From 58d59b00e21f447ebc98417f0b22321c6aded1e0 Mon Sep 17 00:00:00 2001
From: Tristan Krause <tristan.krause@stud.htwk-leipzig.de>
Date: Thu, 28 Mar 2019 15:22:17 +0100
Subject: [PATCH] verbesserte Stabilitaet

---
 B15F.elf     | Bin 13340 -> 13624 bytes
 B15F.hex     | 146 ++++++++++++++++++++++++++++-----------------------
 b15f.aws     |   2 +-
 requests.cpp |  24 +++++++--
 usart.cpp    |  22 ++++++++
 usart.h      |   2 +
 6 files changed, 126 insertions(+), 70 deletions(-)

diff --git a/B15F.elf b/B15F.elf
index 93dac8373c8ade165832f87f2d9e3347f8e07315..d3266c5a9f9e34bda1332b8dd7bad142228230cd 100644
GIT binary patch
delta 2492
zcmai$e{54#6vyv-uW#+v(siAnOpvZC+n8(}?KWU4urUY%!e*AJ2@4Abn45x8(Liu-
zzjPsx?UmbVG8Zs$;v`05X857FEkPHCgHAFHamqR%;fLt>p#gzezxTaY_IUo`UC!<O
zoOABI=bn3RyY{NX)v}Av^#|PU0;iP_CL$q(hj5U6V8YcYdN+nl;+RU4<JQ2oZf}{m
zN?aj6BrX$|h{fVU@kw#MSRj^*&xuK%8QtNr!3$@5PWB{4K8$=3IX8NjZsfd)wc@G#
zAI$x?>_LZU3pUe_xmIq7=JVd{TJTlD795A9nry)wND-tQQUTcj*$UYOY3mB`znY|X
zqW8j!XdhWSR-Rar7XRm(-n*PDQgnHQlk4jOy@c6i*yp_09%%6H$fz4{%8(<WP;)5L
zTNmYfJ>JZW2Cq?*8_5r4gc`gqcr<w%{xjpgef9r2X!cBRdZ?__a_!4-EGQR(V&i56
zSQqFcmXIrQJxr_3^N@^>%p193YPC#_8xpF#b?0fRCB@uuE)cN?hv*8+)8epjlxwCv
zmQ=WXZJCKFqn2!m43fc<ht3|-JcYwKu~DZs8WwhOs%}`=et)!*+dQUfi-k+=mE7g_
zLECLelE*fAy7=v1hq-2DZztaws>yCt#zlNv<BrDa`_$gJv!apjZCyBetus^->E<@C
zl~${Z)(G`UH^Ygt`Zp2?2WA8k15tTQ9+AUxk9<JhE4Rv)kbTmO>1@N28x!GN2-|}@
z$(hmPk=^_h8i|j?Q7^{NEUFdlD1%{Gx0=qN-(dO?eTC^X`f^hkeUWJZeU7OgeX6Ms
z{kU)p{Z*kCeH(oyVT(Dx(3e~2&!hbbPjy+Wm6Q3;6S}HhIUMh>(zeuEXQu@Z0|oEI
zvsj19FSgJucP;O<(*5oQ{6RClf{#2a%}U!OJrYmIG|hJqujnVdmeU$v0XKo|8WVw#
