B15F.cpp refactored
This commit is contained in:
Tristan Krause
parent
bcff7645f8
commit
257b33b77a
189 changed files with 169 additions and 14014 deletions
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@ -3,55 +3,17 @@
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B15F *B15F::instance = nullptr;
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errorhandler_t B15F::errorhandler = nullptr;
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B15F::B15F()
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/*************************************
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* Grundfunktionen des B15F Treibers *
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*************************************/
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B15F &B15F::getInstance(void)
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{
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init();
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}
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if (!instance)
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instance = new B15F();
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void B15F::init()
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{
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std::string device = exec("bash -c 'ls /dev/ttyUSB*'");
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while (device.find(' ') != std::string::npos || device.find('\n') != std::string::npos ||
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device.find('\t') != std::string::npos)
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device.pop_back();
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if (device.length() == 0)
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abort("Adapter nicht gefunden");
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std::cout << PRE << "Verwende Adapter: " << device << std::endl;
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std::cout << PRE << "Stelle Verbindung mit Adapter her... " << std::flush;
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usart.setBaudrate(BAUDRATE);
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usart.openDevice(device);
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std::cout << "OK" << std::endl;
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std::cout << PRE << "Teste Verbindung... " << std::flush;
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uint8_t tries = 3;
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while (tries--)
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{
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// verwerfe Daten, die µC noch hat
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//discard();
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if (!testConnection())
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continue;
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if (!testIntConv())
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continue;
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break;
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}
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if (tries == 0)
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abort("Verbindungstest fehlgeschlagen. Neueste Version im Einsatz?");
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std::cout << "OK" << std::endl;
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// Gib board info aus
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std::vector<std::string> info = getBoardInfo();
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std::cout << PRE << "AVR Firmware Version: " << info[0] << " um " << info[1] << " Uhr (" << info[2] << ")"
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<< std::endl;
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return *instance;
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}
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void B15F::reconnect()
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@ -75,7 +37,7 @@ void B15F::discard(void)
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{
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uint8_t rq[] =
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{
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RQ_DISC
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RQ_DISCARD
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};
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usart.clearOutputBuffer();
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@ -118,7 +80,7 @@ bool B15F::testIntConv()
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uint8_t rq[] =
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{
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RQ_INT,
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RQ_INT_TEST,
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static_cast<uint8_t >(dummy & 0xFF),
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static_cast<uint8_t >(dummy >> 8)
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};
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@ -163,11 +125,69 @@ std::vector<std::string> B15F::getBoardInfo(void)
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return info;
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}
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void B15F::delay_ms(uint16_t ms)
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{
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std::this_thread::sleep_for(std::chrono::milliseconds(ms));
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}
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void B15F::delay_us(uint16_t us)
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{
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std::this_thread::sleep_for(std::chrono::microseconds(us));
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}
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// https://stackoverflow.com/a/478960
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std::string B15F::exec(std::string cmd)
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{
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std::array<char, 128> buffer;
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std::string result;
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std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(cmd.c_str(), "r"), pclose);
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if (!pipe)
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{
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throw std::runtime_error("popen() failed!");
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}
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while (fgets(buffer.data(), buffer.size(), pipe.get()) != nullptr)
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{
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result += buffer.data();
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}
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return result;
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}
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void B15F::abort(std::string msg)
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{
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DriverException ex(msg);
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abort(ex);
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}
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void B15F::abort(std::exception &ex)
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{
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if (errorhandler)
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errorhandler(ex);
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else
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{
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std::cerr << "NOTICE: B15F::errorhandler not set" << std::endl;
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std::cout << ex.what() << std::endl;
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throw DriverException(ex.what());
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}
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}
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void B15F::setAbortHandler(errorhandler_t func)
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{
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errorhandler = func;
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}
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/*************************************/
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/*************************
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* Steuerbefehle für B15 *
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*************************/
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bool B15F::activateSelfTestMode()
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{
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uint8_t rq[] =
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{
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RQ_ST
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RQ_SELF_TEST
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};
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usart.transmit(&rq[0], 0, sizeof(rq));
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@ -178,9 +198,12 @@ bool B15F::activateSelfTestMode()
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bool B15F::digitalWrite0(uint8_t port)
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{
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reverse(port);
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uint8_t rq[] =
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{
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RQ_BA0,
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RQ_DIGITAL_WRITE_0,
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port
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};
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usart.transmit(&rq[0], 0, sizeof(rq));
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@ -192,9 +215,12 @@ bool B15F::digitalWrite0(uint8_t port)
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bool B15F::digitalWrite1(uint8_t port)
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{
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reverse(port);
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uint8_t rq[] =
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{
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RQ_BA1,
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RQ_DIGITAL_WRITE_1,
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port
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};
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usart.transmit(&rq[0], 0, sizeof(rq));
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@ -428,61 +454,68 @@ uint8_t B15F::getRegister(volatile uint8_t* adr)
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return aw;
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}
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/*************************/
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void B15F::delay_ms(uint16_t ms)
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/**********************
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* Private Funktionen *
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**********************/
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B15F::B15F()
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{
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std::this_thread::sleep_for(std::chrono::milliseconds(ms));
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init();
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}
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void B15F::delay_us(uint16_t us)
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{
