b26dcd1035 109
skirmish 1:998a963e2ead 110 char Model::crcCalc(char targetAddr, char senderAddr, char *data,int DataSize)
skirmish 0:41e22e385908 111 {
skirmish 1:998a963e2ead 112 int dataLenght = DataSize;
skirmish 0:41e22e385908 113 char crc = 0x00;
skirmish 0:41e22e385908 114 crc = crcArray[crc^targetAddr];
skirmish 0:41e22e385908 115 crc = crcArray[crc^senderAddr];
skirmish 0:41e22e385908 116 for(int i = 0 ; i < dataLenght ; i++) {
skirmish 0:41e22e385908 117 crc = crcArray[crc^data[i]];
skirmish 0:41e22e385908 118 }
skirmish 0:41e22e385908 119 return crc;
skirmish 0:41e22e385908 120 }
skirmish 1:998a963e2ead 121 void Model::sendPacket(char startByte,char target,char source,char *data,int DataSize)
skirmish 0:41e22e385908 122 {
skirmish 0:41e22e385908 123 //packet format : || start byte: a0 | reciever adress - 1B | sender adress - 1B | data lenght - 1B | data - 0-265B | crc8 - 1B ||
skirmish 1:998a963e2ead 124 int dataLenght = DataSize;
skirmish 1:998a963e2ead 125 char crc8 = crcCalc(target, source, data,dataLenght);
skirmish 7:9521d6ae3747 126 pc->putc(startByte);
skirmish 7:9521d6ae3747 127 pc->putc(target);
skirmish 7:9521d6ae3747 128 pc->putc(source);
skirmish 7:9521d6ae3747 129 pc->putc(dataLenght);
skirmish 0:41e22e385908 130 for (int i = 0 ; i < dataLenght ; i++) {
skirmish 7:9521d6ae3747 131 pc->putc(data[i]);
skirmish 0:41e22e385908 132 }
skirmish 7:9521d6ae3747 133 pc->putc(crc8);
skirmish 0:41e22e385908 134 }
skirmish 1:998a963e2ead 135 void Model::doSomething(char data)
skirmish 1:998a963e2ead 136 {
skirmish 9:97b26dcd1035 137
skirmish 9:97b26dcd1035 138 switch(data) {
skirmish 9:97b26dcd1035 139 case 0xe4:
skirmish 9:97b26dcd1035 140 p4=1;
skirmish 9:97b26dcd1035 141 poschodie=4;
skirmish 9:97b26dcd1035 142 cmd->ArrowDown[1]=0x34;
skirmish 9:97b26dcd1035 143 cmd->ArrowUp[1]=0x34;
skirmish 9:97b26dcd1035 144 switch(direction) {
skirmish 9:97b26dcd1035 145 case -1:
skirmish 9:97b26dcd1035 146 sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
skirmish 9:97b26dcd1035 147 break;
skirmish 9:97b26dcd1035 148 case 1:
skirmish 9:97b26dcd1035 149 sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
skirmish 9:97b26dcd1035 150 break;
skirmish 9:97b26dcd1035 151 default:
skirmish 9:97b26dcd1035 152 ;
skirmish 9:97b26dcd1035 153 }
skirmish 9:97b26dcd1035 154 if( mapPoschodie.find("p4")->second==true) {
skirmish 9:97b26dcd1035 155 mapPoschodie.find("p4")->second=false;
skirmish 9:97b26dcd1035 156 sendPacket(0xa0,0x24,0x00,cmd->LedOff,1);
skirmish 9:97b26dcd1035 157 sendPacket(0xa0,0x14,0x00,cmd->LedOff,1);
skirmish 9:97b26dcd1035 158 stopMotor();
skirmish 9:97b26dcd1035 159 tmOut.attach(this,&Model::TimeOutCallBack,4);
skirmish 9:97b26dcd1035 160 tmOut2.attach(this,&Model::DoorUnlock,3);
skirmish 9:97b26dcd1035 161 };
skirmish 9:97b26dcd1035 162 break;
skirmish 9:97b26dcd1035 163 case 0xe3:
skirmish 9:97b26dcd1035 164 p3=1;
skirmish 9:97b26dcd1035 165 poschodie=3;
skirmish 9:97b26dcd1035 166 cmd->ArrowDown[1]=0x33;
skirmish 9:97b26dcd1035 167 cmd->ArrowUp[1]=0x33;
skirmish 9:97b26dcd1035 168 switch(direction) {
skirmish 9:97b26dcd1035 169 case -1:
