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Dependencies:   MMA8451Q mbed

model.cpp@2:3cb49ae40d02, 2016-12-09 (annotated)

Committer:
skirmish
Date:
Fri Dec 09 21:45:17 2016 +0000
Revision:
2:3cb49ae40d02
Parent:
1:998a963e2ead
Child:
3:9ee509852c9a
.

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