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Dependencies:   MMA8451Q mbed

model.cpp@6:5c4bd6bb6c3c, 2016-12-10 (annotated)

Committer:
skirmish
Date:
Sat Dec 10 15:50:53 2016 +0000
Revision:
6:5c4bd6bb6c3c
Parent:
5:8ab8a587e609
Child:
7:9521d6ae3747
z

Who changed what in which revision?

UserRevisionLine numberNew contents of line
skirmish 0:41e22e385908 1 #include "model.h"
skirmish 0:41e22e385908 2
skirmish 1:998a963e2ead 3 char Model::crcCalc(char targetAddr, char senderAddr, char *data,int DataSize)
skirmish 0:41e22e385908 4 {
skirmish 1:998a963e2ead 5 int dataLenght = DataSize;
skirmish 0:41e22e385908 6 char crc = 0x00;
skirmish 0:41e22e385908 7 crc = crcArray[crc^targetAddr];
skirmish 0:41e22e385908 8 crc = crcArray[crc^senderAddr];
skirmish 0:41e22e385908 9 for(int i = 0 ; i < dataLenght ; i++) {
skirmish 0:41e22e385908 10 crc = crcArray[crc^data[i]];
skirmish 0:41e22e385908 11 }
skirmish 0:41e22e385908 12
skirmish 0:41e22e385908 13 return crc;
skirmish 0:41e22e385908 14
skirmish 0:41e22e385908 15 }
skirmish 1:998a963e2ead 16 void Model::sendPacket(char startByte,char target,char source,char *data,int DataSize)
skirmish 0:41e22e385908 17 {
skirmish 0:41e22e385908 18 //packet format : || start byte: a0 | reciever adress - 1B | sender adress - 1B | data lenght - 1B | data - 0-265B | crc8 - 1B ||
skirmish 1:998a963e2ead 19 int dataLenght = DataSize;
skirmish 0:41e22e385908 20 // pc.printf("data length send packet %u",dataLenght);
skirmish 1:998a963e2ead 21 char crc8 = crcCalc(target, source, data,dataLenght);
skirmish 0:41e22e385908 22 //Packet packet(startByte,target,source,dataLenght,data,crc8);
skirmish 0:41e22e385908 23 pc.putc(startByte);
skirmish 0:41e22e385908 24 pc.putc(target);
skirmish 0:41e22e385908 25 pc.putc(source);
skirmish 0:41e22e385908 26 pc.putc(dataLenght);
skirmish 0:41e22e385908 27 for (int i = 0 ; i < dataLenght ; i++) {
skirmish 0:41e22e385908 28 pc.putc(data[i]);
skirmish 0:41e22e385908 29 }
skirmish 0:41e22e385908 30 pc.putc(crc8);
skirmish 0:41e22e385908 31 }
skirmish 1:998a963e2ead 32 void Model::doSomething(char data)
skirmish 1:998a963e2ead 33 {
skirmish 1:998a963e2ead 34 switch(data) {
skirmish 2:3cb49ae40d02 35 case 0xb4:
skirmish 1:998a963e2ead 36 case 0xc4:
skirmish 2:3cb49ae40d02 37 if( mapPoschodie.find("p4")->second==false) {
skirmish 2:3cb49ae40d02 38 mapPoschodie.find("p4")->second=true;
skirmish 3:9ee509852c9a 39 sendPacket(0xa0,0x14,0x00,cmd->LedOn,1);
skirmish 3:9ee509852c9a 40 sendPacket(0xa0,0x24,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 41 if(poschodie<4) { //chod nahor
skirmish 6:5c4bd6bb6c3c 42 if(direction==0)
skirmish 6:5c4bd6bb6c3c 43 upMotor();
skirmish 6:5c4bd6bb6c3c 44 }
skirmish 2:3cb49ae40d02 45 }
skirmish 2:3cb49ae40d02 46 break;
skirmish 2:3cb49ae40d02 47 case 0xb3:
skirmish 2:3cb49ae40d02 48 case 0xc3://tlacidlo vonkajsie 3. poschodie
skirmish 2:3cb49ae40d02 49 if( mapPoschodie.find("p3")->second==false) {
skirmish 2:3cb49ae40d02 50 sendPacket(0xa0,0x13,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 51 sendPacket(0xa0,0x23,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 52 mapPoschodie.find("p3")->second=true;