skirmish 9:97b26dcd1035 170 sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
skirmish 9:97b26dcd1035 171 break;
skirmish 9:97b26dcd1035 172 case 1:
skirmish 9:97b26dcd1035 173 sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
skirmish 9:97b26dcd1035 174 break;
skirmish 9:97b26dcd1035 175 default:
skirmish 9:97b26dcd1035 176 ;
skirmish 9:97b26dcd1035 177
skirmish 9:97b26dcd1035 178 }
skirmish 9:97b26dcd1035 179 if( mapPoschodie.find("p3")->second==true) {
skirmish 9:97b26dcd1035 180 mapPoschodie.find("p3")->second=false;
skirmish 9:97b26dcd1035 181 sendPacket(0xa0,0x13,0x00,cmd->LedOff,1);
skirmish 9:97b26dcd1035 182 sendPacket(0xa0,0x23,0x00,cmd->LedOff,1);
skirmish 9:97b26dcd1035 183 stopMotor();
skirmish 9:97b26dcd1035 184 tmOut.attach(this,&Model::TimeOutCallBack,4);
skirmish 9:97b26dcd1035 185 tmOut2.attach(this,&Model::DoorUnlock,3);
skirmish 9:97b26dcd1035 186 }
skirmish 9:97b26dcd1035 187 break;
skirmish 9:97b26dcd1035 188 case 0xe2:
skirmish 9:97b26dcd1035 189 poschodie=2;
skirmish 9:97b26dcd1035 190 p2=1;
skirmish 9:97b26dcd1035 191 cmd->ArrowDown[1]=0x32;
skirmish 9:97b26dcd1035 192 cmd->ArrowUp[1]=0x32;
skirmish 9:97b26dcd1035 193 switch(direction) {
skirmish 9:97b26dcd1035 194 case -1:
skirmish 9:97b26dcd1035 195 sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
skirmish 9:97b26dcd1035 196 break;
skirmish 9:97b26dcd1035 197 case 1:
skirmish 9:97b26dcd1035 198 sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
skirmish 9:97b26dcd1035 199 break;
skirmish 9:97b26dcd1035 200 default:
skirmish 9:97b26dcd1035 201 ;
skirmish 9:97b26dcd1035 202
skirmish 9:97b26dcd1035 203 }
skirmish 9:97b26dcd1035 204
skirmish 9:97b26dcd1035 205
skirmish 9:97b26dcd1035 206 if( mapPoschodie.find("p2")->second==true) {
skirmish 9:97b26dcd1035 207 mapPoschodie.find("p2")->second=false;
skirmish 9:97b26dcd1035 208 sendPacket(0xa0,0x12,0x00,cmd->LedOff,1);
skirmish 9:97b26dcd1035 209 sendPacket(0xa0,0x22,0x00,cmd->LedOff,1);
skirmish 9:97b26dcd1035 210 stopMotor();
skirmish 9:97b26dcd1035 211 tmOut.attach(this,&Model::TimeOutCallBack,4);
skirmish 9:97b26dcd1035 212 tmOut2.attach(this,&Model::DoorUnlock,3);
skirmish 9:97b26dcd1035 213
skirmish 9:97b26dcd1035 214 }
skirmish 9:97b26dcd1035 215 break;
skirmish 9:97b26dcd1035 216 case 0xe1:
skirmish 9:97b26dcd1035 217 poschodie=1;
skirmish 9:97b26dcd1035 218 cmd->ArrowDown[1]=0x31;
skirmish 9:97b26dcd1035 219 cmd->ArrowUp[1]=0x31;
skirmish 9:97b26dcd1035 220 p1=1;
skirmish 9:97b26dcd1035 221 switch(direction) {
skirmish 9:97b26dcd1035 222 case -1:
skirmish 9:97b26dcd1035 223 sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
skirmish 9:97b26dcd1035 224 break;
skirmish 9:97b26dcd1035 225 case 1:
skirmish 9:97b26dcd1035 226 sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
skirmish 9:97b26dcd1035 227 break;
skirmish 9:97b26dcd1035 228 default:
skirmish 9:97b26dcd1035 229 ;
skirmish 9:97b26dcd1035 230 }
skirmish 9:97b26dcd1035 231 if( mapPoschodie.find("p1")->second==true) {
skirmish 9:97b26dcd1035 232 mapPoschodie.find("p1")->second=false;
skirmish 9:97b26dcd1035 233 sendPacket(0xa0,0x11,0x00,cmd->LedOff,1);
skirmish 9:97b26dcd1035 234 sendPacket(0xa0,0x21,0x00,cmd->LedOff,1);