z1W2*Q(=c|jmxboSUYU&914MI>>(N4Rw~An%ECuJ`akA#XVx<C+9#~)v9EeG=D+|01
z{s$W%4&^WsSij*;1HTWBZO8)J18zVv(zW?rU^fC_F()B_BZ5Ro3N}p898MV){282q
z3HVSZj9}n_|FfF^ErY)Rn?Arq1GBv@V6KA+&y!ga6ok~X4oVX#0Dq;szU7KtF~iQ2
za<G1bN-#SSYYv>N2Aqd0y$WX6udc6{l`E1B^Q8|Aici4$D>w$ehxD*|ViBJPuhFIS
zBKTe0Ppl@Q;G^n(O2CuE2d{7{_>P&7W$;0O63K$%1RzD*U_SUW6kV3;K+3=qClp8p
z*oA;vH2XTRJ|nMyr{ID&Y4)vPRzMz&cQDqPi%8d_LBj%j4ZNRCz^PbcRsB8qhAsmm
z2LIo{S=>a;{9&-)(X)im;&9pyD3@acc4x`pH?g5jV>dWf)vN|`!LQ;(F?)%@UJ8yb
z!elfT0)8Isf&WS{TfZ9IgbZy1OHA=L6cZ`tls7+w%3i8X*nnUr-mQu3fxkZGpMnQ;
z8TrOwPse@RweJNNYN#Lf7Ipo(N<`<O@aR%@3EashX#tFbvvqdCObap}lWcHNf7;cX
znW@`{)#~G5eVlU*ycoP4i9t0fVY~odiMWb2-eT~t2eW@JSi@tJNDCBaAZ{pFB0DhF
zf1Mlw>jU@>jP;eqO6eD{`t7D3;3ilfP&|^VpFbIV5SO8T{Uq}w4T@Y{VrF%%pLL0M
z%*lQ0wU^#lU;Ogs7i*T3R#kN^p8dB-3w=(0pOvoiWwD=vZ9X@D+)DTO(%DC!FP*zh
zfA?jG^H5g1X^}sf&h|U_6UlUeKV7_u*O@}ge93e>l#?E%El?itp?(zQfZri@OebWJ
Tj`}?h<K;eqxMB^JrnG+n;fwGJ

delta 2188
zcmZ9Ne@q-j6vt<0cH!<gkK?o$36$fw9zx_-?}`aYf1L@ThClrAk5&`4hEQqJR$~2w
z)Sd`hQ`>UqT>YI=qfP3Mq-~BUQ3PT`BMt3Q(h^!idm@@PZ9=SVh*iYz+uMWfPV#2w
z^X9#oH*enV_O*VtHR|OLtd9A7bzTQ!BpPFkLlj6am?>}SdLM=)S)?*#!Vzm9sGd|W
zs^jXXYEm6lN7U2mDRoHwNu5%!sCoY4f#lrS?3KZ@gL$bVsgtSH%w5@{ROf2ixi#mr
zN9JAe4^?N}C66lI$~L)%S66D9Gu|nj@i?RpG7Oo7+<@GMEI{1wDTUM~VtiVa8*Cvs
z@3OThZF1W75XSSiRp^WCo3u93uk4jEdkN+a*h!nPS4Q5NiKSfeZQ|Xk%;+Oy)Fy5!
zX<eImerdE{*)f;ahQ*P?FDjoO9&?_6<oQQeOl!_N1Ik`~MGrrAXlrGsKHkW8E3Yh#
z_bcBUt8Ef}YnO&+?wcy2CH}pY-r#C187q$E#ulS<(W}v9bTE26+7s=LI^$vCioeGu
zfBhx(KF^m`JPSv;<XE*)(_F~KRMLg4Orl>97t!Aq<LGaQB>G7)ihfv(pzjl>(Z|Ip
z^qpb|eXU%dvnxAT9}L!qYUGbOYZaE5&v|JD@3$v5msBZyr9<xX?eR=xGv>j)dr%!)
