bessere Fehlerbehandlung
This commit is contained in:
Tristan Krause
parent
d658b12c5a
commit
434524c369
66 changed files with 254 additions and 1374 deletions
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@ -24,8 +24,15 @@ void B15F::reconnect()
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delay_ms(RECONNECT_TIMEOUT);
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discard();
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if (testConnection())
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return;
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try
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{
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testConnection();
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return; // no exceptionm means success
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}
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catch(DriverException& eDE)
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{
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// discard exception
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}
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}
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abort("Verbindung kann nicht repariert werden");
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@ -54,7 +61,7 @@ void B15F::discard(void)
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}
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}
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bool B15F::testConnection()
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void B15F::testConnection()
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{
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// erzeuge zufälliges Byte
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srand(time(NULL));
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@ -70,10 +77,11 @@ bool B15F::testConnection()
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uint8_t aw[2];
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usart.receive(&aw[0], 0, sizeof(aw));
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return aw[0] == MSG_OK && aw[1] == dummy;
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assertCode(aw[0], MSG_OK);
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assertCode(aw[1], dummy);
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}
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bool B15F::testIntConv()
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void B15F::testIntConv()
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{
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srand(time(NULL));
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uint16_t dummy = rand() % (0xFFFF / 3);
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@ -89,7 +97,7 @@ bool B15F::testIntConv()
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uint16_t aw;
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usart.receive(reinterpret_cast<uint8_t *>(&aw), 0, sizeof(aw));
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return aw == dummy * 3;
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assertCode(aw, dummy * 3);
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}
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@ -643,22 +651,34 @@ void B15F::init()
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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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int tries = 4;
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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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discard();
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if (!testConnection())
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try
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{
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testConnection();
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}
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catch(DriverException& eDE)
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{
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continue;
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}
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if (!testIntConv())
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try
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{
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testIntConv();
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}
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catch(DriverException& eDE)
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{
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continue;
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}
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break;
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}
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if (tries == 0)
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if (!tries)
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abort("Verbindungstest fehlgeschlagen. Neueste Version im Einsatz?");
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std::cout << "OK" << std::endl;
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@ -1,669 +0,0 @@
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#include "b15f.h"
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B15F *B15F::instance = nullptr;
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errorhandler_t B15F::errorhandler = nullptr;
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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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if (!instance)
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instance = new B15F();
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return *instance;
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}
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void B15F::reconnect()
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{
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uint8_t tries = RECONNECT_TRIES;
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while (tries--)
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{
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delay_ms(RECONNECT_TIMEOUT);
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discard();
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if (testConnection())
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return;
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}
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abort("Verbindung kann nicht repariert werden");
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}
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void B15F::discard(void)
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{
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try
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{
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uint8_t rq[] =
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{