skirmish 9:97b26dcd1035 235 stopMotor();
skirmish 9:97b26dcd1035 236 tmOut.attach(this,&Model::TimeOutCallBack,4);
skirmish 9:97b26dcd1035 237 tmOut2.attach(this,&Model::DoorUnlock,3);
skirmish 9:97b26dcd1035 238 }
skirmish 9:97b26dcd1035 239 break;
skirmish 9:97b26dcd1035 240 case 0xe0:
skirmish 9:97b26dcd1035 241 poschodie=0;
skirmish 9:97b26dcd1035 242 p0=1;
skirmish 9:97b26dcd1035 243 cmd->ArrowDown[1]=0x50;
skirmish 9:97b26dcd1035 244 cmd->ArrowUp[1]=0x50;
skirmish 9:97b26dcd1035 245 switch(direction) {
skirmish 9:97b26dcd1035 246 case -1:
skirmish 9:97b26dcd1035 247 sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
skirmish 9:97b26dcd1035 248 break;
skirmish 9:97b26dcd1035 249 case 1:
skirmish 9:97b26dcd1035 250 sendPacket(0xa0,0x30,0x00,cmd->ArrowUp,2);
skirmish 9:97b26dcd1035 251 break;
skirmish 9:97b26dcd1035 252 default:
skirmish 9:97b26dcd1035 253 ;
skirmish 9:97b26dcd1035 254 }
skirmish 9:97b26dcd1035 255 if( mapPoschodie.find("p0")->second==true) {
skirmish 9:97b26dcd1035 256 mapPoschodie.find("p0")->second=false;
skirmish 9:97b26dcd1035 257 sendPacket(0xa0,0x10,0x00,cmd->LedOff,1);
skirmish 9:97b26dcd1035 258 sendPacket(0xa0,0x20,0x00,cmd->LedOff,1);
skirmish 9:97b26dcd1035 259 stopMotor();
skirmish 9:97b26dcd1035 260 tmOut.attach(this,&Model::TimeOutCallBack,4);
skirmish 9:97b26dcd1035 261 tmOut2.attach(this,&Model::DoorUnlock,3);
skirmish 9:97b26dcd1035 262 }
skirmish 9:97b26dcd1035 263 break;
skirmish 9:97b26dcd1035 264 default:
skirmish 9:97b26dcd1035 265 ;
skirmish 9:97b26dcd1035 266 }
skirmish 7:9521d6ae3747 267 if( mapPoschodie.find("p4")->second==true&&p4==true) {
skirmish 7:9521d6ae3747 268 p4=false;
skirmish 7:9521d6ae3747 269 sendPacket(0xa0,0x14,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 270 sendPacket(0xa0,0x24,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 271 if(direction==0) { //chod nahor
skirmish 8:96c852630824 272 if(poschodie<4) {
skirmish 8:96c852630824 273 upMotor();
skirmish 8:96c852630824 274 }
skirmish 7:9521d6ae3747 275 }
skirmish 9:97b26dcd1035 276 } else if( mapPoschodie.find("p3")->second==true&&p3==true) {
skirmish 7:9521d6ae3747 277 p3=false;
skirmish 7:9521d6ae3747 278 sendPacket(0xa0,0x13,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 279 sendPacket(0xa0,0x23,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 280 if(direction==0) {
skirmish 7:9521d6ae3747 281 if(poschodie<3) {
skirmish 7:9521d6ae3747 282 upMotor();
skirmish 7:9521d6ae3747 283 } else {
skirmish 7:9521d6ae3747 284 downMotor();
skirmish 2:3cb49ae40d02 285 }
skirmish 7:9521d6ae3747 286 }
skirmish 9:97b26dcd1035 287 } else if( mapPoschodie.find("p2")->second==true&&p2==true) {
skirmish 7:9521d6ae3747 288 p2=false;
skirmish 7:9521d6ae3747 289 sendPacket(0xa0,0x12,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 290 sendPacket(0xa0,0x22,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 291 if(direction==0) {
skirmish 7:9521d6ae3747 292 if(poschodie<2) {
skirmish 7:9521d6ae3747 293 upMotor();
skirmish 7:9521d6ae3747 294 } else {
skirmish 7:9521d6ae3747 295 downMotor();
skirmish 1:998a963e2ead 296 }
