dir structure
This commit is contained in:
Tristan Krause
parent
30d8aefce3
commit
2c4f2653cd
32 changed files with 7 additions and 4 deletions
324
driver/src/drv/usart.cpp
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324
driver/src/drv/usart.cpp
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#include "usart.h"
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void USART::openDevice(std::string device)
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{
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file_desc = open(device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY /* | O_NONBLOCK*/);
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if(file_desc <= 0)
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throw USARTException("Fehler beim Öffnen des Gerätes");
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struct termios options;
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int code = tcgetattr(file_desc, &options);
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if(code)
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throw USARTException("Fehler beim Lesen der Geräteparameter");
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options.c_cflag = CS8 | CLOCAL | CREAD;
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options.c_iflag = IGNPAR;
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options.c_oflag = 0;
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options.c_lflag = 0;
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options.c_cc[VMIN] = 0; // #bytes read returns at least
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options.c_cc[VTIME] = timeout;
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code = cfsetspeed(&options, baudrate);
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if(code)
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throw USARTException("Fehler beim Setzen der Baudrate");
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code = tcsetattr(file_desc, TCSANOW, &options);
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if(code)
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throw USARTException("Fehler beim Setzen der Geräteparameter");
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clearOutputBuffer();
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clearInputBuffer();
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}
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void USART::closeDevice()
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{
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int code = close(file_desc);
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if(code)
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throw USARTException("Fehler beim Schließen des Gerätes");
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}
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void USART::clearInputBuffer()
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{
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int code = tcflush(file_desc, TCIFLUSH);
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if(code)
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throw USARTException("Fehler beim Leeren des Eingangspuffers");
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}
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void USART::clearOutputBuffer()
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{
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int code = tcflush(file_desc, TCOFLUSH);
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if(code)
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throw USARTException("Fehler beim Leeren des Ausgangspuffers");
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}
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void USART::flushOutputBuffer()
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{
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int code = tcdrain(file_desc);
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if(code)
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throw USARTException("Fehler beim Versenden des Ausgangspuffers");
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}
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void USART::printStatistics()
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{
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double pz = 1e2 * n_blocks_failed / n_blocks_total;
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pz = std::round(pz * 1e2) / 1e2;
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std::cout << "blocks total: " << n_blocks_total << " ok: " << (n_blocks_total - n_blocks_failed) << " failed: " << n_blocks_failed << " (" << pz << "%)" << std::endl;
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}
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void USART::writeByte(uint8_t b)
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{
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int sent = write(file_desc, &b, 1);
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if(sent != 1)
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{
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std::cout << "WARNUNG: Fehler beim Senden (" << sent << "): writeByte(), wiederhole..." << std::endl;
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usleep(100000);
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sent = write(file_desc, &b, 1);
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if(sent != 1)
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throw USARTException("Fehler beim Senden: writeByte()");
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}
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}
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void USART::writeInt(uint16_t d)
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{
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int sent = write(file_desc, reinterpret_cast<char*>(&d), 2);
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if(sent != 2)
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throw USARTException("Fehler beim Senden: writeInt()");
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}
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int USART::read_timeout(uint8_t* buffer, uint16_t offset, uint8_t len, uint32_t timeout)
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{
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uint32_t elapsed = 0;
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int n_read = -1;
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auto start = std::chrono::steady_clock::now();
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auto end = start;
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while(elapsed < timeout)
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{
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n_read = read(file_desc, buffer + offset, len);
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if (n_read == len)
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return n_read;
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end = std::chrono::steady_clock::now();
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elapsed = std::chrono::duration_cast<std::chrono::microseconds>(end - start).count();
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}
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return 0;
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}
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int USART::write_timeout(uint8_t* buffer, uint16_t offset, uint8_t len, uint32_t timeout)
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{
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uint32_t elapsed = 0;
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int n_sent = -1;
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auto start = std::chrono::steady_clock::now();
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auto end = start;
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while(elapsed < timeout)
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{
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n_sent = write(file_desc, buffer + offset, len);
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flushOutputBuffer();
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if (n_sent == len)
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return n_sent;
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end = std::chrono::steady_clock::now();
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elapsed = std::chrono::duration_cast<std::chrono::microseconds>(end - start).count();
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}
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return n_sent;
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}
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void USART::writeBlock(uint8_t* buffer, uint16_t offset, uint8_t len)
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{
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uint8_t crc;
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uint8_t aw;
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const uint16_t us_per_bit = (1000000 / baudrate) * 16;
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const uint16_t n_total = len + 3;
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n_blocks_total++;
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bool failed = false;
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do
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{
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// calc crc
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crc = 0;
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for(uint8_t i = 0; i < len; i++)
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{
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crc ^= buffer[i];
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for (uint8_t k = 0; k < 8; k++)
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{
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if (crc & 1)
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crc ^= CRC7_POLY;
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crc >>= 1;
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}
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}
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// construct block