zPyjo#WkKm4?sdpdO4sq(EO{A^utOI3w?`Umj1?NTV<@IB6phQ^Kfn&bSlD2Wv4;u@
z&5N~NV5&oEZuaM*7d((gFlUc|L#Rn=ZYEfr#Xl@qgfUg0*B5ve2LE9L?5hXgY;kzi
z!f${x8&W`B;1f7}!0`VV>_Y$)a~=Zd0T*CDikXtrE3m)$L_;trg99GA!!QPZI6P%I
zOoPq#*DZX<!gRP<__|3rXSra;I;ewAWrYzau9>c@MmNysVZd2E*t}r_m`+5^jdMK-
z-hwL}1=ER|P5zXT*Dd}X7LFVs2g8Z(@GFcR$Pd*IMcfD8XG-Z=@H@DlOila_?uRWk
z3ivOu`3e`o55vC^^Aw<4W9$sZ1!T{8gcU>aEsCzfFnAQad_ut<16SD@J7~-|g3TFu
z8k~;{-fqml0LDJdZ}1Lcqj_<__IvyzoV|UIg0m<&AZluqk&|FAQk*HOVT=8FaD}p5
zGZ!rLDGT2Oe+hXU>w6*y^=|;(lamx+8?uq9YD#H7cqdMjnXj<S*MS!|z!{BBxDM=x
zeG{10dji~r47D5lGB}gr2o+H)6c<pr4TeDzf?0lVRsEY_PI))%@0x1j3$S_KiMc}5
z5H&Aq=s4yNn${ly`xQN7W%_G&4vGm#=EL(F#+7LUeg1lutSes`xdnClkCwif9Me8j
zt9f8^97Pr`2k%B=C^SmUdT<ls3LE^K#l8hh|5R$oQ-r++MHa*d1uZ}?hWUHa12zZn
z4H)a|jY{cfaQf?(KENfgIiNX<|3BdGa2e^(&;6X)QHM3A#N;NLE3WZGOXZv<p9#8o
zuS2#5E9guALD0u19P)=?fF3i!fMS#OP#JH`k*h-ie%T{8hXRU_9ncjO$giP0R4d0r
Z0j(FmgCV&P@;_M4SP3@FG?b9u{s&XDa47%)

diff --git a/B15F.hex b/B15F.hex
index abe4f42..6e381a3 100644
--- a/B15F.hex
+++ b/B15F.hex
@@ -8,14 +8,14 @@
 :100070000C9489000C9489000C9489000C948900DC
 :100080000C9489000C9489000C948900E900EB0021
 :10009000ED00E400EF00F100F300F500F700F900D7
-:1000A000FB00FD00D804D504D2049B04CF04CC048B
-:1000B000C904C604C304C004BD04DB04DE04112467
+:1000A000FB00FD0051054E054B05140548054505AF
+:1000B00042053F053C053905360554055705112411
 :1000C0001FBECFEFD0E4DEBFCDBF11E0A0E0B1E0B6
-:1000D000E0E2FAE000E00BBF02C007900D92A2320E
+:1000D000E2E1FBE000E00BBF02C007900D92A2320C
 :1000E000B107D9F721E0A2E2B1E001C01D92A4332B
 :1000F000B207E1F710E0CFE5D0E004C02197FE01A0
-:100100000E940505CE35D107C9F70E9497040C94CB
-:100110000E050C94000083E391E00E94000160E072
+:100100000E947E05CE35D107C9F70E9410050C94D8
+:1001100087050C94000083E391E00E94000160E0F9
 :1001200080E391E00E9443016FEF80E391E00E9441
 :10013000640160E08DE291E00E9443016FEF8DE287
 :1001400091E00E9464016FEF8AE291E00E946401F5
@@ -24,12 +24,12 @@
 :10017000A895809160008861809360001092600073
 :100180000FBE08950FB6F894A8958091600088611D
 :1001900080936000109260000FBE82E291E00E94A6
-:1001A0006B03E82F98E088E10FB6F894A895809348
+:1001A000D403E82F98E088E10FB6F894A8958093DF
 :1001B00060000FBE90936000A8958E2F90E0FC0128
 :1001C0003197EC30F10508F00895EA5BFF4F0C948D
-:1001D00005050C9483030C9494030C94B8030C94BD
-:1001E000C5030C94D8030C94EB030C94F4030C9407
-:1001F000FD030C9410040C9423040C943104089512
+:1001D0007E050C94EC030C94FD030C9421040C9408
+:1001E0002E040C9441040C9454040C945D040C945F
+:1001F00066040C9479040C948C040C949A0408956D
 :1002000084B1806B84B926988AB18C618AB980E503
 :100210008CBD81E08DBD8BB1837E8BB95A9A5B9A80
 :100220005C9A08958BB1837E8BB98BB160FD10C051
@@ -107,60 +107,76 @@
 :1006A000C00085FFFCCF7093C60008958091C00004
 :1006B00085FFFCCF4093C6009FEF940F442351F079
 :1006C000FB0121918091C00085FFFCCF2093C600E3
-:1006D0009150B8F708958091C00087FFFCCF8091BA