skirmish 7:9521d6ae3747 297 }
skirmish 9:97b26dcd1035 298 } else if( mapPoschodie.find("p1")->second==true&&p1==true) {
skirmish 7:9521d6ae3747 299 p1=false;
skirmish 7:9521d6ae3747 300 sendPacket(0xa0,0x11,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 301 sendPacket(0xa0,0x21,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 302 if(direction==0) {
skirmish 7:9521d6ae3747 303 if(poschodie<1) {
skirmish 7:9521d6ae3747 304 upMotor();
skirmish 7:9521d6ae3747 305 } else {
skirmish 7:9521d6ae3747 306 downMotor();
skirmish 2:3cb49ae40d02 307 }
skirmish 9:97b26dcd1035 308
skirmish 7:9521d6ae3747 309 }
skirmish 9:97b26dcd1035 310 } else if( mapPoschodie.find("p0")->second==true&&p0==1) {
skirmish 7:9521d6ae3747 311 p0=0;
skirmish 7:9521d6ae3747 312 sendPacket(0xa0,0x10,0x00,cmd->LedOn,1);
skirmish 7:9521d6ae3747 313 sendPacket(0xa0,0x20,0x00,cmd->LedOn,1);
skirmish 9:97b26dcd1035 314 // if(mapPoschodie.find("p4")->second==false || mapPoschodie.find("p3")->second==false/* || mapPoschodie.find("p2")->second==false|| mapPoschodie.find("p1")->second==false */) {
skirmish 9:97b26dcd1035 315 if(direction==0)
skirmish 9:97b26dcd1035 316 downMotor();
skirmish 7:9521d6ae3747 317 }
skirmish 3:9ee509852c9a 318 }
skirmish 2:3cb49ae40d02 319 void Model::setDoorStatus(bool mValue)
skirmish 2:3cb49ae40d02 320 {
skirmish 2:3cb49ae40d02 321 if(mValue==true) {
skirmish 9:97b26dcd1035 322 cmd->Lock[0]=0x01;//Lock door
skirmish 2:3cb49ae40d02 323 } else {
skirmish 9:97b26dcd1035 324 cmd->Lock[0]=0x00;//;Unlock door
skirmish 2:3cb49ae40d02 325 }
skirmish 2:3cb49ae40d02 326 sendPacket(0xa0,0xf0,0x0, cmd->Lock,1);
skirmish 2:3cb49ae40d02 327 }
skirmish 9:97b26dcd1035 328 void Model::DoorUnlock()
skirmish 9:97b26dcd1035 329 {
skirmish 9:97b26dcd1035 330 cmd->Lock[0]=0x00;//;Unlock door
skirmish 9:97b26dcd1035 331 sendPacket(0xa0,0xf0,0x0, cmd->Lock,1);
skirmish 9:97b26dcd1035 332 }
skirmish 5:8ab8a587e609 333 void Model::stopMotor()
skirmish 5:8ab8a587e609 334 {
skirmish 5:8ab8a587e609 335 direction=0;
skirmish 5:8ab8a587e609 336 sendPacket(0xa0,0xf1,0x00,cmd->MotorStop,1);
skirmish 9:97b26dcd1035 337
skirmish 9:97b26dcd1035 338
skirmish 9:97b26dcd1035 339 }
skirmish 5:8ab8a587e609 340 void Model::downMotor()
skirmish 5:8ab8a587e609 341 {
skirmish 5:8ab8a587e609 342 direction=-1;
skirmish 5:8ab8a587e609 343 sendPacket(0xa0,0xf1,0x00,cmd->MotorDown,5);
skirmish 9:97b26dcd1035 344 setDoorStatus(1);
skirmish 9:97b26dcd1035 345 }
skirmish 5:8ab8a587e609 346 void Model::upMotor()
skirmish 5:8ab8a587e609 347 {
skirmish 5:8ab8a587e609 348 direction=1;
skirmish 5:8ab8a587e609 349 sendPacket(0xa0,0xf1,0x00,cmd->MotorUp,5);
skirmish 9:97b26dcd1035 350 setDoorStatus(1);
skirmish 9:97b26dcd1035 351 }
skirmish 9:97b26dcd1035 352 void Model::TimeOutCallBack()
skirmish 9:97b26dcd1035 353 {
skirmish 9:97b26dcd1035 354 switch(poschodie) {
skirmish 9:97b26dcd1035 355 case 4:
skirmish 9:97b26dcd1035 356 if(mapPoschodie.find("p3")->second==true||mapPoschodie.find("p2")->second==true||mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
skirmish 9:97b26dcd1035 357 downMotor();
skirmish 9:97b26dcd1035 358 }
skirmish 9:97b26dcd1035 359 break;