skirmish 2:3cb49ae40d02 53 if(poschodie<3) { //chod nahor
skirmish 6:5c4bd6bb6c3c 54 if(direction==0)
skirmish 6:5c4bd6bb6c3c 55 upMotor();
skirmish 5:8ab8a587e609 56 } else {
skirmish 6:5c4bd6bb6c3c 57 if(direction==0)
skirmish 6:5c4bd6bb6c3c 58 downMotor();
skirmish 5:8ab8a587e609 59 }
skirmish 1:998a963e2ead 60 }
skirmish 1:998a963e2ead 61 break;
skirmish 2:3cb49ae40d02 62 case 0xb2:
skirmish 1:998a963e2ead 63 case 0xc2://tlacidlo vonkajsie 2. poschodie
skirmish 2:3cb49ae40d02 64 if( mapPoschodie.find("p2")->second==false) {
skirmish 5:8ab8a587e609 65 mapPoschodie.find("p2")->second=true;
skirmish 2:3cb49ae40d02 66 sendPacket(0xa0,0x12,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 67 sendPacket(0xa0,0x22,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 68 if(poschodie<2) { //chod nahor
skirmish 6:5c4bd6bb6c3c 69 if(direction==0)
skirmish 6:5c4bd6bb6c3c 70 upMotor();
skirmish 5:8ab8a587e609 71 } else {
skirmish 6:5c4bd6bb6c3c 72 if(direction==0)
skirmish 6:5c4bd6bb6c3c 73 downMotor();
skirmish 5:8ab8a587e609 74 }
skirmish 2:3cb49ae40d02 75 }
skirmish 1:998a963e2ead 76 break;
skirmish 2:3cb49ae40d02 77 case 0xb1:
skirmish 1:998a963e2ead 78 case 0xc1://tlacidlo vonkajsie 1. poschodie
skirmish 2:3cb49ae40d02 79 if( mapPoschodie.find("p1")->second==false) {
skirmish 5:8ab8a587e609 80 mapPoschodie.find("p1")->second=true;
skirmish 2:3cb49ae40d02 81 sendPacket(0xa0,0x11,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 82 sendPacket(0xa0,0x21,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 83 if(poschodie<1) { //chod nahor
skirmish 6:5c4bd6bb6c3c 84 if(direction==0)
skirmish 6:5c4bd6bb6c3c 85 upMotor();
skirmish 5:8ab8a587e609 86 } else {
skirmish 6:5c4bd6bb6c3c 87 if(direction==0)
skirmish 6:5c4bd6bb6c3c 88 downMotor();
skirmish 5:8ab8a587e609 89 }
skirmish 2:3cb49ae40d02 90 }
skirmish 1:998a963e2ead 91 break;
skirmish 5:8ab8a587e609 92 case 0xb0:
skirmish 1:998a963e2ead 93 case 0xc0://tlacidlo vonkajsie prizemie
skirmish 2:3cb49ae40d02 94 if( mapPoschodie.find("p0")->second==false) {
skirmish 2:3cb49ae40d02 95 sendPacket(0xa0,0x10,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 96 sendPacket(0xa0,0x20,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 97 mapPoschodie.find("p0")->second=true;
skirmish 3:9ee509852c9a 98 if(mapPoschodie.find("p4")->second==false || mapPoschodie.find("p3")->second==false || mapPoschodie.find("p2")->second==false|| mapPoschodie.find("p1")->second==false ) {
skirmish 6:5c4bd6bb6c3c 99 if(direction==0)
skirmish 6:5c4bd6bb6c3c 100 downMotor();
skirmish 5:8ab8a587e609 101 }
skirmish 2:3cb49ae40d02 102 }
skirmish 2:3cb49ae40d02 103 break;
skirmish 2:3cb49ae40d02 104 case 0xe4:
skirmish 2:3cb49ae40d02 105 poschodie=4;
skirmish 3:9ee509852c9a 106
skirmish 2:3cb49ae40d02 107 if( mapPoschodie.find("p4")->second==true) {
skirmish 2:3cb49ae40d02 108 mapPoschodie.find("p4")->second=false;
skirmish 2:3cb49ae40d02 109 sendPacket(0xa0,0x24,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 110 sendPacket(0xa0,0x14,0x00,cmd->LedOff,1);
skirmish 5:8ab8a587e609 111 stopMotor();
skirmish 2:3cb49ae40d02 112 wait(3);