-:1006E000C60008958091C00087FFFCCF2091C6000E
-:1006F00030E09091C00097FFFCCF8091C600A90127
-:10070000582BCA010895CF9382E291E00E946B03B7
-:10071000C82F6FEF82E291E00E9442036C2F82E2C9
-:1007200091E0CF910C94420363E082E291E00E9459
-:1007300042034CE066E171E082E291E00E945603E0
-:1007400049E06DE071E082E291E00E9456034CE0E6
-:1007500061E071E082E291E00E9456038091000125
-:10076000811101C008956FEF82E291E00C94420381
-:1007700082E291E00E947203BC01660F771F680F4E
-:10078000791F82E291E00C94490382E291E00E9499
-:100790006B03682F80E391E00E9485018091000146
-:1007A000811101C008956FEF82E291E00C94420341
-:1007B00082E291E00E946B03682F8DE291E00E943B
-:1007C000850180910001811101C008956FEF82E2DF
-:1007D00091E00C94420380E391E00E94EA01682FCB
-:1007E00082E291E00C9442038DE291E00E94EA01E2
-:1007F000682F82E291E00C94420382E291E00E9431
-:100800007203BC0187E291E00E9412028091000114
-:10081000811101C008956FEF82E291E00C944203D0
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-:10087000FF920F931F93CF93DF9382E291E00E9448
-:100880006B03882E82E291E00E946B03982E82E235
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-:1008B00091E00E944203A09E6001A19ED00CB09ED8
-:1008C000D00C1124CC15DD050CF5BE0187E291E0BA
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-:1009B0000E948303C0CF0E943104BDCF83E391E046
-:1009C0000E94FF0042E063E371E080E391E00E9457
-:1009D0003E0143E063E371E08DE291E00E943E015D
-:1009E00045E063E371E08AE291E00E943E0140E06D
-:1009F00063E371E087E291E00E940D0241E063E36E
-:100A000071E084E291E00C940D02EE0FFF1F0024D0
-:100A1000001C0BBE0790F691E02D0994F894FFCFCF
-:100A200001626F617264696E666F2E680031333ADD
-:100A300033333A3430004D61722032382032303155
-:020A400039007B
+:1006D0009150B8F708958091C00085FFFCCF4093FA
+:1006E000C6005FEF540F442309F45CC0FB0120E017
+:1006F00041E9DF0190818091C00085FFFCCF90939C
+:10070000C60031969C91822F892780FD842790E036
+:1007100095958795282F80FF02C0242F2827822FA8
+:1007200090E095958795282F80FF02C0242F2827D9
+:1007300030E035952795822F20FF02C0842F822735
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+:1007600090E095958795282F80FF02C0242F282799
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+:10084000420382E291E00E94DB03BC01660F771F46
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+:100860000E94D403682F80E391E00E94850180916B
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+:100900000E94120280910001811101C008956FEFD1
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+:10094000EF92FF920F931F93CF93DF9300D000D0CD
+:10095000CDB7DEB782E291E00E94D403B82E82E2E6
+:1009600091E00E94D403A82E82E291E00E94DB0372
+:100970008C0182E291E00E94DB037C0182E291E043
+:100980000E94DB034C016FEF82E291E00E94420380
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+:100A90000E942E04C9CF0E942104C6CF0E94FD03EC
+:100AA000C3CF0E94EC03C0CF0E949A04BDCF83E362