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RQ_DISCARD
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};
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usart.clearOutputBuffer();
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for (uint8_t i = 0; i < 16; i++)
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{
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usart.transmit(&rq[0], 0, sizeof(rq)); // sende discard Befehl (verwerfe input)
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delay_ms(4);
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}
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usart.clearInputBuffer();
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}
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catch (std::exception &ex)
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{
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abort(ex);
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}
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}
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bool B15F::testConnection()
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{
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// erzeuge zufälliges Byte
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srand(time(NULL));
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uint8_t dummy = rand() % 256;
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uint8_t rq[] =
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{
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RQ_TEST,
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dummy
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};
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw[2];
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usart.receive(&aw[0], 0, sizeof(aw));
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return aw[0] == MSG_OK && aw[1] == dummy;
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}
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bool B15F::testIntConv()
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{
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srand(time(NULL));
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uint16_t dummy = rand() % (0xFFFF / 3);
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uint8_t rq[] =
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{
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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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usart.transmit(&rq[0], 0, sizeof(rq));
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uint16_t aw;
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usart.receive(reinterpret_cast<uint8_t *>(&aw), 0, sizeof(aw));
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return aw == dummy * 3;
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}
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std::vector<std::string> B15F::getBoardInfo(void)
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{
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std::vector<std::string> info;
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uint8_t rq[] =
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{
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RQ_INFO
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};
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t n;
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usart.receive(&n, 0, sizeof(n));
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while (n--)
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{
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uint8_t len;
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usart.receive(&len, 0, sizeof(len));
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char str[len + 1];
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str[len] = '\0';
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usart.receive(reinterpret_cast<uint8_t *>(&str[0]), 0, len);
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info.push_back(std::string(str));
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}
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uint8_t aw;
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usart.receive(&aw, 0, sizeof(aw));
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if (aw != MSG_OK)
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abort("Board Info fehlerhalft: code " + std::to_string((int) aw));
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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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void B15F::reverse(uint8_t& b)
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{
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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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// 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::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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void B15F::activateSelfTestMode()
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{
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uint8_t rq[] =
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{
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RQ_SELF_TEST
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};
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assertRequestLength(rq, RQ_SELF_TEST);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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usart.receive(&aw, 0, sizeof(aw));
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assertCode(aw, MSG_OK);
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}
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void B15F::digitalWrite0(uint8_t port)
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{
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uint8_t rq[] =
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{
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RQ_DIGITAL_WRITE_0,
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port
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};
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assertRequestLength(rq, RQ_DIGITAL_WRITE_0);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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usart.receive(&aw, 0, sizeof(aw));
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assertCode(aw, MSG_OK);
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}
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void B15F::digitalWrite1(uint8_t port)
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{
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uint8_t rq[] =
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{
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RQ_DIGITAL_WRITE_1,
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port
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};
