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Dependencies:   MMA8451Q mbed

model.cpp@4:81e67828acf9, 2016-12-10 (annotated)

Committer:
skirmish
Date:
Sat Dec 10 12:46:49 2016 +0000
Revision:
4:81e67828acf9
Parent:
3:9ee509852c9a 
zal

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 3:9ee509852c9a 34
skirmish 1:998a963e2ead 35 switch(data) {
skirmish 2:3cb49ae40d02 36 case 0xb4:
skirmish 1:998a963e2ead 37 case 0xc4:
skirmish 2:3cb49ae40d02 38 if( mapPoschodie.find("p4")->second==false) {
skirmish 2:3cb49ae40d02 39 mapPoschodie.find("p4")->second=true;
skirmish 3:9ee509852c9a 40 sendPacket(0xa0,0x14,0x00,cmd->LedOn,1);
skirmish 3:9ee509852c9a 41 sendPacket(0xa0,0x24,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 42 if(poschodie<4) { //chod nahor
skirmish 3:9ee509852c9a 43 if(mapPoschodie.find("p3")->second==false || mapPoschodie.find("p2")->second==false || mapPoschodie.find("p1")->second==false || mapPoschodie.find("p0")->second==false) {
skirmish 4:81e67828acf9 44 // sendPacket(0xa0,0xf1,0x00,cmd->MotorUp,5);
skirmish 4:81e67828acf9 45 upMotor();
skirmish 3:9ee509852c9a 46 }
skirmish 2:3cb49ae40d02 47 }
skirmish 2:3cb49ae40d02 48 }
skirmish 2:3cb49ae40d02 49 break;
skirmish 2:3cb49ae40d02 50 case 0xb3:
skirmish 2:3cb49ae40d02 51 case 0xc3://tlacidlo vonkajsie 3. poschodie
skirmish 2:3cb49ae40d02 52 if( mapPoschodie.find("p3")->second==false) {
skirmish 2:3cb49ae40d02 53 sendPacket(0xa0,0x13,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 54 sendPacket(0xa0,0x23,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 55 mapPoschodie.find("p3")->second=true;
skirmish 2:3cb49ae40d02 56 if(poschodie<3) { //chod nahor
skirmish 3:9ee509852c9a 57 if( mapPoschodie.find("p2")->second==false || mapPoschodie.find("p1")->second==false || mapPoschodie.find("p0")->second==false) {
skirmish 4:81e67828acf9 58 // sendPacket(0xa0,0xf1,0x00,cmd->MotorUp,5);
skirmish 4:81e67828acf9 59 upMotor();
skirmish 3:9ee509852c9a 60 }
skirmish 3:9ee509852c9a 61
skirmish 4:81e67828acf9 62 } else {
skirmish 4:81e67828acf9 63 if(mapPoschodie.find("p4")->second==false ) {
skirmish 4:81e67828acf9 64 // sendPacket(0xa0,0xf1,0x00,cmd->MotorDown,5);
skirmish 4:81e67828acf9 65 downMotor();
skirmish 4:81e67828acf9 66 }
skirmish 4:81e67828acf9 67 }
skirmish 1:998a963e2ead 68 }
skirmish 1:998a963e2ead 69 break;
skirmish 2:3cb49ae40d02 70 case 0xb2:
skirmish 1:998a963e2ead 71 case 0xc2://tlacidlo vonkajsie 2. poschodie
skirmish 2:3cb49ae40d02 72 if( mapPoschodie.find("p2")->second==false) {
skirmish 4:81e67828acf9 73 mapPoschodie.find("p2")->second=true;
skirmish 2:3cb49ae40d02 74 sendPacket(0xa0,0x12,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 75 sendPacket(0xa0,0x22,0x00,cmd->LedOn,1);
skirmish 4:81e67828acf9 76
skirmish 2:3cb49ae40d02 77 if(poschodie<2) { //chod nahor
skirmish 3:9ee509852c9a 78 if( mapPoschodie.find("p1")->second==false || mapPoschodie.find("p0")->second==false) {
skirmish 4:81e67828acf9 79 // sendPacket(0xa0,0xf1,0x00,cmd->MotorUp,5);
skirmish 4:81e67828acf9 80 upMotor();
skirmish 3:9ee509852c9a 81 }
skirmish 4:81e67828acf9 82 } else {
skirmish 4:81e67828acf9 83 if(mapPoschodie.find("p4")->second==false || mapPoschodie.find("p3")->second==false) {
