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This commit is contained in:
Tristan Krause 2019-04-02 10:59:37 +02:00
parent 86da74bed0
commit 8e785e4b70
15 changed files with 443 additions and 282 deletions
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24
driver/drv/usart.cpp
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@ -2,7 +2,7 @@
void USART::openDevice(std::string device)
{
file_desc = open(device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
file_desc = open(device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY /* | O_NONBLOCK*/);
if(file_desc <= 0)
throw USARTException("Fehler beim Öffnen des Gerätes");
@ -96,7 +96,7 @@ int USART::read_timeout(uint8_t* buffer, uint16_t offset, uint8_t len, uint32_t
elapsed = std::chrono::duration_cast<std::chrono::microseconds>(end - start).count();
}
return n_read;
return 0;
}
int USART::write_timeout(uint8_t* buffer, uint16_t offset, uint8_t len, uint32_t timeout)
@ -150,23 +150,35 @@ void USART::writeBlock(uint8_t* buffer, uint16_t offset, uint8_t len)
block_buffer[len + 2] = BLOCK_END;
// send block
clearOutputBuffer();
clearInputBuffer();
int n_sent = write_timeout(&block_buffer[0], 0, len + 3, us_per_bit * n_total);
if(n_sent != n_total)
throw std::runtime_error("fatal (send): " + std::to_string(n_sent));
/*for(uint8_t i = 0; i < len + 3; i++)
{
write_timeout(&block_buffer[i], 0, 1, us_per_bit * n_total);
//tcdrain(file_desc);
//usleep(1000);
}*/
// flush output data
tcdrain(file_desc);
usleep(us_per_bit * n_total);
//usleep(us_per_bit * n_total * 10);
// check response
int n_read = read_timeout(&aw, 0, 1, us_per_bit);
int n_read = read_timeout(&aw, 0, 1, us_per_bit * n_blocks_total * 10);
for(uint16_t i = 0; i < 255 && n_read != 1; i++)
{
writeByte(0x80); // Stoppzeichen für Block
tcdrain(file_desc);
if(tcdrain(file_desc))
{
std::cout << "drain failed" << std::endl;
}
std::cout << "WARNING: read error (" << n_read << "), retry #" << (int) i << std::endl;
usleep(us_per_bit);
usleep(us_per_bit*100);
n_read = read_timeout(&aw, 0, 1, us_per_bit);
}