skirmish 2:3cb49ae40d02 113 if(mapPoschodie.find("p3")->second==true||mapPoschodie.find("p2")->second==true||mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
skirmish 5:8ab8a587e609 114 downMotor();
skirmish 2:3cb49ae40d02 115 }
skirmish 2:3cb49ae40d02 116 }
skirmish 1:998a963e2ead 117 break;
skirmish 1:998a963e2ead 118 case 0xe3:
skirmish 1:998a963e2ead 119 poschodie=3;
skirmish 1:998a963e2ead 120 if( mapPoschodie.find("p3")->second==true) {
skirmish 1:998a963e2ead 121 mapPoschodie.find("p3")->second=false;
skirmish 2:3cb49ae40d02 122 sendPacket(0xa0,0x13,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 123 sendPacket(0xa0,0x23,0x00,cmd->LedOff,1);
skirmish 1:998a963e2ead 124 sendPacket(0xa0,0xf1,0x00,cmd->MotorStop,1);
skirmish 2:3cb49ae40d02 125 wait(3);
skirmish 2:3cb49ae40d02 126 if(mapPoschodie.find("p2")->second==true||mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
skirmish 5:8ab8a587e609 127 downMotor();
skirmish 2:3cb49ae40d02 128 } else if(mapPoschodie.find("p4")->second==true) {
skirmish 5:8ab8a587e609 129 upMotor();
skirmish 2:3cb49ae40d02 130 }
skirmish 1:998a963e2ead 131 }
skirmish 1:998a963e2ead 132 break;
skirmish 1:998a963e2ead 133 case 0xe2:
skirmish 1:998a963e2ead 134 poschodie=2;
skirmish 1:998a963e2ead 135 if( mapPoschodie.find("p2")->second==true) {
skirmish 1:998a963e2ead 136 mapPoschodie.find("p2")->second=false;
skirmish 2:3cb49ae40d02 137 sendPacket(0xa0,0x12,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 138 sendPacket(0xa0,0x22,0x00,cmd->LedOff,1);
skirmish 1:998a963e2ead 139 sendPacket(0xa0,0xf1,0x00,cmd->MotorStop,1);
skirmish 2:3cb49ae40d02 140 wait(3);
skirmish 6:5c4bd6bb6c3c 141 if(mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
skirmish 5:8ab8a587e609 142 downMotor();
skirmish 2:3cb49ae40d02 143 } else if(mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
skirmish 5:8ab8a587e609 144 upMotor();
skirmish 2:3cb49ae40d02 145 }
skirmish 1:998a963e2ead 146 }
skirmish 2:3cb49ae40d02 147
skirmish 1:998a963e2ead 148 break;
skirmish 1:998a963e2ead 149 case 0xe1:
skirmish 1:998a963e2ead 150 poschodie=1;
skirmish 1:998a963e2ead 151 if( mapPoschodie.find("p1")->second==true) {
skirmish 1:998a963e2ead 152 mapPoschodie.find("p1")->second=false;
skirmish 2:3cb49ae40d02 153 sendPacket(0xa0,0x11,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 154 sendPacket(0xa0,0x21,0x00,cmd->LedOff,1);
skirmish 5:8ab8a587e609 155 stopMotor();
skirmish 2:3cb49ae40d02 156 wait(3);
skirmish 2:3cb49ae40d02 157 if(mapPoschodie.find("p0")->second==true) {
skirmish 5:8ab8a587e609 158 downMotor();
skirmish 2:3cb49ae40d02 159 } else if(mapPoschodie.find("p2")->second==true||mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
skirmish 5:8ab8a587e609 160 upMotor();
skirmish 2:3cb49ae40d02 161 }
skirmish 1:998a963e2ead 162 }
skirmish 1:998a963e2ead 163 break;
skirmish 1:998a963e2ead 164 case 0xe0:
skirmish 1:998a963e2ead 165 poschodie=0;
skirmish 1:998a963e2ead 166 if( mapPoschodie.find("p0")->second==true) {
skirmish 1:998a963e2ead 167 mapPoschodie.find("p0")->second=false;
skirmish 2:3cb49ae40d02 168 sendPacket(0xa0,0x10,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 169 sendPacket(0xa0,0x20,0x00,cmd->LedOff,1);
skirmish 5:8ab8a587e609 170 stopMotor();