skirmish 4:81e67828acf9 84 // sendPacket(0xa0,0xf1,0x00,cmd->MotorDown,5);
skirmish 4:81e67828acf9 85 downMotor();
skirmish 4:81e67828acf9 86 }
skirmish 4:81e67828acf9 87 }
skirmish 2:3cb49ae40d02 88 }
skirmish 1:998a963e2ead 89 break;
skirmish 2:3cb49ae40d02 90 case 0xb1:
skirmish 1:998a963e2ead 91 case 0xc1://tlacidlo vonkajsie 1. poschodie
skirmish 2:3cb49ae40d02 92 if( mapPoschodie.find("p1")->second==false) {
skirmish 4:81e67828acf9 93 mapPoschodie.find("p1")->second=true;
skirmish 2:3cb49ae40d02 94 sendPacket(0xa0,0x11,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 95 sendPacket(0xa0,0x21,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 96 if(poschodie<1) { //chod nahor
skirmish 4:81e67828acf9 97 if(mapPoschodie.find("p0")->second==false) {
skirmish 4:81e67828acf9 98 // sendPacket(0xa0,0xf1,0x00,cmd->MotorUp,5);
skirmish 4:81e67828acf9 99 upMotor();
skirmish 3:9ee509852c9a 100 }
skirmish 4:81e67828acf9 101 } else {
skirmish 4:81e67828acf9 102 if(mapPoschodie.find("p4")->second==false || mapPoschodie.find("p3")->second==false || mapPoschodie.find("p2")->second==false ) {
skirmish 4:81e67828acf9 103 // sendPacket(0xa0,0xf1,0x00,cmd->MotorDown,5);
skirmish 4:81e67828acf9 104 downMotor();
skirmish 3:9ee509852c9a 105 }
skirmish 4:81e67828acf9 106 }
skirmish 2:3cb49ae40d02 107 }
skirmish 1:998a963e2ead 108 break;
skirmish 1:998a963e2ead 109 case 0xc0://tlacidlo vonkajsie prizemie
skirmish 2:3cb49ae40d02 110 if( mapPoschodie.find("p0")->second==false) {
skirmish 2:3cb49ae40d02 111 sendPacket(0xa0,0x10,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 112 sendPacket(0xa0,0x20,0x00,cmd->LedOn,1);
skirmish 2:3cb49ae40d02 113 mapPoschodie.find("p0")->second=true;
skirmish 3:9ee509852c9a 114 if(mapPoschodie.find("p4")->second==false || mapPoschodie.find("p3")->second==false || mapPoschodie.find("p2")->second==false|| mapPoschodie.find("p1")->second==false ) {
skirmish 4:81e67828acf9 115 downMotor();
skirmish 4:81e67828acf9 116 // sendPacket(0xa0,0xf1,0x00,cmd->MotorDown,5);
skirmish 4:81e67828acf9 117 }
skirmish 2:3cb49ae40d02 118 }
skirmish 2:3cb49ae40d02 119 break;
skirmish 2:3cb49ae40d02 120 case 0xe4:
skirmish 2:3cb49ae40d02 121 poschodie=4;
skirmish 3:9ee509852c9a 122
skirmish 2:3cb49ae40d02 123 if( mapPoschodie.find("p4")->second==true) {
skirmish 4:81e67828acf9 124
skirmish 2:3cb49ae40d02 125 sendPacket(0xa0,0x24,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 126 sendPacket(0xa0,0x14,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 127 sendPacket(0xa0,0xf1,0x00,cmd->MotorStop,1);
skirmish 2:3cb49ae40d02 128 wait(3);
skirmish 4:81e67828acf9 129 mapPoschodie.find("p4")->second=false;
skirmish 2:3cb49ae40d02 130 if(mapPoschodie.find("p3")->second==true||mapPoschodie.find("p2")->second==true||mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
skirmish 2:3cb49ae40d02 131 sendPacket(0xa0,0xf1,0x00,cmd->MotorDown,5);
skirmish 3:9ee509852c9a 132
skirmish 2:3cb49ae40d02 133 }
skirmish 2:3cb49ae40d02 134 }
skirmish 1:998a963e2ead 135 break;
skirmish 1:998a963e2ead 136 case 0xe3:
skirmish 1:998a963e2ead 137 poschodie=3;
skirmish 1:998a963e2ead 138 if( mapPoschodie.find("p3")->second==true) {