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std::this_thread::sleep_for(std::chrono::microseconds(us));
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}
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B15F &B15F::getInstance(void)
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void B15F::init()
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{
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if (!instance)
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instance = new B15F();
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return *instance;
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}
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std::string device = exec("bash -c 'ls /dev/ttyUSB*'");
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while (device.find(' ') != std::string::npos || device.find('\n') != std::string::npos ||
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device.find('\t') != std::string::npos)
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device.pop_back();
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// https://stackoverflow.com/a/478960
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std::string B15F::exec(std::string cmd)
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{
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std::array<char, 128> buffer;
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std::string result;
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std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(cmd.c_str(), "r"), pclose);
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if (!pipe)
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if (device.length() == 0)
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abort("Adapter nicht gefunden");
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std::cout << PRE << "Verwende Adapter: " << device << std::endl;
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std::cout << PRE << "Stelle Verbindung mit Adapter her... " << std::flush;
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usart.setBaudrate(BAUDRATE);
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usart.openDevice(device);
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std::cout << "OK" << std::endl;
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std::cout << PRE << "Teste Verbindung... " << std::flush;
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uint8_t tries = 3;
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while (tries--)
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{
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throw std::runtime_error("popen() failed!");
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// verwerfe Daten, die µC noch hat
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//discard();
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if (!testConnection())
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continue;
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if (!testIntConv())
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continue;
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break;
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}
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while (fgets(buffer.data(), buffer.size(), pipe.get()) != nullptr)
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{
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result += buffer.data();
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}
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return result;
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if (tries == 0)
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abort("Verbindungstest fehlgeschlagen. Neueste Version im Einsatz?");
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std::cout << "OK" << std::endl;
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// Gib board info aus
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std::vector<std::string> info = getBoardInfo();
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std::cout << PRE << "AVR Firmware Version: " << info[0] << " um " << info[1] << " Uhr (" << info[2] << ")"
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<< std::endl;
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}
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void B15F::abort(std::string msg)
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void B15F::reverse(uint8_t& b)
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{
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DriverException ex(msg);
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abort(ex);
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}
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void B15F::abort(std::exception &ex)
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{
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if (errorhandler)
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errorhandler(ex);
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else
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{
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std::cerr << "NOTICE: B15F::errorhandler not set" << std::endl;
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std::cout << ex.what() << std::endl;
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throw DriverException(ex.what());
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}
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}
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void B15F::setAbortHandler(errorhandler_t func)
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{
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errorhandler = func;
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b = (b & 0xF0) >> 4 | (b & 0x0F) << 4;
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b = (b & 0xCC) >> 2 | (b & 0x33) << 2;
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b = (b & 0xAA) >> 1 | (b & 0x55) << 1;
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}
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@ -14,6 +14,8 @@
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#include <fcntl.h>
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#include <sys/ioctl.h>
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#include <termios.h>
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#include "../../../firmware/requests.h"
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#include "usart.h"
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#include "driverexception.h"
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#include "timeoutexception.h"
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@ -30,15 +32,18 @@ typedef std::function<void(std::exception&)> errorhandler_t;
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class B15F
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{
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private:
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// privater Konstruktor
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B15F(void);
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public:
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/*************************************
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* Grundfunktionen des B15F Treibers *
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*************************************/
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/**
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* Liefert eine Referenz zur aktuellen Treiber-Instanz, die Verbindung wird gegebenenfalls automatisch hergestellt.
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* @throws DriverException
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*/
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static B15F& getInstance(void);
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/**
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* Versucht die Verbindung zum B15 wiederherzustellen
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* \throws DriverException
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@ -81,12 +86,6 @@ public:
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*/
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void delay_us(uint16_t us);
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/**
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* Liefert eine Referenz zur aktuellen Treiber-Instanz
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* @throws DriverException
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*/
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static B15F& getInstance(void);
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/**
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* Führt ein Befehl auf dieser Maschine aus und liefert stdout zurück
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* \param cmd Der Befehl
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@ -246,35 +245,26 @@ public:
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private:
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/**
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* Privater Konstruktor
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*/
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B15F(void);
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/**
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* Initialisiert und testet die Verbindung zum B15
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* \throws DriverException
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*/
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void init(void);
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/**
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* Invertiert das Bitmuster eines Bytes
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* z.B.: 10100001 --> 10000101
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*/
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void reverse(uint8_t& b);
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USART usart;
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static B15F* instance;
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static errorhandler_t errorhandler;
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// REQUESTS
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constexpr static uint8_t RQ_DISC = 0;
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constexpr static uint8_t RQ_TEST = 1;
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constexpr static uint8_t RQ_INFO = 2;
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constexpr static uint8_t RQ_INT = 3;
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constexpr static uint8_t RQ_ST = 4;
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constexpr static uint8_t RQ_BA0 = 5;
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constexpr static uint8_t RQ_BA1 = 6;
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constexpr static uint8_t RQ_BE0 = 7;
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constexpr static uint8_t RQ_BE1 = 8;
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constexpr static uint8_t RQ_DSW = 9;
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constexpr static uint8_t RQ_AA0 = 10;
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constexpr static uint8_t RQ_AA1 = 11;
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constexpr static uint8_t RQ_ADC = 12;
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constexpr static uint8_t RQ_ADC_DAC_STROKE = 13;
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constexpr static uint8_t RQ_PWM_SET_FREQ = 14;
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constexpr static uint8_t RQ_PWM_SET_VALUE = 15;
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constexpr static uint8_t RQ_SET_REG = 16;
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constexpr static uint8_t RQ_GET_REG = 17;
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};
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#endif // B15F_H
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