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assertRequestLength(rq, RQ_DIGITAL_WRITE_1);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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usart.receive(&aw, 0, sizeof(aw));
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assertCode(aw, MSG_OK);
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}
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uint8_t B15F::digitalRead0()
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{
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usart.clearInputBuffer();
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uint8_t rq[] =
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{
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RQ_DIGITAL_READ_0
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};
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assertRequestLength(rq, RQ_DIGITAL_READ_0);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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usart.receive(&aw, 0, sizeof(aw));
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return aw;
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}
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uint8_t B15F::digitalRead1()
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{
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usart.clearInputBuffer();
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uint8_t rq[] =
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{
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RQ_DIGITAL_READ_1
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};
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assertRequestLength(rq, RQ_DIGITAL_READ_1);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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usart.receive(&aw, 0, sizeof(aw));
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return aw;
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}
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uint8_t B15F::readDipSwitch()
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{
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usart.clearInputBuffer();
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uint8_t rq[] =
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{
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RQ_READ_DIP_SWITCH
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};
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assertRequestLength(rq, RQ_READ_DIP_SWITCH);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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usart.receive(&aw, 0, sizeof(aw));
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reverse(aw); // DIP Schalter muss invertiert werden!
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return aw;
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}
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void B15F::analogWrite0(uint16_t value)
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{
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uint8_t rq[] =
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{
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RQ_ANALOG_WRITE_0,
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static_cast<uint8_t >(value & 0xFF),
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static_cast<uint8_t >(value >> 8)
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};
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assertRequestLength(rq, RQ_ANALOG_WRITE_0);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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usart.receive(&aw, 0, sizeof(aw));
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assertCode(aw, MSG_OK);
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}
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void B15F::analogWrite1(uint16_t value)
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{
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uint8_t rq[] =
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{
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RQ_ANALOG_WRITE_1,
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static_cast<uint8_t >(value & 0xFF),
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static_cast<uint8_t >(value >> 8)
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};
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assertRequestLength(rq, RQ_ANALOG_WRITE_1);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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usart.receive(&aw, 0, sizeof(aw));
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assertCode(aw, MSG_OK);
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}
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uint16_t B15F::analogRead(uint8_t channel)
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{
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usart.clearInputBuffer();
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if (channel > 7)
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abort("Bad ADC channel: " + std::to_string(channel));
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uint8_t rq[] =
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{
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RQ_ANALOG_READ,
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channel
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};
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assertRequestLength(rq, RQ_ANALOG_READ);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint16_t aw;
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usart.receive(reinterpret_cast<uint8_t *>(&aw), 0, sizeof(aw));
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if (aw > 1023)
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abort("Bad ADC data detected (1)");
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return aw;
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}
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void B15F::analogSequence(uint8_t channel_a, uint16_t *buffer_a, uint32_t offset_a, uint8_t channel_b, uint16_t *buffer_b,
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uint32_t offset_b, uint16_t start, int16_t delta, uint16_t count)
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{
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// prepare pointers
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buffer_a += offset_a;
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buffer_b += offset_b;
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usart.clearInputBuffer();
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uint8_t rq[] =
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{
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RQ_ADC_DAC_STROKE,
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channel_a,
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channel_b,
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static_cast<uint8_t >(start & 0xFF),
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static_cast<uint8_t >(start >> 8),
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static_cast<uint8_t >(delta & 0xFF),
