save
This commit is contained in:
Tristan Krause
parent
e5f0386dc1
commit
78e8ab5d1c
199 changed files with 1 additions and 15249 deletions
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@ -1,444 +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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B15F::B15F() {
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init();
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}
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void B15F::init() {
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std::string device = exec("bash -c 'ls /dev/ttyUSB*'");
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while (device.find(' ') != std::string::npos || device.find('\n') != std::string::npos ||
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device.find('\t') != std::string::npos)
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device.pop_back();
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if (device.length() == 0)
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abort("Adapter nicht gefunden");
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std::cout << PRE << "Verwende Adapter: " << device << std::endl;
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std::cout << PRE << "Stelle Verbindung mit Adapter her... " << std::flush;
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usart.setBaudrate(BAUDRATE);
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usart.openDevice(device);
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std::cout << "OK" << std::endl;
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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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// verwerfe Daten, die µC noch hat
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//discard();
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if (!testConnection())
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continue;
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if (!testIntConv())
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continue;
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break;
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}
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if (tries == 0)
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abort("Verbindungstest fehlgeschlagen. Neueste Version im Einsatz?");
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std::cout << "OK" << std::endl;
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// Gib board info aus
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std::vector<std::string> info = getBoardInfo();
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std::cout << PRE << "AVR Firmware Version: " << info[0] << " um " << info[1] << " Uhr (" << info[2] << ")"
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<< std::endl;
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}
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void B15F::reconnect() {
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uint8_t tries = RECONNECT_TRIES;
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while (tries--) {
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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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try {
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uint8_t rq[] =
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{
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RQ_DISC
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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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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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abort(ex);
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}
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}
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bool B15F::testConnection() {
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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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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,
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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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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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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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bool B15F::activateSelfTestMode() {
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uint8_t rq[] =
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{
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RQ_ST
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};
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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 == MSG_OK;
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}
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bool B15F::digitalWrite0(uint8_t port) {
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uint8_t rq[] =
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{
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RQ_BA0,
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port
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};
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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 == MSG_OK;
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}
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bool B15F::digitalWrite1(uint8_t port) {
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uint8_t rq[] =
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{
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RQ_BA1,
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port
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};
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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 == MSG_OK;
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}
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uint8_t B15F::digitalRead0() {
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usart.clearInputBuffer();
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uint8_t rq[] =
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{
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RQ_BE0
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};
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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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usart.clearInputBuffer();
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uint8_t rq[] =
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{
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RQ_BE1
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};
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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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usart.clearInputBuffer();
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uint8_t rq[] =
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{
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RQ_DSW
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};
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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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bool B15F::analogWrite0(uint16_t value) {
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uint8_t rq[] =
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{
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RQ_AA0,
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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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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 == MSG_OK;
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}
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bool B15F::analogWrite1(uint16_t value) {
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uint8_t rq[] =
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{
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RQ_AA1,
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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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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 == MSG_OK;
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}
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uint16_t B15F::analogRead(uint8_t channel) {
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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_ADC,
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channel
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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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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
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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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// 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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usart.transmit(&rq[0], 0, sizeof(rq));
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for (uint16_t i = 0; i < count; i++) {
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if (buffer_a) {
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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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} else {
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usart.drop(2);
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}
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if (buffer_b) {
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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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} else {
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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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if(aw != MSG_OK)
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abort("Sequenz unterbrochen");
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}
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uint8_t B15F::pwmSetFrequency(uint32_t freq) {
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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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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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bool B15F::pwmSetValue(uint8_t value) {
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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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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 == MSG_OK;
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}
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bool B15F::setRegister(uint8_t adr, uint8_t val) {
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usart.clearInputBuffer();
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uint8_t rq[] =
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{
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RQ_SET_REG,
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adr,
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val
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};
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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 == val;
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}
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uint8_t B15F::getRegister(uint8_t adr) {
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usart.clearInputBuffer();
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uint8_t rq[] =
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{
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RQ_GET_REG,
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adr
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};
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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::delay_ms(uint16_t ms) {
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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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std::this_thread::sleep_for(std::chrono::microseconds(us));
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}
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B15F &B15F::getInstance(void) {
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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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// https://stackoverflow.com/a/478960
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std::string B15F::exec(std::string cmd) {
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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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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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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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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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if (errorhandler)
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errorhandler(ex);
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else {
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std::cerr << "NOTICE: B15F::errorhandler not set" << std::endl;
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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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errorhandler = func;
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}
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@ -1,139 +0,0 @@
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#include <stdexcept>
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#include "usart.h"
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USART::~USART()
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{
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closeDevice();
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}
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void USART::openDevice(std::string device)
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{
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// Benutze blockierenden Modus
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file_desc = open(device.c_str(), O_RDWR | O_NOCTTY);// | O_NDELAY
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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;
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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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code = fcntl(file_desc, F_SETFL, 0); // blockierender Modus
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if (code)
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throw USARTException("Fehler beim Aktivieren des blockierenden Modus'");
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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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if (file_desc > 0)
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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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file_desc = -1;
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}
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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::transmit(uint8_t *buffer, uint16_t offset, uint8_t len)
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{
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int code = write(file_desc, buffer + offset, len);
|
||||
if (code != len)
|
||||
throw USARTException(
|
||||
std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__) +
|
||||
", " + strerror(code) + " (code " + std::to_string(code) + " / " + std::to_string(len) + ")");
|
||||
}
|
||||
|
||||
void USART::receive(uint8_t *buffer, uint16_t offset, uint8_t len)
|
||||
{
|
||||
int bytes_avail, code;
|
||||
auto start = std::chrono::steady_clock::now();
|
||||
auto end = std::chrono::steady_clock::now();
|
||||
do
|
||||
{
|
||||
code = ioctl(file_desc, FIONREAD, &bytes_avail);
|
||||
if (code)
|
||||
throw USARTException(
|
||||
std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__) +
|
||||
", " + strerror(code) + " (code " + std::to_string(code) + ")");
|
||||
|
||||
end = std::chrono::steady_clock::now();
|
||||
long elapsed =
|
||||
std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count() / 100; // in Dezisekunden
|
||||
if (elapsed >= timeout)
|
||||
throw TimeoutException(
|
||||
std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__) +
|
||||
", " + std::to_string(elapsed) + " / " + std::to_string(timeout) + " ds");
|
||||
}
|
||||
while (bytes_avail < len);
|
||||
|
||||
code = read(file_desc, buffer + offset, len);
|
||||
if (code != len)
|
||||
throw USARTException(
|
||||
std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__) +
|
||||
", " + strerror(code) + " (code " + std::to_string(code) + " / " + std::to_string(len) + ")");
|
||||
}
|
||||
|
||||
void USART::drop(uint8_t len)
|
||||
{
|
||||
// Kann bestimmt noch eleganter gelöst werden
|
||||
uint8_t dummy[len];
|
||||
receive(&dummy[0], 0, len);
|
||||
}
|
||||
|
||||
uint32_t USART::getBaudrate()
|
||||
{
|
||||
return baudrate;
|
||||
}
|
||||
|
||||
uint8_t USART::getTimeout()
|
||||
{
|
||||
return timeout;
|
||||
}
|
||||
|
||||
void USART::setBaudrate(uint32_t baudrate)
|
||||
{
|
||||
this->baudrate = baudrate;
|
||||
}
|
||||
|
||||
void USART::setTimeout(uint8_t timeout)
|
||||
{
|
||||
this->timeout = timeout;
|
||||
}
|
||||
Loading…
Add table
Add a link
Reference in a new issue