+:100AB00091E00E94FF0042E063E371E080E391E097
+:100AC0000E943E0143E063E371E08DE291E00E9409
+:100AD0003E0145E063E371E08AE291E00E943E015D
+:100AE00040E063E371E087E291E00E940D0241E0A3
+:100AF00063E371E084E291E00C940D02EE0FFF1FBE
+:100B00000024001C0BBE0790F691E02D0994F89488
+:020B1000FFCF15
+:100B120001626F617264696E666F2E680031353AE8
+:100B220032303A3334004D61722032382032303163
+:020B3200390088
 :00000001FF
diff --git a/b15f.aws b/b15f.aws
index 1407eab..1120d7e 100644
--- a/b15f.aws
+++ b/b15f.aws
@@ -1 +1 @@
-<AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA1284"/><Files><File00000 Name="F:\Makefile" Position="342 159 1436 523" LineCol="31 19" State="Maximized"/><File00001 Name="F:\main.cpp" Position="430 275 1528 643" LineCol="58 9" State="Maximized"/><File00002 Name="F:\requests.h" Position="294 71 1501 647" LineCol="10 0" State="Maximized"/><File00003 Name="F:\requests.cpp" Position="320 130 1418 498" LineCol="21 16" State="Maximized"/></Files></AVRWorkspace>
+<AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA1284"/><Files/></AVRWorkspace>
diff --git a/requests.cpp b/requests.cpp
index b9e5361..3a83465 100644
--- a/requests.cpp
+++ b/requests.cpp
@@ -96,10 +96,26 @@ void rqAdcDacStroke()
 	{
 		dac0.setValue(i);
 		wdt_reset();
-		uint16_t a = adu.getValue(channel_a);
-		uint16_t b = adu.getValue(channel_b);
-		usart.writeInt(a);
-		usart.writeInt(b);	
+
+		union doubleword
+		{
+			uint16_t word[2];
+			uint8_t  byte[4];
+		};
+
+		union doubleword dw;
+		dw.word[0] = adu.getValue(channel_a);
+		dw.word[1] = adu.getValue(channel_b);
+		
+		uint8_t ret = 0;
+		do
+		{
+			wdt_reset();
+			ret = usart.writeBlock(&(dw.byte[0]), 4);
+
+			if(ret == 0)
+				return;
+		} while(ret != USART::MSG_OK);
 	}
 	
 	usart.writeByte(USART::MSG_OK);
diff --git a/usart.cpp b/usart.cpp
index abe48b5..6f470b0 100644
--- a/usart.cpp
+++ b/usart.cpp
@@ -45,6 +45,28 @@ void USART::writeStr(const char* str, uint8_t len)
 		writeByte(*str++);
 }
 
+uint8_t USART::writeBlock(uint8_t* ptr, uint8_t len)
+{
+	writeByte(len);
+
+	uint8_t crc = 0;
+	while(len--)
+    {
+		writeByte(*ptr);
+		crc ^= *ptr++;
+		for (uint8_t i = 0; i < 8; i++)
+		{
+			if (crc & 1)
+				crc ^= CRC7_POLY;
+			crc >>= 1;
+		}
+	}
+
+	writeByte(crc);
+
+	return readByte();
+}
+
 uint8_t USART::readByte()
 {
 	while (!(UCSR0A & (1<<RXC0)));
diff --git a/usart.h b/usart.h
index d6acd76..df69993 100644
--- a/usart.h
+++ b/usart.h
@@ -6,6 +6,7 @@
 #include <stdint.h>
 
 constexpr uint32_t BAUDRATE = 115200; // 38400
+constexpr uint8_t  CRC7_POLY = 0x91;
 
 class USART
 {
@@ -16,6 +17,7 @@ public:
 	void writeInt(uint16_t);
 	void writeLong(uint32_t);
 	void writeStr(const char*, uint8_t);
+	uint8_t writeBlock(uint8_t*, uint8_t);
 	uint8_t readByte(void);
 	uint16_t readInt(void);
 	uint32_t readLong(void);