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static_cast<uint8_t >(delta >> 8),
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static_cast<uint8_t >(count & 0xFF),
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static_cast<uint8_t >(count >> 8)
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};
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assertRequestLength(rq, RQ_ADC_DAC_STROKE);
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usart.transmit(&rq[0], 0, sizeof(rq));
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for (uint16_t i = 0; i < count; i++)
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{
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if (buffer_a)
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{
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usart.receive(reinterpret_cast<uint8_t *>(&buffer_a[i]), 0, 2);
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if (buffer_a[i] > 1023) // check for broken usart connection
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abort("Bad ADC data detected (2)");
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}
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else
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{
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usart.drop(2);
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}
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if (buffer_b)
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{
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usart.receive(reinterpret_cast<uint8_t *>(&buffer_b[i]), 0, 2);
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if (buffer_b[i] > 1023) // check for broken usart connection
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abort("Bad ADC data detected (3)");
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}
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else
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{
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usart.drop(2);
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}
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}
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uint8_t aw;
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usart.receive(&aw, 0, sizeof(aw));
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assertCode(aw, MSG_OK);
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}
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uint8_t B15F::pwmSetFrequency(uint32_t freq)
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{
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usart.clearInputBuffer();
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uint8_t rq[] =
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{
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RQ_PWM_SET_FREQ,
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static_cast<uint8_t>((freq >> 0) & 0xFF),
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static_cast<uint8_t>((freq >> 8) & 0xFF),
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static_cast<uint8_t>((freq >> 16) & 0xFF),
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static_cast<uint8_t>((freq >> 24) & 0xFF)
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};
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assertRequestLength(rq, RQ_PWM_SET_FREQ);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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usart.receive(&aw, 0, sizeof(aw));
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return aw;
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}
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void B15F::pwmSetValue(uint8_t value)
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{
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usart.clearInputBuffer();
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uint8_t rq[] =
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{
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RQ_PWM_SET_VALUE,
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value
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};
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assertRequestLength(rq, RQ_PWM_SET_VALUE);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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usart.receive(&aw, 0, sizeof(aw));
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assertCode(aw, MSG_OK);
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}
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void B15F::setMem8(volatile uint8_t* adr, uint8_t val)
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{
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usart.clearInputBuffer();
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uint8_t rq[] =
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{
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RQ_SET_MEM_8,
|
||||
static_cast<uint8_t >(reinterpret_cast<size_t>(adr) & 0xFF),
|
||||
static_cast<uint8_t >(reinterpret_cast<size_t>(adr) >> 8),
|
||||
val
|
||||
};
|
||||
|
||||
assertRequestLength(rq, RQ_SET_MEM_8);
|
||||
usart.transmit(&rq[0], 0, sizeof(rq));
|
||||
|
||||
uint8_t aw;
|
||||
usart.receive(&aw, 0, sizeof(aw));
|
||||
assertCode(aw, MSG_OK);
|
||||
}
|
||||
|
||||
uint8_t B15F::getMem8(volatile uint8_t* adr)
|
||||
{
|
||||
usart.clearInputBuffer();
|
||||
|
||||
uint8_t rq[] =
|
||||
{
|
||||
RQ_GET_MEM_8,
|
||||
static_cast<uint8_t >(reinterpret_cast<size_t>(adr) & 0xFF),
|
||||
static_cast<uint8_t >(reinterpret_cast<size_t>(adr) >> 8)
|
||||
};
|
||||
|
||||
assertRequestLength(rq, RQ_GET_MEM_8);
|
||||
usart.transmit(&rq[0], 0, sizeof(rq));
|
||||
|
||||
uint8_t aw;
|
||||
usart.receive(&aw, 0, sizeof(aw));
|
||||
return aw;
|
||||
}
|
||||
|
||||
void B15F::setMem16(volatile uint16_t* adr, uint16_t val)
|
||||
{
|
||||
usart.clearInputBuffer();
|
||||
|
||||
uint8_t rq[] =
|
||||
{
|
||||
RQ_SET_MEM_16,
|
||||
static_cast<uint8_t >(reinterpret_cast<size_t>(adr) & 0xFF),
|
||||
static_cast<uint8_t >(reinterpret_cast<size_t>(adr) >> 8),
|
||||
static_cast<uint8_t >(val & 0xFF),
|
||||
static_cast<uint8_t >(val >> 8)
|
||||
};
|
||||
|
||||
assertRequestLength(rq, RQ_SET_MEM_16);
|
||||
usart.transmit(&rq[0], 0, sizeof(rq));
|
||||
|
||||
uint16_t aw;
|
||||
usart.receive(reinterpret_cast<uint8_t *>(&aw), 0, sizeof(aw));
|
||||
assertCode(aw, MSG_OK);
|
||||
}
|
||||
|
||||
uint16_t B15F::getMem16(volatile uint16_t* adr)
|
||||
{
|
||||
usart.clearInputBuffer();
|
||||
|
||||
uint8_t rq[] =
|
||||
{
|
||||
RQ_GET_MEM_16,
|
||||
static_cast<uint8_t >(reinterpret_cast<size_t>(adr) & 0xFF),
|
||||
static_cast<uint8_t >(reinterpret_cast<size_t>(adr) >> 8)
|
||||
};
|
||||
|
||||
assertRequestLength(rq, RQ_GET_MEM_16);
|
||||
usart.transmit(&rq[0], 0, sizeof(rq));
|
||||
|
||||
uint16_t aw;
|
||||
usart.receive(reinterpret_cast<uint8_t *>(&aw), 0, sizeof(aw));
|
||||
return aw;
|
||||
}
|
||||
|
||||
void B15F::setRegister(volatile uint8_t* adr, uint8_t val)
|
||||
{
|
||||
setMem8(adr, val);
|
||||
}
|
||||
|
||||
