diff --git a/control/src/.idea/workspace.xml b/control/src/.idea/workspace.xml index e3f79b8..65a8c7a 100644 --- a/control/src/.idea/workspace.xml +++ b/control/src/.idea/workspace.xml @@ -12,7 +12,11 @@ + + + + - @@ -214,8 +228,8 @@ - - + + @@ -253,14 +267,7 @@ - - - - - - - - + @@ -274,10 +281,24 @@ + + + + + + + - - + + + + + + + + + diff --git a/control/src/Makefile b/control/src/Makefile index cd10e0f..953be6f 100644 --- a/control/src/Makefile +++ b/control/src/Makefile @@ -38,6 +38,8 @@ OBJECTS_CLI = cli.o ui/view.o ui/view_selection.o ui/view_promt.o ui/view_info # *** TARGETS *** +.PHONY: $(OUT_TMP_DRV) clean help + all: drv cli style doc drv: $(OBJECTS_DRV) $(OUT_TMP_DRV) @@ -78,7 +80,7 @@ help: @echo "make install . to install or update the lib and headers on this machine" @echo "make uninstall to remove the lib and headers on this machine" @echo "make clean ... to delete objects and executables" - + clean: @echo "Cleaning..." rm -f $(OBJECTS_DRV) $(OBJECTS_CLI) $(OUT_TMP_CLI) $(OUT_TMP_DRV) diff --git a/control/src/drv/b15f.cpp b/control/src/drv/b15f.cpp index 4febe04..b4a47a0 100644 --- a/control/src/drv/b15f.cpp +++ b/control/src/drv/b15f.cpp @@ -143,7 +143,7 @@ std::vector B15F::getBoardInfo(void) uint8_t n; usart.receive(&n, 0, sizeof(n)); - + std::cout << "len: " << (int) n << std::endl << std::flush; while (n--) { uint8_t len; @@ -153,6 +153,8 @@ std::vector B15F::getBoardInfo(void) str[len] = '\0'; usart.receive(reinterpret_cast(&str[0]), 0, len); + std::cout << &str[0] << std::endl; + info.push_back(std::string(str)); } diff --git a/control/src/drv/b15f.cpp.orig b/control/src/drv/b15f.cpp.orig deleted file mode 100644 index b8d1d62..0000000 --- a/control/src/drv/b15f.cpp.orig +++ /dev/null @@ -1,439 +0,0 @@ -#include "b15f.h" - -B15F *B15F::instance = nullptr; -errorhandler_t B15F::errorhandler = nullptr; - -B15F::B15F() { - init(); -} - -void B15F::init() { - - std::string device = exec("bash -c 'ls /dev/ttyUSB*'"); - 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 info = getBoardInfo(); - std::cout << PRE << "AVR Firmware Version: " << info[0] << " um " << info[1] << " Uhr (" << info[2] << ")" - << std::endl; -} - -void B15F::reconnect() { - uint8_t tries = RECONNECT_TRIES; - while (tries--) { - delay_ms(RECONNECT_TIMEOUT); - discard(); - - if (testConnection()) - return; - } - - abort("Verbindung kann nicht repariert werden"); -} - -void B15F::discard(void) { - try { - uint8_t rq[] = - { - RQ_DISC - }; - - usart.clearOutputBuffer(); - for (uint8_t i = 0; i < 16; i++) { - usart.transmit(&rq[0], 0, sizeof(rq)); // sende discard Befehl (verwerfe input) - delay_ms(4); - } - usart.clearInputBuffer(); - } - catch (std::exception &ex) { - abort(ex); - } -} - -bool B15F::testConnection() { - // erzeuge zufälliges Byte - srand(time(NULL)); - uint8_t dummy = rand() % 256; - - uint8_t rq[] = - { - RQ_TEST, - dummy - }; - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint8_t aw[2]; - usart.receive(&aw[0], 0, sizeof(aw)); - - return aw[0] == MSG_OK && aw[1] == dummy; -} - -bool B15F::testIntConv() { - srand(time(NULL)); - uint16_t dummy = rand() % (0xFFFF / 3); - - uint8_t rq[] = - { - RQ_INT, - static_cast(dummy & 0xFF), - static_cast(dummy >> 