skirmish 9:97b26dcd1035 360 case 3:
skirmish 9:97b26dcd1035 361 if(mapPoschodie.find("p2")->second==true||mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
skirmish 9:97b26dcd1035 362 downMotor();
skirmish 9:97b26dcd1035 363 } else if(mapPoschodie.find("p4")->second==true) {
skirmish 9:97b26dcd1035 364 upMotor();
skirmish 9:97b26dcd1035 365 }
skirmish 9:97b26dcd1035 366 break;
skirmish 9:97b26dcd1035 367 case 2:
skirmish 9:97b26dcd1035 368 //
skirmish 9:97b26dcd1035 369 if(mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
skirmish 9:97b26dcd1035 370 downMotor();
skirmish 9:97b26dcd1035 371 } else if(mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
skirmish 9:97b26dcd1035 372 upMotor();
skirmish 9:97b26dcd1035 373 }
skirmish 9:97b26dcd1035 374 break;
skirmish 9:97b26dcd1035 375 case 1:
skirmish 9:97b26dcd1035 376
skirmish 9:97b26dcd1035 377 if(mapPoschodie.find("p0")->second==true) {
skirmish 9:97b26dcd1035 378 downMotor();
skirmish 9:97b26dcd1035 379 } else if(mapPoschodie.find("p2")->second==true||mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
skirmish 9:97b26dcd1035 380 upMotor();
skirmish 9:97b26dcd1035 381 }
skirmish 9:97b26dcd1035 382 break;
skirmish 9:97b26dcd1035 383 case 0:
skirmish 9:97b26dcd1035 384 if(mapPoschodie.find("p1")->second==true||mapPoschodie.find("p2")->second==true||mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
skirmish 9:97b26dcd1035 385 upMotor();
skirmish 9:97b26dcd1035 386 }
skirmish 9:97b26dcd1035 387 break;
skirmish 9:97b26dcd1035 388
skirmish 9:97b26dcd1035 389 default:
skirmish 9:97b26dcd1035 390 ;
skirmish 9:97b26dcd1035 391 }
skirmish 9:97b26dcd1035 392
skirmish 9:97b26dcd1035 393 }
skirmish 1:998a963e2ead 394 unsigned char Model::crcArray[]= {
skirmish 1:998a963e2ead 395 0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
skirmish 1:998a963e2ead 396 157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
skirmish 1:998a963e2ead 397 35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
skirmish 1:998a963e2ead 398 190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
skirmish 1:998a963e2ead 399 70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
skirmish 1:998a963e2ead 400 219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
skirmish 1:998a963e2ead 401 101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
skirmish 1:998a963e2ead 402 248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
skirmish 1:998a963e2ead 403 140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
skirmish 1:998a963e2ead 404 17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
skirmish 1:998a963e2ead 405 175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
skirmish 1:998a963e2ead 406 50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
skirmish 1:998a963e2ead 407 202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
skirmish 1:998a963e2ead 408 87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
skirmish 1:998a963e2ead 409 233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
skirmish 1:998a963e2ead 410 116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53
skirmish 9:97b26dcd1035 411 };