uint8_t B15F::getRegister(volatile uint8_t* adr)
|
||||
{
|
||||
return getMem8(adr);
|
||||
}
|
||||
|
||||
uint16_t* B15F::getInterruptCounterOffset()
|
||||
{
|
||||
usart.clearInputBuffer();
|
||||
|
||||
uint8_t rq[] =
|
||||
{
|
||||
RQ_COUNTER_OFFSET
|
||||
};
|
||||
|
||||
assertRequestLength(rq, RQ_COUNTER_OFFSET);
|
||||
usart.transmit(&rq[0], 0, sizeof(rq));
|
||||
|
||||
uint16_t aw;
|
||||
usart.receive(reinterpret_cast<uint8_t *>(&aw), 0, sizeof(aw));
|
||||
return reinterpret_cast<uint16_t*>(aw);
|
||||
}
|
||||
|
||||
void B15F::setServoEnabled(void)
|
||||
{
|
||||
usart.clearInputBuffer();
|
||||
|
||||
uint8_t rq[] =
|
||||
{
|
||||
RQ_SERVO_ENABLE
|
||||
};
|
||||
|
||||
assertRequestLength(rq, RQ_SERVO_ENABLE);
|
||||
usart.transmit(&rq[0], 0, sizeof(rq));
|
||||
|
||||
uint8_t aw;
|
||||
usart.receive(&aw, 0, sizeof(aw));
|
||||
assertCode(aw, MSG_OK);
|
||||
}
|
||||
|
||||
void B15F::setServoDisabled(void)
|
||||
{
|
||||
usart.clearInputBuffer();
|
||||
|
||||
uint8_t rq[] =
|
||||
{
|
||||
RQ_SERVO_DISABLE
|
||||
};
|
||||
|
||||
assertRequestLength(rq, RQ_SERVO_DISABLE);
|
||||
usart.transmit(&rq[0], 0, sizeof(rq));
|
||||
|
||||
uint8_t aw;
|
||||
usart.receive(&aw, 0, sizeof(aw));
|
||||
assertCode(aw, MSG_OK);
|
||||
}
|
||||
|
||||
void B15F::setServoPosition(uint16_t pos)
|
||||
{
|
||||
if(pos > 19000)
|
||||
throw DriverException("Impulslänge ist zu lang: " + std::to_string(pos));
|
||||
|
||||
usart.clearInputBuffer();
|
||||
|
||||
uint8_t rq[] =
|
||||
{
|
||||
RQ_SERVO_SET_POS,
|
||||
static_cast<uint8_t >(pos & 0xFF),
|
||||
static_cast<uint8_t >(pos >> 8)
|
||||
};
|
||||
|
||||
assertRequestLength(rq, RQ_SERVO_SET_POS);
|
||||
usart.transmit(&rq[0], 0, sizeof(rq));
|
||||
|
||||
uint8_t aw;
|
||||
usart.receive(&aw, 0, sizeof(aw));
|
||||
assertCode(aw, MSG_OK);
|
||||
}
|
||||
|
||||
/*************************/
|
||||
|
||||
|
||||
/**********************
|
||||
* Private Funktionen *
|
||||
**********************/
|
||||
|
||||
B15F::B15F()
|
||||
{
|
||||
init();
|
||||
}
|
||||
|
||||
|
||||
void B15F::init()
|
||||
{
|
||||
|
||||
#ifdef __arm__
|
||||
// Raspberry Pi serial interface
|
||||
std::string device = exec("bash -c 'ls /dev/ttyAMA* 2> /dev/null'");
|
||||
#else
|
||||
// normal PC serial interface
|
||||
std::string device = exec("bash -c 'ls /dev/ttyUSB* 2> /dev/null'");
|
||||
#endif
|
||||
|
||||
while (device.find(' ') != std::string::npos || device.find('\n') != std::string::npos ||
|
||||
device.find('\t') != std::string::npos)
|
||||
device.pop_back();
|
||||
|
||||
if (device.length() == 0)
|
||||
abort("Adapter nicht gefunden");
|
||||
|
||||
std::cout << PRE << "Verwende Adapter: " << device << std::endl;
|
||||
|
||||
|
||||
std::cout << PRE << "Stelle Verbindung mit Adapter her... " << std::flush;
|
||||
usart.setBaudrate(BAUDRATE);
|
||||
usart.openDevice(device);
|
||||
std::cout << "OK" << std::endl;
|
||||
|
||||
|
||||
std::cout << PRE << "Teste Verbindung... " << std::flush;
|
||||
uint8_t tries = 3;
|
||||
while (tries--)
|
||||
{
|
||||
// verwerfe Daten, die µC noch hat
|
||||
//discard();
|
||||
|
||||
if (!testConnection())
|
||||
continue;
|
||||
|
||||
if (!testIntConv())
|
||||
continue;
|
||||
|
||||
break;
|
||||
}
|
||||
if (tries == 0)
|
||||
abort("Verbindungstest fehlgeschlagen. Neueste Version im Einsatz?");
|
||||
std::cout << "OK" << std::endl;
|
||||
|
||||
|
||||
// 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;
|
||||
}
|
||||
|
|
@ -27,6 +27,10 @@
|
|||
|
||||
typedef std::function<void(std::exception&)> errorhandler_t;
|
||||
|
||||
// Wrapper für Codeposition-Ersetzung
|
||||
#define assertCode(code, expectation) assertCodeFunc(code, expectation, &__FUNCTION__[0], &__FILE__[0], __LINE__)
|
||||
#define assertRequestLength(rq, rq_num) assertRequestLengthFunc(rq, rq_num,& __FUNCTION__[0], &__FILE__[0], __LINE__)
|
||||
|
||||
|
||||
/*! main driver class */
|
||||
|
||||
|
|
@ -60,13 +64,13 @@ public:
|
|||
* Testet die USART Verbindung auf Funktion
|
||||
* \throws DriverException
|
||||
*/
|
||||
bool testConnection(void);
|
||||
void testConnection(void);
|
||||
|
||||
/**
|
||||
* Testet die Integer Konvertierung der USART Verbindung
|
||||
* \throws DriverException
|
||||
*/
|
||||
bool testIntConv(void);
|
||||
void testIntConv(void);
|
||||
|
||||
/**
|
||||
* Liefert Informationen zur aktuellen Firmware des B15
|
||||
|
|
@ -330,10 +334,10 @@ private:
|
|||
* \throws DriverException
|
||||
*/
|
||||
template<typename CodeType, typename ExpectationType>
|
||||
void assertCode(CodeType& code, ExpectationType expectation) const
|
||||
void assertCodeFunc(CodeType& code, ExpectationType expectation, const char* func, const char* file, int line) const
|
||||
{
|
||||
if(code != static_cast<CodeType>(expectation))
|
||||
throw DriverException("Ungültige Antwort erhalten: " + std::to_string((int) code) + " (erwartet: " + std::to_string((int) expectation) + ")");
|
||||
throw DriverException("Ungültige Antwort erhalten: " + std::to_string((int) code) + " (erwartet: " + std::to_string((int) expectation) + ") in " + std::string(func) + ": " + std::string(file) + "#" + std::to_string(line));
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -341,10 +345,10 @@ private:
|
|||
* \throws DriverException
|
||||
*/
|
||||
template<size_t RequestLength>
|
||||
void assertRequestLength(uint8_t (&)[RequestLength], uint8_t rq_num)
|
||||
void assertRequestLengthFunc(uint8_t (&)[RequestLength], uint8_t rq_num, const char* func, const char* file, int line)
|
||||
{
|
||||
if(RequestLength != rq_len[rq_num])
|
||||
throw DriverException("Ungültige Request Länge: " + std::to_string(RequestLength) + " (erwartet: " + std::to_string(rq_len[rq_num]) + ")");
|
||||
throw DriverException("Ungültige Request Länge: " + std::to_string(RequestLength) + " (erwartet: " + std::to_string(rq_len[rq_num]) + ") in " + std::string(func) + ": " + std::string(file) + "#" + std::to_string(line));
|
||||
}
|
||||
|
||||
USART usart; //!< USART Instanz für serielle Verbindung
|
||||
|
|
|
|||
|
|
@ -1,355 +0,0 @@
|
|||
#ifndef B15F_H
|
||||
#define B15F_H
|
||||
|
||||
#include <iostream>
|
||||
#include <bits/stdc++.h>
|
||||
#include <string>
|
||||
#include <fstream>
|
||||
#include <cstdlib>
|
||||
#include <chrono>
|
||||
#include <cstdint>
|
||||
#include <vector>
|
||||
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <termios.h>
|
||||
|
||||
#include "requests.h"
|
||||
#include "usart.h"
|
||||
#include "driverexception.h"
|
||||
#include "timeoutexception.h"
|
||||
|
||||
// wichtig für die Register-Zugriffe
|
||||
#define _AVR_IO_H_ 1 // Erzwinge die Inklusion
|
||||
#include "/usr/lib/avr/include/avr/sfr_defs.h"
|
||||
#include "/usr/lib/avr/include/avr/iom1284p.h"
|
||||
|
||||
typedef std::function<void(std::exception&)> errorhandler_t;
|
||||
|
||||
|
||||
/*! main driver class */
|
||||
|
||||
class B15F
|
||||
{
|
||||
public:
|
||||
|
||||
/*************************************
|
||||
* Grundfunktionen des B15F Treibers *
|
||||
*************************************/
|
||||
|
||||
/**
|
||||
* Liefert eine Referenz zur aktuellen Treiber-Instanz, die Verbindung wird gegebenenfalls automatisch hergestellt.