skirmish 4:81e67828acf9 139
skirmish 2:3cb49ae40d02 140 sendPacket(0xa0,0x13,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 141 sendPacket(0xa0,0x23,0x00,cmd->LedOff,1);
skirmish 1:998a963e2ead 142 sendPacket(0xa0,0xf1,0x00,cmd->MotorStop,1);
skirmish 2:3cb49ae40d02 143 wait(3);
skirmish 4:81e67828acf9 144 mapPoschodie.find("p3")->second=false;
skirmish 2:3cb49ae40d02 145 if(mapPoschodie.find("p2")->second==true||mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
skirmish 2:3cb49ae40d02 146 sendPacket(0xa0,0xf1,0x00,cmd->MotorDown,5);
skirmish 2:3cb49ae40d02 147 } else if(mapPoschodie.find("p4")->second==true) {
skirmish 2:3cb49ae40d02 148 sendPacket(0xa0,0xf1,0x00,cmd->MotorUp,5);
skirmish 2:3cb49ae40d02 149 }
skirmish 1:998a963e2ead 150 }
skirmish 1:998a963e2ead 151 break;
skirmish 1:998a963e2ead 152 case 0xe2:
skirmish 1:998a963e2ead 153 poschodie=2;
skirmish 1:998a963e2ead 154 if( mapPoschodie.find("p2")->second==true) {
skirmish 2:3cb49ae40d02 155 sendPacket(0xa0,0x12,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 156 sendPacket(0xa0,0x22,0x00,cmd->LedOff,1);
skirmish 1:998a963e2ead 157 sendPacket(0xa0,0xf1,0x00,cmd->MotorStop,1);
skirmish 2:3cb49ae40d02 158 wait(3);
skirmish 4:81e67828acf9 159 mapPoschodie.find("p2")->second=false;
skirmish 2:3cb49ae40d02 160 if(mapPoschodie.find("p2")->second==true||mapPoschodie.find("p1")->second==true||mapPoschodie.find("p0")->second==true) {
skirmish 2:3cb49ae40d02 161 sendPacket(0xa0,0xf1,0x00,cmd->MotorDown,5);
skirmish 2:3cb49ae40d02 162 } else if(mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
skirmish 2:3cb49ae40d02 163 sendPacket(0xa0,0xf1,0x00,cmd->MotorUp,5);
skirmish 2:3cb49ae40d02 164 }
skirmish 1:998a963e2ead 165 }
skirmish 2:3cb49ae40d02 166
skirmish 1:998a963e2ead 167 break;
skirmish 1:998a963e2ead 168 case 0xe1:
skirmish 1:998a963e2ead 169 poschodie=1;
skirmish 1:998a963e2ead 170 if( mapPoschodie.find("p1")->second==true) {
skirmish 2:3cb49ae40d02 171 sendPacket(0xa0,0x11,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 172 sendPacket(0xa0,0x21,0x00,cmd->LedOff,1);
skirmish 1:998a963e2ead 173 sendPacket(0xa0,0xf1,0x00,cmd->MotorStop,1);
skirmish 2:3cb49ae40d02 174 wait(3);
skirmish 4:81e67828acf9 175 mapPoschodie.find("p1")->second=false;
skirmish 2:3cb49ae40d02 176 if(mapPoschodie.find("p0")->second==true) {
skirmish 3:9ee509852c9a 177 sendPacket(0xa0,0x30,0x00,cmd->ArrowDown,2);
skirmish 2:3cb49ae40d02 178 } else if(mapPoschodie.find("p2")->second==true||mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
skirmish 4:81e67828acf9 179 upMotor();
skirmish 2:3cb49ae40d02 180 }
skirmish 1:998a963e2ead 181 }
skirmish 1:998a963e2ead 182 break;
skirmish 1:998a963e2ead 183 case 0xe0:
skirmish 1:998a963e2ead 184 poschodie=0;
skirmish 1:998a963e2ead 185 if( mapPoschodie.find("p0")->second==true) {
skirmish 1:998a963e2ead 186 mapPoschodie.find("p0")->second=false;
skirmish 2:3cb49ae40d02 187 sendPacket(0xa0,0x10,0x00,cmd->LedOff,1);
skirmish 2:3cb49ae40d02 188 sendPacket(0xa0,0x20,0x00,cmd->LedOff,1);
skirmish 1:998a963e2ead 189 sendPacket(0xa0,0xf1,0x00,cmd->MotorStop,1);
skirmish 3:9ee509852c9a 190 } else if(mapPoschodie.find("p1")->second==true||mapPoschodie.find("p2")->second==true||mapPoschodie.find("p3")->second==true||mapPoschodie.find("p4")->second==true) {