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block_buffer[0] = len;
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std::memcpy(&block_buffer[1], buffer + offset, len);
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block_buffer[len + 1] = crc;
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block_buffer[len + 2] = BLOCK_END;
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// send block
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clearOutputBuffer();
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clearInputBuffer();
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int n_sent = write_timeout(&block_buffer[0], 0, len + 3, us_per_bit * n_total);
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if(n_sent != n_total)
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throw std::runtime_error("fatal (send): " + std::to_string(n_sent));
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/*for(uint8_t i = 0; i < len + 3; i++)
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{
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write_timeout(&block_buffer[i], 0, 1, us_per_bit * n_total);
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//tcdrain(file_desc);
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//usleep(1000);
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}*/
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// flush output data
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tcdrain(file_desc);
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//usleep(us_per_bit * n_total * 10);
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// check response
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int n_read = read_timeout(&aw, 0, 1, us_per_bit * n_blocks_total * 10);
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for(uint16_t i = 0; i < 255 && n_read != 1; i++)
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{
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writeByte(0x80); // Stoppzeichen für Block
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if(tcdrain(file_desc))
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{
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std::cout << "drain failed" << std::endl;
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}
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std::cout << "WARNING: read error (" << n_read << "), retry #" << (int) i << std::endl;
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usleep(us_per_bit*100);
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n_read = read_timeout(&aw, 0, 1, us_per_bit);
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}
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if(n_read != 1)
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throw std::runtime_error("fatal: " + std::to_string(n_read));
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//clearInputBuffer();
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if(aw != 0xFF) {
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if(!failed)
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n_blocks_failed++;
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failed = true;
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std::cout << "block failed, retry" << std::endl;
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}
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}
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while(aw != 0xFF);
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//std::cout << "OK" << std::endl;
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}
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uint8_t USART::readByte(void)
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{
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char b;
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auto start = std::chrono::steady_clock::now();
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auto end = start;
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uint16_t elapsed = 0;
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while(elapsed < timeout * 100)
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{
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int code = read(file_desc, &b, 1);
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if (code > 0)
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return static_cast<uint8_t>(b);
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end = std::chrono::steady_clock::now();
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elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count();
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}
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throw TimeoutException("Verbindung unterbrochen.", timeout);
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}
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uint16_t USART::readInt(void)
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{
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return readByte() | readByte() << 8;
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}
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bool USART::readBlock(uint8_t* buffer, uint16_t offset)
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{
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uint8_t len = readByte();
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uint8_t crc = 0;
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buffer += offset;
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uint32_t block_timeout = timeout / 10;
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// wait for block
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int n_ready;
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uint16_t elapsed = 0;
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auto start = std::chrono::steady_clock::now();
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auto end = start;
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while(elapsed < block_timeout)
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{
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int code = ioctl(file_desc, FIONREAD, &n_ready);
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if(code != 0)
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{
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std::cout << "n_ready code: " << code << std::endl;
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return false;
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}
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if(n_ready >= len + 1)
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break;
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end = std::chrono::steady_clock::now();
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elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count();
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}
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if(elapsed >= timeout)
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{
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std::cout << "block timeout: " << std::endl;
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return false;
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}
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while(len--)
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{
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*buffer = readByte();
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crc ^= *buffer++;
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for (uint8_t i = 0; i < 8; i++)
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{
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if (crc & 1)
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crc ^= CRC7_POLY;
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crc >>= 1;
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}
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}
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crc ^= readByte();
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for (uint8_t i = 0; i < 8; i++)
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{
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if (crc & 1)
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crc ^= CRC7_POLY;
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crc >>= 1;
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}
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if(TEST == 1)
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crc = 1;
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if(TEST > 100)
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TEST = 0;
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if (crc == 0)
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{
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writeByte(0xFF);
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return true;
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}
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else
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{
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writeByte(0xFE);
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return false;
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}
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}
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uint32_t USART::getBaudrate()
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{
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return baudrate;
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}
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uint8_t USART::getTimeout()
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{
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return timeout;
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}
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void USART::setBaudrate(uint32_t baudrate)
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{
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this->baudrate = baudrate;
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}
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void USART::setTimeout(uint8_t timeout)
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{
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this->timeout = timeout;
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}
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