|
||||
* @throws DriverException
|
||||
*/
|
||||
static B15F& getInstance(void);
|
||||
|
||||
/**
|
||||
* Versucht die Verbindung zum B15 wiederherzustellen
|
||||
* \throws DriverException
|
||||
*/
|
||||
void reconnect(void);
|
||||
|
||||
/**
|
||||
* Verwirft Daten im USART Puffer auf dieser Maschine und B15
|
||||
* \throws DriverException
|
||||
*/
|
||||
void discard(void);
|
||||
|
||||
/**
|
||||
* Testet die USART Verbindung auf Funktion
|
||||
* \throws DriverException
|
||||
*/
|
||||
bool testConnection(void);
|
||||
|
||||
/**
|
||||
* Testet die Integer Konvertierung der USART Verbindung
|
||||
* \throws DriverException
|
||||
*/
|
||||
bool testIntConv(void);
|
||||
|
||||
/**
|
||||
* Liefert Informationen zur aktuellen Firmware des B15
|
||||
* \throws DriverException
|
||||
*/
|
||||
std::vector<std::string> getBoardInfo(void);
|
||||
|
||||
/**
|
||||
* Lässt den Treiber für eine angegebene Zeit pausieren
|
||||
* \param ms Verzögerung in Millisekunden
|
||||
*/
|
||||
void delay_ms(uint16_t ms);
|
||||
|
||||
/**
|
||||
* Lässt den Treiber für eine angegebene Zeit pausieren
|
||||
* \param us Verzögerung in Microsekunden
|
||||
*/
|
||||
void delay_us(uint16_t us);
|
||||
|
||||
/**
|
||||
* Invertiert das Bitmuster eines Bytes
|
||||
* z.B.: 10100001 --> 10000101
|
||||
* \param b Byte, das invertiert wird
|
||||
*/
|
||||
void reverse(uint8_t& b);
|
||||
|
||||
/**
|
||||
* Führt ein Befehl auf dieser Maschine aus und liefert stdout zurück
|
||||
* \param cmd Der Befehl
|
||||
*/
|
||||
static std::string exec(std::string cmd);
|
||||
|
||||
/**
|
||||
* Multithread sicherer Abbruch des B15F-Treibers
|
||||
* \param msg Beschreibung der Abbruchursache
|
||||
*/
|
||||
static void abort(std::string msg);
|
||||
|
||||
/**
|
||||
* Multithread sicherer Abbruch des B15F-Treibers
|
||||
* \param ex Exception als Abbruchursache
|
||||
*/
|
||||
static void abort(std::exception& ex);
|
||||
|
||||
/**
|
||||
* Setzt eine Fehlerbehandlungsroutine für den Treiberabbruch (abort)
|
||||
* \param func Funktion, die Exception als Parameter bekommt
|
||||
*/
|
||||
static void setAbortHandler(errorhandler_t func);
|
||||
|
||||
/*************************************/
|
||||
|
||||
|
||||
|
||||
/*************************
|
||||
* Steuerbefehle für B15 *
|
||||
*************************/
|
||||
|
||||
/**
|
||||
* Versetzt das Board in den Selbsttest-Modus
|
||||
* WICHTIG: Es darf dabei nichts an den Klemmen angeschlossen sein!