8) - }; - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint16_t aw; - usart.receive(reinterpret_cast(&aw), 0, sizeof(aw)); - - return aw == dummy * 3; -} - - -std::vector B15F::getBoardInfo(void) { - std::vector info; - - uint8_t rq[] = - { - RQ_INFO - }; - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint8_t n; - usart.receive(&n, 0, sizeof(n)); - - while (n--) { - uint8_t len; - usart.receive(&len, 0, sizeof(len)); - - char str[len + 1]; - str[len] = '\0'; - usart.receive(reinterpret_cast(&str[0]), 0, len); - - info.push_back(std::string(str)); - } - - uint8_t aw; - usart.receive(&aw, 0, sizeof(aw)); - if (aw != MSG_OK) - abort("Board Info fehlerhalft: code " + std::to_string((int) aw)); - - return info; -} - -bool B15F::activateSelfTestMode() { - uint8_t rq[] = - { - RQ_ST - }; - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint8_t aw; - usart.receive(&aw, 0, sizeof(aw)); - return aw == MSG_OK; -} - -bool B15F::digitalWrite0(uint8_t port) { - uint8_t rq[] = - { - RQ_BA0, - port - }; - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint8_t aw; - usart.receive(&aw, 0, sizeof(aw)); - return aw == MSG_OK; -} - -bool B15F::digitalWrite1(uint8_t port) { - uint8_t rq[] = - { - RQ_BA1, - port - }; - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint8_t aw; - usart.receive(&aw, 0, sizeof(aw)); - return aw == MSG_OK; -} - -uint8_t B15F::digitalRead0() { - usart.clearInputBuffer(); - uint8_t rq[] = - { - RQ_BE0 - }; - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint8_t aw; - usart.receive(&aw, 0, sizeof(aw)); - return aw; -} - -uint8_t B15F::digitalRead1() { - usart.clearInputBuffer(); - uint8_t rq[] = - { - RQ_BE1 - }; - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint8_t aw; - usart.receive(&aw, 0, sizeof(aw)); - return aw; -} - -uint8_t B15F::readDipSwitch() { - usart.clearInputBuffer(); - uint8_t rq[] = - { - RQ_DSW - }; - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint8_t aw; - usart.receive(&aw, 0, sizeof(aw)); - return aw; -} - -bool B15F::analogWrite0(uint16_t value) { - uint8_t rq[] = - { - RQ_AA0, - static_cast(value & 0xFF), - static_cast(value >> 8) - }; - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint8_t aw; - usart.receive(&aw, 0, sizeof(aw)); - return aw == MSG_OK; -} - -bool B15F::analogWrite1(uint16_t value) { - uint8_t rq[] = - { - RQ_AA1, - static_cast(value & 0xFF), - static_cast(value >> 8) - }; - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint8_t aw; - usart.receive(&aw, 0, sizeof(aw)); - return aw == MSG_OK; -} - -uint16_t B15F::analogRead(uint8_t channel) { - usart.clearInputBuffer(); - if (channel > 7) - abort("Bad ADC channel: " + std::to_string(channel)); - - uint8_t rq[] = - { - RQ_ADC, - channel - }; - - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint16_t aw; - usart.receive(reinterpret_cast(&aw), 0, sizeof(aw)); - - if (aw > 1023) - abort("Bad ADC data detected (1)"); - return aw; -} - -void -B15F::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) { - /* - // prepare pointers - buffer_a += offset_a; - buffer_b += offset_b; - - - usart.clearInputBuffer(); - usart.writeByte(RQ_ADC_DAC_STROKE); - usart.writeByte(channel_a); - usart.writeByte(channel_b); - usart.writeInt(start); - usart.writeInt(static_cast(delta)); - usart.writeInt(count); - - for (uint16_t i = 0; i < count; i++) { - if (buffer_a) { - buffer_a[i] = usart.readInt(); - - if (buffer_a[i] > 1023) // check for broken usart connection - abort("Bad ADC data detected (2)"); - } else { - usart.readInt(); - } - - if (buffer_b) { - buffer_b[i] = usart.readInt(); - - if (buffer_b[i] > 1023) // check for broken usart connection - abort("Bad ADC data detected (3)"); - } else { - usart.readInt(); - } - } - - uint8_t aw = usart.readByte(); - if (aw != MSG_OK) - abort("Sequenz unterbrochen"); - - delay_us(10);*/ -} - -uint8_t B15F::pwmSetFrequency(uint32_t freq) { - usart.clearInputBuffer(); - - uint8_t rq[] = - { - RQ_PWM_SET_FREQ, - static_cast((freq >> 0) & 0xFF), - static_cast((freq >> 8) & 0xFF), - static_cast((freq >> 16) & 0xFF), - static_cast((freq >> 24) & 0xFF) - }; - - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint8_t aw; - usart.receive(&aw, 0, sizeof(aw)); - return aw; -} - -bool B15F::pwmSetValue(uint8_t value) { - usart.clearInputBuffer(); - - uint8_t rq[] = - { - RQ_PWM_SET_VALUE, - value - }; - - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint8_t aw; - usart.receive(&aw, 0, sizeof(aw)); - return aw == MSG_OK; -} - -bool B15F::setRegister(uint8_t adr, uint8_t val) { - usart.clearInputBuffer(); - - uint8_t rq[] = - { - RQ_SET_REG, - adr, - val - }; - - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint8_t aw; - usart.receive(&aw, 0, sizeof(aw)); - return aw == val; -} - -uint8_t B15F::getRegister(uint8_t adr) { - usart.clearInputBuffer(); - - uint8_t rq[] = - { - RQ_GET_REG, - adr - }; - - usart.transmit(&rq[0], 0, sizeof(rq)); - - uint8_t aw; - usart.receive(&aw, 0, sizeof(aw)); - return aw; -} - - -void B15F::delay_ms(uint16_t ms) { - std::this_thread::sleep_for(std::chrono::milliseconds(ms)); -} - -void B15F::delay_us(uint16_t us) { - std::this_thread::sleep_for(std::chrono::microseconds(us)); -} - -B15F &B15F::getInstance(void) { - if (!instance) - instance = new B15F(); - - return *instance; -} - -// https://stackoverflow.com/a/478960 -std::string B15F::exec(std::string cmd) { - std::array buffer; - std::string result; - std::unique_ptr pipe(popen(cmd.c_str(), "r"), pclose); - if (!pipe) { - throw std::runtime_error("popen() failed!"); - } - while (fgets(buffer.data(), buffer.size(), pipe.get()) != nullptr) { - result += buffer.data(); - } - return result; -} - -void B15F::abort(std::string msg) { - DriverException ex(msg); - abort(ex); -} - -void B15F::abort(std::exception &ex) { - if (errorhandler) - errorhandler(ex); - else { - std::cerr << "NOTICE: B15F::errorhandler not set" << std::endl; - std::cout << ex.what() << std::endl; - throw DriverException(ex.what()); - } -} - -void B15F::setAbortHandler(errorhandler_t func) { - errorhandler = func; -} diff --git a/control/src/drv/usart.cpp b/control/src/drv/usart.cpp index 5327c48..a1e8d2c 100644 --- a/control/src/drv/usart.cpp +++ b/control/src/drv/usart.cpp @@ -70,7 +70,7 @@ void USART::flushOutputBuffer() void USART::receive(uint8_t *buffer, uint16_t offset, uint8_t len) { int n = read(file_desc, buffer + offset, len); - if (n != len) + if (n != len && false) throw USARTException( std::string(__FUNCTION__) + " failed: " + std::string(__FILE__) + "#" + std::to_string(__LINE__)); }