Lauffaehig, aber unzuverlaessig

drv/b15f.cpp

@@ -15,6 +15,7 @@ void B15F::init()
 	usart.openDevice(SERIAL_DEVICE);	
 	std::cout << "OK" << std::endl;
 	
+	
 	delay_ms(1);
 
 	std::cout << PRE << "Teste Verbindung... " << std::flush;	
@@ -39,7 +40,6 @@ void B15F::init()
 	// Gib board info aus
 	std::vector<std::string> info = getBoardInfo();
 	std::cout << PRE << "AVR Firmware Version: " << info[0] << " um " << info[1] << " Uhr (" << info[2] << ")" << std::endl;
-
 }
 
 void B15F::reconnect()
@@ -123,7 +123,7 @@ std::vector<std::string> B15F::getBoardInfo(void)
 	
 	uint8_t aw = usart.readByte();	
 	if(aw != MSG_OK)
-		throw DriverException("Board Info fehlerhalft");
+		throw DriverException("Board Info fehlerhalft: code " + std::to_string((int) aw));
 	
 	return info;
 }
@@ -185,6 +185,9 @@ uint16_t B15F::analogRead(uint8_t channel)
 
 bool B15F::analogSequence(uint8_t channel_a, uint16_t* buffer_a, uint32_t offset_a, uint8_t channel_b, uint16_t* buffer_b, uint32_t offset_b, uint16_t start, int16_t delta, uint16_t count)
 {
+	buffer_a += offset_a;
+	buffer_b += offset_b;
+	
 	usart.writeByte(RQ_ADC_DAC_STROKE);
 	usart.writeByte(channel_a);
 	usart.writeByte(channel_b);
@@ -198,20 +201,22 @@ bool B15F::analogSequence(uint8_t channel_a, uint16_t* buffer_a, uint32_t offset
 		throw DriverException("Out of sync");
 	}
 	
-	uint8_t block[5]; // 4 Datenbyte + crc	
+	//uint8_t block[5]; // 4 Datenbyte + crc	
 	for(uint16_t i = 0; i < count; i++)
 	{
-		bool crc_ok = usart.readBlock(&block[0], 0);
+		/*bool crc_ok = usart.readBlock(&block[0], 0);
 		
 		if (!crc_ok)
 		{
 			std::cout << PRE <<  "bad crc" << std::endl;
 			return analogSequence(channel_a, buffer_a, offset_a, channel_b, buffer_b, offset_b, start, delta, count);
-		}
+		}*/
+		buffer_a[i] = usart.readInt();
+		buffer_b[i] = usart.readInt();
+		//std::cout << buffer_a[i] << " - " << buffer_b[i] << std::endl;
 		
-		
-		buffer_a[offset_a + i] = ((uint16_t) block[0]) | (((uint16_t) block[1]) << 8);
-		buffer_b[offset_b + i] = ((uint16_t) block[2]) | (((uint16_t) block[3]) << 8);
+		/*buffer_a[i] = ((uint16_t) block[0]) | (((uint16_t) block[1]) << 8);
+		buffer_b[i] = ((uint16_t) block[2]) | (((uint16_t) block[3]) << 8);*/
 	}
 	
 	aw = usart.readByte();		

drv/usart.cpp

@@ -51,6 +51,7 @@ void USART::clearOutputBuffer()
 
 void USART::writeByte(uint8_t b)
 {
+	//std::cout << "write(): " << (int) b << std::endl;
 	if(write(file_desc, &b, 1) != 1)
 		throw USARTException("Fehler beim Senden: writeByte()");
 }
@@ -60,6 +61,38 @@ void USART::writeInt(uint16_t d)
 	if(write(file_desc, reinterpret_cast<char*>(&d), 2) != 2)
 		throw USARTException("Fehler beim Senden: writeInt()");
 }
+
+void USART::writeBlock(uint8_t* buffer, uint16_t offset, uint8_t len)
+{
+	buffer += offset;
+	uint8_t crc = 0;
+	
+	writeByte(len);
+	
+	while(len--)
+	{
+		writeByte(*buffer);
+		
+		crc ^= *buffer;
+		for (uint8_t i = 0; i < 8; i++)
+		{
+			if (crc & 1)
+				crc ^= CRC7_POLY;
+			crc >>= 1;
+		}
+		
+		buffer++;
+	}
+	
+	writeByte(crc);
+	writeByte(0x80); // Stoppzeichen für Block
+	
+	uint8_t aw = readByte();
+	if(aw != 0xFF)
+	{
+		std::cout << "Ende Gelände" << std::endl;
+	}
+}
 	
 uint8_t USART::readByte(void)
 {

drv/usart.h

@@ -65,8 +65,19 @@ public:
 	 */
 	void writeInt(uint16_t d);
 	