|
||||
* \throws DriverException
|
||||
*/
|
||||
void activateSelfTestMode(void);
|
||||
|
||||
/**
|
||||
* Setzt den Wert des digitalen Ausgabeports 0
|
||||
* \param port Wert für gesamten Port
|
||||
* \throws DriverException
|
||||
*/
|
||||
void digitalWrite0(uint8_t);
|
||||
|
||||
/**
|
||||
* Setzt den Wert des digitalen Ausgabeports 1
|
||||
* \param port Wert für gesamten Port
|
||||
* \throws DriverException
|
||||
*/
|
||||
void digitalWrite1(uint8_t);
|
||||
|
||||
/**
|
||||
* Liest den Wert des digitalen Eingabeports 0
|
||||
* \return Wert für gesamten Port
|
||||
* \throws DriverException
|
||||
*/
|
||||
uint8_t digitalRead0(void);
|
||||
|
||||
/**
|
||||
* Liest den Wert des digitalen Eingabeports 1
|
||||
* \return Wert für gesamten Port
|
||||
* \throws DriverException
|
||||
*/
|
||||
uint8_t digitalRead1(void);
|
||||
|
||||
/**
|
||||
* Liest den Wert des digitalen Eingabeports, an dem der DIP-switch angeschlossen ist (S7)
|
||||
* \return Wert für gesamten Port
|
||||
* \throws DriverException
|
||||
*/
|
||||
uint8_t readDipSwitch(void);
|
||||
|
||||
/**
|
||||
* Setzt den Wert des Digital-Analog-Converters (DAC / DAU) 0
|
||||
* \param port 10-Bit Wert
|
||||
* \throws DriverException
|
||||
*/
|
||||
void analogWrite0(uint16_t port);
|
||||
|
||||
/**
|
||||
* Setzt den Wert des Digital-Analog-Converters (DAC / DAU) 1
|
||||
* \param port 10-Bit Wert
|
||||
* \throws DriverException
|
||||
*/
|
||||
void analogWrite1(uint16_t port);
|
||||
|
||||
/**
|
||||
* Liest den Wert des Analog-Digital-Converters (ADC / ADU)
|
||||
* \param channel Kanalwahl von 0 - 7
|
||||
* \throws DriverException
|
||||
*/
|
||||
uint16_t analogRead(uint8_t channel);
|
||||
|
||||
/**
|
||||
* DAC 0 wird auf den Startwert gesetzt und dann schrittweise um Delta inkrementiert.
|
||||
* Für jeden eingestelleten DAC-Wert werden zwei ADCs (channel_a und channel_b) angesprochen und die Werte übermittelt.
|
||||
* Die Werte werden in buffer_a für Kanal a und buffer_b für Kanal b gespeichert.
|
||||
* \param channel_a Auswahl des ADC a, von 0 - 7
|
||||
* \param buffer_a Speichertort für Werte des Kanals a
|
||||
* \param offset_a Anzahl an Werten des Kanals a, die im Speicher übersprungen werden sollen
|
||||
* \param channel_b Auswahl des ADC b, von 0 - 7
|
||||
* \param buffer_b Speichertort für Werte des Kanals b
|
||||
* \param offset_b Anzahl an Werten des Kanals b, die im Speicher übersprungen werden
|
||||
* \param start Startwert des DACs
|
||||
* \param delta Schrittweite, mit welcher der DAC inkrementiert wird
|
||||
* \param count Anzahl an Inkrementierungen
|
||||
* \throws DriverException
|
||||
*/
|
||||
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);
|
||||
|
||||
/**
|
||||
* Frequenz von PWM an PB4.
|
||||
* Setzt die Register so, dass näherungsweise die gewünschte Frequenz erzeugt wird.
|
||||
* Ist freq == 0 wird PWM deaktiviert.
|
||||
* Standardfrequenz: 31300 (empfohlen, da dann TOP == 255)
|
||||
* \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 an PB4.
|
||||
* \param value PWM Wert [0..TOP]
|
||||
* \throws DriverException
|
||||
*/
|
||||
void pwmSetValue(uint8_t value);
|
||||
|
||||
/**
|
||||
* Setzt direkt den Wert einer MCU Speicherzelle der Größe 8 Bit.
|
||||
* Diese kann ein Register oder RAM-Daten sein.
|
||||
* *Wichtig:* bei einer falschen Adresse kann das Board 15 ernsthaften Schaden nehmen!
|
||||
* \param adr Speicheradresse
|
||||
* \param val Neuer Wert für die Zelle
|
||||
* \return true, falls Vorgang erfolgreich
|
||||
*/
|
||||
void setMem8(volatile uint8_t* adr, uint8_t val);
|
||||
|
||||
/**
|
||||
* Liefert den Wert einer MCU Speicherzelle der Größe 8 Bit.
|
||||
* Diese kann ein Register oder RAM-Daten sein.
|
||||
* \param adr Speicheradresse
|
||||
* \return Wert der Speicherzelle
|
||||
*/
|
||||
uint8_t getMem8(volatile uint8_t* adr);
|
||||
|
||||
/**
|
||||
* Setzt direkt den Wert einer MCU Speicherzelle der Größe 16 Bit.
|
||||
* Diese kann ein Register oder RAM-Daten sein.
|
||||
* *Wichtig:* bei einer falschen Adresse kann das Board 15 ernsthaften Schaden nehmen!
|
||||
* \param adr Speicheradresse
|
||||
* \param val Neuer Wert für die Zelle
|
||||
* \throws DriverException
|
||||
*/
|
||||
void setMem16(volatile uint16_t* adr, uint16_t val);
|
||||
|
||||
/**
|
||||
* Liefert den Wert einer MCU Speicherzelle der Größe 16 Bit.
