PWM ansteuerbar und TOP wird returned

control/examples/pwm/Makefile

@@ -0,0 +1,30 @@
+# Name: Makefile
+# Project: B15F (board15 Famulus Edition)
+# Author: Tristan Krause
+# Creation Date: 2019-05-15
+
+# Environment
+COMPILER_PATH = g++
+
+# Options
+CFLAGS   = -std=c++17 -O3 -Wall -Wextra
+LDFLAGS  = -lb15fdrv
+OBJECTS  = main.o
+OUT      = main.elf
+
+COMPILE = $(COMPILER_PATH) $(CFLAGS)
+
+main: $(OBJECTS)
+	$(COMPILE) $(OBJECTS) -o $(OUT) $(LDFLAGS)
+
+help:
+	@echo "This Makefile has the following targets:"
+	@echo "make main .... to compile"
+	@echo "make clean ... to delete objects and executables"
+	
+clean:
+	@echo "Cleaning..."
+	rm -f $(OBJECTS) $(OUT) *.bin gnuplotscript.gp
+
+.cpp.o:
+	$(COMPILE) -c $< -o $@

control/examples/pwm/main.cpp

@@ -0,0 +1,14 @@
+#include <iostream>
+#include <cmath>
+#include <b15f/b15f.h>
+#include <b15f/plottyfile.h>
+
+const char PLOT_FILE[] = "plot.bin";
+
+int main()
+{
+	
+	B15F& drv = B15F::getInstance();
+	std::cout << "TOP: " << (int) drv.pwmSetFrequency(100000) << std::endl;
+        drv.pwmSetValue(40);
+}

control/src/drv/b15f.cpp

@@ -289,6 +289,47 @@ void B15F::analogSequence(uint8_t channel_a, uint16_t* buffer_a, uint32_t offset
     delay_us(10);
 }
 
+uint8_t B15F::pwmSetFrequency(uint32_t freq)
+{
+    usart.clearInputBuffer();
+
+    uint8_t rq[] =
+    {
+        RQ_PWM_SET_FREQ,
+        static_cast<uint8_t>((freq >>  0) & 0xFF),
+        static_cast<uint8_t>((freq >>  8) & 0xFF),
+        static_cast<uint8_t>((freq >> 16) & 0xFF),
+        static_cast<uint8_t>((freq >> 24) & 0xFF)
+    };
+
+    int n_sent = usart.write_timeout(&rq[0], 0, sizeof(rq), 1000);
+    if(n_sent != sizeof(rq))
+        abort("Sent failed");
+
+    uint8_t byte = usart.readByte();
+    delay_us(10);
+    return byte;
+}
+
+bool B15F::pwmSetValue(uint8_t value)
+{
+    usart.clearInputBuffer();
+
+    uint8_t rq[] =
+    {
+        RQ_PWM_SET_VALUE,
+        value
+    };
+
+    int n_sent = usart.write_timeout(&rq[0], 0, sizeof(rq), 1000);
+    if(n_sent != sizeof(rq))
+        abort("Sent failed");
+
+    uint8_t aw = usart.readByte();
+    delay_us(10);
+    return aw == MSG_OK;
+}
+
 void B15F::delay_ms(uint16_t ms)
 {
     std::this_thread::sleep_for(std::chrono::milliseconds(ms));

control/src/drv/b15f.h

@@ -194,6 +194,22 @@ public:
      */
     void 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);
 
+    /**
+     * Setzt die Register so, dass näherungsweise die gewünschte Frequenz erzeugt wird.
+     * Ist freq == 0 wird PWM deaktiviert.
+     * \param freq PWM Frequenz
+     * \return Top Wert des PWM Value für die gesetzte Frequenz
+     * \throws DriverException
+     */
+    uint8_t pwmSetFrequency(uint32_t freq);
+
+    /**
+     * Setzt den PWM Wert.
+     * \param value PWM Wert [0..0xFF]
+     * \throws DriverException
+     */
+    bool pwmSetValue(uint8_t value);
+
     /*************************/
 
 
@@ -233,6 +249,8 @@ private:
     constexpr static uint8_t RQ_AA1  = 11;
     constexpr static uint8_t RQ_ADC  = 12;
     constexpr static uint8_t RQ_ADC_DAC_STROKE  = 13;
+    constexpr static uint8_t RQ_PWM_SET_FREQ    = 14;
+    constexpr static uint8_t RQ_PWM_SET_VALUE   = 15;
 };
 
 #endif // B15F_H

control/src/drv/usart.cpp

@@ -85,7 +85,12 @@ void USART::writeInt(uint16_t d)
         throw USARTException("Fehler beim Senden: writeInt()");
 }
 
-
+void USART::writeU32(uint32_t w)
+{
+    int sent = write(file_desc, reinterpret_cast<char*>(&w), 4);
+    if(sent != 4)
+        throw USARTException("Fehler beim Senden: writeU32()");
+}
 
 int USART::read_timeout(uint8_t* buffer, uint16_t offset, uint8_t len, uint32_t timeout)
 {

control/src/drv/usart.h

@@ -76,11 +76,18 @@ public:
 
     /**
      * Sendet ein Integer über die USART Schnittstelle
-     * \param b das zu sendende Byte
+     * \param b das zu sendende Int
      * \throws USARTException
      */
     void writeInt(uint16_t d);
 
+    /**
+     * Sendet ein uint32_t über die USART Schnittstelle
+     * \param b das zu sendende uint32_t
+     * \throws USARTException
+     */
+    void writeU32(uint32_t d);
+
     /**
      * Empfängt ein Byte über die USART Schnittstelle
      * \throws USARTException