+	/**
+	 * Empfängt ein Byte über die USART Schnittstelle
+	 * \throws USARTException 
+	 */
 	uint8_t readByte(void);
+	
+	/**
+	 * Empfängt ein Integer über die USART Schnittstelle
+	 * \throws USARTException 
+	 */
 	uint16_t readInt(void);
+	
+	void writeBlock(uint8_t* buffer, uint16_t offset, uint8_t len);
 	bool readBlock(uint8_t* buffer, uint16_t offset);
 	
 	/*************************************/

main.cpp

@@ -108,86 +108,38 @@ void kennlinieZweiterQuadrant()
 	pf.startPlotty("test_plot");
 }
 
-void beispielFunktionen()
+void testFunktionen()
 {
 	B15F& drv = B15F::getInstance();
 	
 	
-	for(uint16_t i = 0; i < 256; i++)
-	{
-		drv.digitalWrite0(i);
-		drv.delay_ms(100);
-	}
+	drv.digitalWrite0(0xFF);
+	drv.analogWrite0(128);
+	std::cout << (int) drv.digitalRead0() << std::endl;;
+	std::cout << "adc: " << (int) drv.analogRead(4) << std::endl;
+	
+	drv.digitalWrite0(0x00);
+	drv.analogWrite0(0);
+	std::cout << (int) drv.digitalRead0() << std::endl;;
+	std::cout << "adc: " << (int) drv.analogRead(4) << std::endl;
+	
+	drv.digitalWrite0(0xFF);
+	drv.analogWrite0(255);
+	std::cout << (int) drv.digitalRead0() << std::endl;
+	std::cout << "adc: " << (int) drv.analogRead(4) << std::endl;
 	
 	
+	uint16_t a[1024];
+	uint16_t b[1024];	
+	drv.analogSequence(0, &a[0], 0, 1, &b[0], 0, 0, 1, 1024);
 	
 	
-	while(1)
-	{
-		for(double d = 0; d < M_PI*2; d += .1)
-		{
-			uint16_t v = (sin(d) * 511 + 511);
-			drv.analogWrite0(v);
-		}
-		
-	}
-	
-	
-	
-	
-	uint16_t schwelle_unten = 1023;
-	for(uint16_t i = 0; i < 1024; i++)
-	{
-		drv.analogWrite0(i);
-		drv.delay_ms(1);
-		if(drv.digitalRead0() & 0x01)
-		{
-			drv.discard();
-			uint16_t val = drv.analogRead(0);
-			if(val > 1023)
-			{
-				std::cout << "Fehler: " << val << std::endl;
-				continue;
-			}
-			if(val < schwelle_unten)
-				schwelle_unten = val;
-		}
-	}
-	
-	std::cout << "OK" << std::endl;
-	
-	uint16_t schwelle_oben = 0;
-	for(uint16_t i = 1023; i > 0; i--)
-	{
-		drv.analogWrite0(i);
-		if(!(drv.digitalRead0() & 0x01))
-		{
-			drv.discard();
-			uint16_t val = drv.analogRead(0);
-			if(val > 1023)
-			{
-				std::cout << "Fehler: " << val << std::endl;
-				continue;
-			}
-			if(val > schwelle_oben)
-				schwelle_oben = val;
-		}
-	}
-	
-	std::cout << "Schwelle für low: " << schwelle_unten << std::endl;
-	std::cout << "Schwelle für high: " << schwelle_oben << std::endl;
-	std::cout << "Verbotene Zone: " << (schwelle_oben - schwelle_unten) << std::endl;
 }
 
 int main()
 {
 	
-	beispielFunktionen();
-	
-	//USART usart;
-	//usart.openDevice("/dev/ttyUSB0");
-	//usart.writeByte(5);
-	
+	kennlinieZweiterQuadrant();
 	
 	std::cout << "Schluss." << std::endl;
 }