|
||||
* Diese kann ein Register oder RAM-Daten sein.
|
||||
* \param adr Speicheradresse
|
||||
* \return Wert der Speicherzelle
|
||||
*/
|
||||
uint16_t getMem16(volatile uint16_t* adr);
|
||||
|
||||
/**
|
||||
* Diese Funktion ist ein Alias für setMem8().
|
||||
* *Wichtig:* bei einer falschen Adresse kann das Board 15 ernsthaften Schaden nehmen!
|
||||
* \param adr Speicheradresse
|
||||
* \param val Neuer Wert für das Register
|
||||
* \throws DriverException
|
||||
*/
|
||||
void setRegister(volatile uint8_t* adr, uint8_t val);
|
||||
|
||||
/**
|
||||
* Diese Funktion ist ein Alias für getMem8().
|
||||
* \param adr Speicheradresse
|
||||
* \return Wert des Registers
|
||||
*/
|
||||
uint8_t getRegister(volatile uint8_t* adr);
|
||||
|
||||
/**
|
||||
* Liefert die Adresse des ersten Interrupt Counters (BASISR).
|
||||
* \return Adresse (in der MCU)
|
||||
*/
|
||||
uint16_t* getInterruptCounterOffset(void);
|
||||
|
||||
/**
|
||||
* Aktiviert das Servo Signal an PB2 und Initialisiert es mit 1,5ms Pulselänge.
|
||||
* \throws DriverException
|
||||
*/
|
||||
void setServoEnabled(void);
|
||||
|
||||
/**
|
||||
* Deaktiviert das Servo Signal an PB2.
|
||||
* \throws DriverException
|
||||
*/
|
||||
void setServoDisabled(void);
|
||||
|
||||
/**
|
||||
* Setzt die Pulselänge des Servo Signals und damit die Position.
|
||||
* \param pos Pulselänge des Signals in Mikrosekunden
|
||||
* \throws DriverException
|
||||
*/
|
||||
void setServoPosition(uint16_t pos);
|
||||
|
||||
/*************************/
|
||||
|
||||
|
||||
// CONSTANTS
|
||||
const std::string PRE = "[B15F] "; //!< B15F stdout prefix
|
||||
constexpr static uint8_t MSG_OK = 0xFF; //!< Value to acknowledge a received command
|
||||
constexpr static uint8_t MSG_FAIL = 0xFE; //!< Value to reject a received command
|
||||
constexpr static uint16_t RECONNECT_TIMEOUT = 64; //!< Time in ms after which a reconnect attempt aborts
|
||||
constexpr static uint16_t WDT_TIMEOUT = 15; //!< Time in ms after which the watch dog timer resets the MCU
|
||||
constexpr static uint8_t RECONNECT_TRIES = 3; //!< Maximum count of reconnect attempts after which the driver stops
|
||||
constexpr static uint32_t BAUDRATE = 57600; //!< USART baudrate for communication with the MCU
|
||||
|
||||
private:
|
||||
|
||||
/**
|
||||
* Privater Konstruktor
|
||||
*/
|
||||
B15F(void);
|
||||
|
||||
/**
|
||||
* Initialisiert und testet die Verbindung zum B15
|
||||
* \throws DriverException
|
||||
*/
|
||||
void init(void);
|
||||
|
||||
/**
|
||||
* Wirft eine Exception, falls der Code ungleich dem erwarteten Wert ist.
|
||||
* \throws DriverException
|
||||
*/
|
||||
template<typename CodeType, typename ExpectationType>
|
||||
void assertCode(CodeType& code, ExpectationType expectation) const
|
||||
{
|
||||
if(code != static_cast<CodeType>(expectation))
|
||||
throw DriverException("Ungültige Antwort erhalten: " + std::to_string((int) code) + " (erwartet: " + std::to_string((int) expectation) + ")");
|
||||
}
|
||||
|
||||
/**
|
||||
* Wirft eine Exception, falls die Request die falsche Länge hat.
|
||||
* \throws DriverException
|
||||
*/
|
||||
template<size_t RequestLength>
|
||||
void assertRequestLength(uint8_t (&)[RequestLength], uint8_t rq_num)
|
||||
{
|
||||
if(RequestLength != rq_len[rq_num])
|
||||
throw DriverException("Ungültige Request Länge: " + std::to_string(RequestLength) + " (erwartet: " + std::to_string(rq_len[rq_num]) + ")");
|
||||
}
|
||||
|
||||
USART usart; //!< USART Instanz für serielle Verbindung
|
||||
static B15F* instance; //!< private Instanz für Singleton
|
||||
static errorhandler_t errorhandler; //!< Error Handler für Exceptions und Fehler
|
||||
};
|
||||
|
||||
#endif // B15F_H
|
||||
Loading…
Add table
Add a link
Reference in a new issue