skirmish 3:9ee509852c9a 191 sendPacket(0xa0,0xf1,0x00,cmd->MotorUp,5);
skirmish 3:9ee509852c9a 192 }
skirmish 4:81e67828acf9 193
skirmish 1:998a963e2ead 194 break;
skirmish 0:41e22e385908 195 default:
skirmish 2:3cb49ae40d02 196 ;
skirmish 2:3cb49ae40d02 197
skirmish 4:81e67828acf9 198 sourceAdd=0xff;
skirmish 0:41e22e385908 199 }
skirmish 3:9ee509852c9a 200
skirmish 3:9ee509852c9a 201 }
skirmish 3:9ee509852c9a 202
skirmish 2:3cb49ae40d02 203 void Model::setDoorStatus(bool mValue)
skirmish 2:3cb49ae40d02 204 {
skirmish 2:3cb49ae40d02 205 if(mValue==true) {
skirmish 2:3cb49ae40d02 206 cmd->Lock[1]=0x01;//Lock door
skirmish 2:3cb49ae40d02 207 } else {
skirmish 2:3cb49ae40d02 208 cmd->Lock[1]=0x00;//;Unlock door
skirmish 2:3cb49ae40d02 209 }
skirmish 2:3cb49ae40d02 210 sendPacket(0xa0,0xf0,0x0, cmd->Lock,1);
skirmish 2:3cb49ae40d02 211 }
skirmish 4:81e67828acf9 212 void Model::stopMotor()
skirmish 4:81e67828acf9 213 {
skirmish 4:81e67828acf9 214 sendPacket(0xa0,0xf1,0x00,cmd->MotorStop,1);
skirmish 4:81e67828acf9 215 };
skirmish 4:81e67828acf9 216 void Model::downMotor()
skirmish 4:81e67828acf9 217 {
skirmish 4:81e67828acf9 218 sendPacket(0xa0,0xf1,0x00,cmd->MotorDown,5);
skirmish 4:81e67828acf9 219 };
skirmish 4:81e67828acf9 220 void Model::upMotor()
skirmish 4:81e67828acf9 221 {
skirmish 4:81e67828acf9 222 sendPacket(0xa0,0xf1,0x00,cmd->MotorUp,5);
skirmish 4:81e67828acf9 223 };
skirmish 1:998a963e2ead 224 unsigned char Model::crcArray[]= {
skirmish 1:998a963e2ead 225 0, 94, 188, 226, 97, 63, 221, 131, 194, 156, 126, 32, 163, 253, 31, 65,
skirmish 1:998a963e2ead 226 157, 195, 33, 127, 252, 162, 64, 30, 95, 1, 227, 189, 62, 96, 130, 220,
skirmish 1:998a963e2ead 227 35, 125, 159, 193, 66, 28, 254, 160, 225, 191, 93, 3, 128, 222, 60, 98,
skirmish 1:998a963e2ead 228 190, 224, 2, 92, 223, 129, 99, 61, 124, 34, 192, 158, 29, 67, 161, 255,
skirmish 1:998a963e2ead 229 70, 24, 250, 164, 39, 121, 155, 197, 132, 218, 56, 102, 229, 187, 89, 7,
skirmish 1:998a963e2ead 230 219, 133, 103, 57, 186, 228, 6, 88, 25, 71, 165, 251, 120, 38, 196, 154,
skirmish 1:998a963e2ead 231 101, 59, 217, 135, 4, 90, 184, 230, 167, 249, 27, 69, 198, 152, 122, 36,
skirmish 1:998a963e2ead 232 248, 166, 68, 26, 153, 199, 37, 123, 58, 100, 134, 216, 91, 5, 231, 185,
skirmish 1:998a963e2ead 233 140, 210, 48, 110, 237, 179, 81, 15, 78, 16, 242, 172, 47, 113, 147, 205,
skirmish 1:998a963e2ead 234 17, 79, 173, 243, 112, 46, 204, 146, 211, 141, 111, 49, 178, 236, 14, 80,
skirmish 1:998a963e2ead 235 175, 241, 19, 77, 206, 144, 114, 44, 109, 51, 209, 143, 12, 82, 176, 238,
skirmish 1:998a963e2ead 236 50, 108, 142, 208, 83, 13, 239, 177, 240, 174, 76, 18, 145, 207, 45, 115,
skirmish 1:998a963e2ead 237 202, 148, 118, 40, 171, 245, 23, 73, 8, 86, 180, 234, 105, 55, 213, 139,
skirmish 1:998a963e2ead 238 87, 9, 235, 181, 54, 104, 138, 212, 149, 203, 41, 119, 244, 170, 72, 22,
skirmish 1:998a963e2ead 239 233, 183, 85, 11, 136, 214, 52, 106, 43, 117, 151, 201, 74, 20, 246, 168,
skirmish 1:998a963e2ead 240 116, 42, 200, 150, 21, 75, 169, 247, 182, 232, 10, 84, 215, 137, 107, 53
skirmish 1:998a963e2ead 241 };