skirmish 6:5c4bd6bb6c3c 171 wait(3);
skirmish 6:5c4bd6bb6c3c 172 if(mapPoschodie.find("p1")->second==true||mapPoschodie.find("p2")->second==true||mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
skirmish 6:5c4bd6bb6c3c 173 upMotor();
skirmish 6:5c4bd6bb6c3c 174 }
skirmish 5:8ab8a587e609 175 }
skirmish 2:3cb49ae40d02 176
skirmish 1:998a963e2ead 177 break;
skirmish 0:41e22e385908 178 default:
skirmish 2:3cb49ae40d02 179 ;
skirmish 2:3cb49ae40d02 180
skirmish 1:998a963e2ead 181
skirmish 0:41e22e385908 182 }
skirmish 3:9ee509852c9a 183
skirmish 3:9ee509852c9a 184 }
skirmish 3:9ee509852c9a 185
skirmish 2:3cb49ae40d02 186 void Model::setDoorStatus(bool mValue)
skirmish 2:3cb49ae40d02 187 {
skirmish 2:3cb49ae40d02 188 if(mValue==true) {
skirmish 2:3cb49ae40d02 189 cmd->Lock[1]=0x01;//Lock door
skirmish 2:3cb49ae40d02 190 } else {
skirmish 2:3cb49ae40d02 191 cmd->Lock[1]=0x00;//;Unlock door
skirmish 2:3cb49ae40d02 192 }
skirmish 2:3cb49ae40d02 193 sendPacket(0xa0,0xf0,0x0, cmd->Lock,1);
skirmish 2:3cb49ae40d02 194 }
skirmish 5:8ab8a587e609 195 void Model::stopMotor()
skirmish 5:8ab8a587e609 196 {
skirmish 5:8ab8a587e609 197 direction=0;
skirmish 5:8ab8a587e609 198 sendPacket(0xa0,0xf1,0x00,cmd->MotorStop,1);
skirmish 5:8ab8a587e609 199 };
skirmish 5:8ab8a587e609 200 void Model::downMotor()
skirmish 5:8ab8a587e609 201 {
skirmish 5:8ab8a587e609 202 direction=-1;
skirmish 5:8ab8a587e609 203 sendPacket(0xa0,0xf1,0x00,cmd->MotorDown,5);
skirmish 5:8ab8a587e609 204 };
skirmish 5:8ab8a587e609 205 void Model::upMotor()
skirmish 5:8ab8a587e609 206 {
skirmish 5:8ab8a587e609 207 direction=1;
skirmish 5:8ab8a587e609 208 sendPacket(0xa0,0xf1,0x00,cmd->MotorUp,5);
skirmish 5:8ab8a587e609 209 };
skirmish 1:998a963e2ead 210 unsigned char Model::crcArray[]= {
skirmish 1:998a963e2ead 211 0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
skirmish 1:998a963e2ead 212 157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
skirmish 1:998a963e2ead 213 35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
skirmish 1:998a963e2ead 214 190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
skirmish 1:998a963e2ead 215 70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
skirmish 1:998a963e2ead 216 219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
skirmish 1:998a963e2ead 217 101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
skirmish 1:998a963e2ead 218 248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
skirmish 1:998a963e2ead 219 140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
skirmish 1:998a963e2ead 220 17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
skirmish 1:998a963e2ead 221 175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
skirmish 1:998a963e2ead 222 50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
skirmish 1:998a963e2ead 223 202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
skirmish 1:998a963e2ead 224 87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
skirmish 1:998a963e2ead 225 233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
skirmish 1:998a963e2ead 226 116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53
skirmish 1:998a963e2ead 227 };