removed unused timeout
This commit is contained in:
Tristan Krause
parent
8d00bb0600
commit
63d81c6e7e
4 changed files with 45 additions and 407 deletions
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@ -229,7 +229,7 @@ uint16_t B15F::analogRead(uint8_t channel)
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channel
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};
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int n_sent = usart.receive(&rq[0], 0, sizeof(rq), 1000);
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int n_sent = usart.receive(&rq[0], 0, sizeof(rq));
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if(n_sent != sizeof(rq))
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abort("Sent failed");
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@ -302,7 +302,7 @@ uint8_t B15F::pwmSetFrequency(uint32_t freq)
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static_cast<uint8_t>((freq >> 24) & 0xFF)
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};
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int n_sent = usart.receive(&rq[0], 0, sizeof(rq), 1000);
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int n_sent = usart.receive(&rq[0], 0, sizeof(rq));
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if(n_sent != sizeof(rq))
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abort("Sent failed");
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@ -321,7 +321,7 @@ bool B15F::pwmSetValue(uint8_t value)
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value
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};
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int n_sent = usart.receive(&rq[0], 0, sizeof(rq), 1000);
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int n_sent = usart.receive(&rq[0], 0, sizeof(rq));
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if(n_sent != sizeof(rq))
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abort("Sent failed");
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@ -341,7 +341,7 @@ bool B15F::setRegister(uint8_t adr, uint8_t val)
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val
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};
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int n_sent = usart.receive(&rq[0], 0, sizeof(rq), 1000);
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int n_sent = usart.receive(&rq[0], 0, sizeof(rq));
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if(n_sent != sizeof(rq))
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abort("Sent failed");
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@ -360,7 +360,7 @@ uint8_t B15F::getRegister(uint8_t adr)
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adr
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};
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int n_sent = usart.receive(&rq[0], 0, sizeof(rq), 1000);
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int n_sent = usart.receive(&rq[0], 0, sizeof(rq));
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if(n_sent != sizeof(rq))
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abort("Sent failed");
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@ -57,13 +57,6 @@ void USART::flushOutputBuffer()
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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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@ -92,7 +85,7 @@ void USART::writeU32(uint32_t w)
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throw USARTException("Fehler beim Senden: writeU32()");
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}
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int USART::transmit(uint8_t *buffer, uint16_t offset, uint8_t len, uint32_t timeout)
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int USART::transmit(uint8_t *buffer, uint16_t offset, uint8_t len)
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{
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uint32_t elapsed = 0;
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int n_read = -1;
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@ -111,7 +104,7 @@ int USART::transmit(uint8_t *buffer, uint16_t offset, uint8_t len, uint32_t time
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return 0;
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}
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int USART::receive(uint8_t *buffer, uint16_t offset, uint8_t len, uint32_t timeout)
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int USART::receive(uint8_t *buffer, uint16_t offset, uint8_t len)
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{
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uint32_t elapsed = 0;
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int n_sent = -1;
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@ -130,89 +123,6 @@ int USART::receive(uint8_t *buffer, uint16_t offset, uint8_t len, uint32_t timeo
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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 = receive(&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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receive(&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 = transmit(&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 = transmit(&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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{
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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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@ -237,78 +147,6 @@ uint16_t USART::readInt(void)
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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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@ -54,11 +54,6 @@ public:
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*/
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void flushOutputBuffer(void);
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/**
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* Gibt Anzahl an erfolgreichen und fehlgeschlagenen Block-Übertragungen an
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*/
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void printStatistics(void);
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/*************************************************/
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@ -100,11 +95,8 @@ public:
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*/
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uint16_t readInt(void);
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int transmit(uint8_t *buffer, uint16_t offset, uint8_t len, uint32_t timeout);
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int receive(uint8_t *buffer, uint16_t offset, uint8_t len, uint32_t timeout);
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void writeBlock(uint8_t* buffer, uint16_t offset, uint8_t len);
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bool readBlock(uint8_t* buffer, uint16_t offset);
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int transmit(uint8_t *buffer, uint16_t offset, uint8_t len);
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int receive(uint8_t *buffer, uint16_t offset, uint8_t len);
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/*************************************/
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