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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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3
driver/drv/b15f.cpp
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@ -28,11 +28,12 @@ void B15F::init()
// Temporärer Test // Temporärer Test
uint8_t block[] = {0, 1, 2, 3}; uint8_t block[16];
while(1) while(1)
{ {
usart.writeBlock(&block[0], 0, sizeof(block)); usart.writeBlock(&block[0], 0, sizeof(block));
usart.printStatistics(); usart.printStatistics();
usleep(1000);
} }
throw std::runtime_error("SCHLUSS"); throw std::runtime_error("SCHLUSS");

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driver/drv/b15f.o
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24
driver/drv/usart.cpp
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@ -2,7 +2,7 @@
void USART::openDevice(std::string device) 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) if(file_desc <= 0)
throw USARTException("Fehler beim Öffnen des Gerätes"); 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(); 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) 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; block_buffer[len + 2] = BLOCK_END;
// send block // send block
clearOutputBuffer();
clearInputBuffer();
int n_sent = write_timeout(&block_buffer[0], 0, len + 3, us_per_bit * n_total); int n_sent = write_timeout(&block_buffer[0], 0, len + 3, us_per_bit * n_total);
if(n_sent != n_total) if(n_sent != n_total)
throw std::runtime_error("fatal (send): " + std::to_string(n_sent)); 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 // flush output data
tcdrain(file_desc); tcdrain(file_desc);
usleep(us_per_bit * n_total); //usleep(us_per_bit * n_total * 10);
// check response // 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++) for(uint16_t i = 0; i < 255 && n_read != 1; i++)
{ {
writeByte(0x80); // Stoppzeichen für Block 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; 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); n_read = read_timeout(&aw, 0, 1, us_per_bit);
} }

2
driver/drv/usart.h
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@ -125,7 +125,7 @@ public:
/***************************************/ /***************************************/
constexpr static uint8_t CRC7_POLY = 0x91; constexpr static uint8_t CRC7_POLY = 0x91;
constexpr static uint8_t MAX_BLOCK_SIZE = 16; constexpr static uint8_t MAX_BLOCK_SIZE = 64;
constexpr static uint8_t BLOCK_END = 0x80; constexpr static uint8_t BLOCK_END = 0x80;
private: private:

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driver/drv/usart.o
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driver/main
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firmware/B15F.elf
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firmware/B15F.hex
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@ -3,190 +3,235 @@
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:1008E000C00085FFFCCF2093C600911193CF0895DF :1008E00088818111E7C09FEF8091C00085FFFCCF18
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:1009300082E291E00E946E0349E06CE071E082E2A5 :1009300050E055954795242F40FF02C021E9242718
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:100950000E946E036FEF82E291E00C945A0382E2F0 :1009500050E055954795242F40FF02C021E92427F8
:1009600091E00E94F303BC01660F771F680F791FA7 :1009600030E035952795422F20FF02C041E942270C
:1009700082E291E00C94610382E291E00E94EC0338 :1009700050E055954795242F40FF02C021E92427D8
:10098000682F80E391E00E9490016FEF82E291E096 :1009800030E035952795922F20FF02C091E99227FC
:100990000C945A0382E291E00E94EC03682F8DE2EE :10099000292F30E035952795288324E030E02D93EA
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:1009C0005A038DE291E00E94F501682F82E291E0E6 :1009C00000008091C00087FDF4CF8091C00085FFBA
:1009D0000C945A0382E291E00E94F303BC0187E287 :1009D000FCCF8EEF8093C6001D921C9280818F5FAA
:1009E00091E00E941D026FEF82E291E00C945A03A5 :1009E0008083DF91CF9108958081EF01C80FD11DE1
:1009F00082E291E00E94F303BC0184E291E00E9454 :1009F0006983EF01CC5BDF4F9881692760FF02C0FC
:100A00001D026FEF82E291E00C945A0382E291E0C2 :100A000091E9692770E075956795462F60FF02C0F0
:100A10000E94EC03682F83E291E00E944C02BC012B :100A100041E9462750E055954795242F40FF02C0F5
:100A200082E291E00C9461038F929F92AF92BF9209 :100A200021E9242730E035952795422F20FF02C089
:100A3000CF92DF92EF92FF920F931F93CF93DF93AA :100A300041E9422750E055954795242F40FF02C0D9
:100A400082E291E00E94EC03882E82E291E00E9413 :100A400021E9242730E035952795422F20FF02C069
:100A5000EC03982E82E291E00E94F303EC0182E223 :100A500041E9422750E055954795242F40FF02C0B9
:100A600091E00E94F3035C0182E291E00E94F303B3 :100A600021E9242730E035952795922F20FF02C0F9
:100A70008C016FEF82E291E00E945A03A09E600118 :100A700091E99227292F30E0359527952883918198
:100A8000A19ED00CB09ED00C1124CC15DD050CF528 :100A8000891721F1891708F438CF8091C6008FE7C4
:100A9000BE0187E291E00E941D02A895682D83E2C5 :100A900092E00197F1F700C000008091C00087FD4F
:100AA00091E00E944C027C01692D83E291E00E945A :100AA000F4CF8091C00085FD94CF8091C00085FF78
:100AB0004C028C01B70182E291E00E946103B8010F :100AB000F8CF8FCF9EEF18CF6183EF01CC5BDF4F74
:100AC00082E291E00E946103CA0DDB1DCC15DD05B9 :100AC000188281E090E08D939C9318CF23E030E072
:100AD000FCF26FEF82E291E0DF91CF911F910F91D5 :100AD0002D933C938F5F12CFCF93DF93CB0171E9BE
:100AE000FF90EF90DF90CF90BF90AF909F908F904E :100AE0009C01240F311DA901AEEF8091C00087FF4A
:100AF0000C945A03CF93DF93CDB7DEB760970FB650 :100AF000FCCFE091C600E03809F46AC0E13408F0A8
:100B0000F894DEBF0FBECDBF0E947F006FEF80E381 :100B0000E0E060E090E08091C00087FFFCCFF091D2
:100B100091E00E9490012FE78AE196E02150804009 :100B1000C6008F2F892780FD872790E095958795C0
:100B20009040E1F700C0000060E080E391E00E94A7 :100B2000282F80FF02C0272F2827822F90E095953D
:100B3000900160E011E0160F80E391E00E949001C7 :100B30008795282F80FF02C0272F282730E0359582
:100B400040E0BE016F5F7F4F82E291E00E940404AB :100B40002795822F20FF02C0872F822790E095955E
:100B5000612FF0CF83E391E00E940A0142E063E35A :100B50008795282F80FF02C0272F282730E0359562
:100B600071E080E391E00E94490143E063E371E0BA :100B60002795822F20FF02C0872F822790E095953E
:100B70008DE291E00E94490145E063E371E08AE281 :100B70008795282F80FF02C0272F282730E0359542
:100B800091E00E94490140E063E371E087E291E077 :100B80002795822F20FF02C0872F8227982F9695C6
:100B90000E94180241E063E371E084E291E00C946A :100B90006E1738F16F5FE61708F0B5CF8091C60089
:100BA0001802EE0FFF1F0024001C0BBE0790F691E9 :100BA000EFE7F2E03197F1F700C000008091C0005C
:080BB000E02D0994F894FFCF39 :100BB00087FDF4CF992399F02EEF8091C00085FF37
:100BB800626F617264696E666F2E680031353A3211 :100BC000FCCF2093C600911190CFDF91CF91089573
:100BC800393A3032004170722020312032303139C8 :100BD0008091C00085FFFCCFA093C60086CF2FEF89
:020BD80000001B :100BE000ECCFEA01C60FD11DF883D4CFCF9382E2B8
:100BF00091E00E942304C82F6FEF82E291E00E94EF
:100C000091036C2F82E291E0CF910C94910363E009
:100C100082E291E00E9491034CE065E171E082E2A2
:100C200091E00E94A50349E06CE071E082E291E06E
:100C30000E94A5034CE060E071E082E291E00E9436
:100C4000A5036FEF82E291E00C94910382E291E0C0
:100C50000E942A04BC01660F771F680F791F82E289
:100C600091E00C94980382E291E00E942304682FA3
:100C700086E791E00E94C7016FEF82E291E00C9459
:100C8000910382E291E00E942304682F83E791E0C0
:100C90000E94C7016FEF82E291E00C94910386E716
:100CA00091E00E942C02682F82E291E00C94910363
:100CB00083E791E00E942C02682F82E291E00C947D
:100CC000910382E291E00E942A04BC018DE691E04A
:100CD0000E9454026FEF82E291E00C94910382E251
:100CE00091E00E942A04BC018AE691E00E9454022D
:100CF0006FEF82E291E00C94910382E291E00E9416
:100D00002304682F89E691E00E948302BC0182E2FD
:100D100091E00C9498038F929F92AF92BF92CF92E2
:100D2000DF92EF92FF920F931F93CF93DF9382E2B4
:100D300091E00E942304882E82E291E00E94230425
:100D4000982E82E291E00E942A04EC0182E291E076
:100D50000E942A045C0182E291E00E942A048C0134
:100D60006FEF82E291E00E949103A09E6001A19E3C
:100D7000D00CB09ED00C1124CC15DD050CF5BE01B5
:100D80008DE691E00E945402A895682D89E691E0D5
:100D90000E9483027C01692D89E691E00E94830212
:100DA0008C01B70182E291E00E949803B80182E2CF
:100DB00091E00E949803CA0DDB1DCC15DD05FCF205
:100DC0006FEF82E291E0DF91CF911F910F91FF9041
:100DD000EF90DF90CF90BF90AF909F908F900C944A
:100DE00091030E94B6006FEF86E791E00E94C70171
:100DF0002FE78AE196E0215080409040E1F700C063
:100E0000000060E086E791E00E94C70187E893E177
:100E10000197F1F700C00000F9CF89E791E00E9447
:100E2000410142E069E771E086E791E00E948001BC
:100E300043E069E771E083E791E00E94800145E0CB
:100E400069E771E080E791E00E94800140E069E796
:100E500071E08DE691E00E944F0241E069E771E0A8
:100E60008AE691E00E944F021092220110926801DE
:100E7000109267010895EE0FFF1F0024001C0BBEA7
:0C0E80000790F691E02D0994F894FFCF44
:100E8C00626F617264696E666F2E680031303A343D
:100E9C00333A3130004170722020322032303139F7
:020EAC00000044
:00000001FF :00000001FF

16
firmware/global_vars.cpp
View file

@ -1,11 +1,11 @@
#include "global_vars.h" #include "global_vars.h"
SPI spi; volatile SPI spi;
MCP23S17 beba0(spi, SPIADR::BEBA0); volatile MCP23S17 beba0(*((SPI*) &spi), SPIADR::BEBA0);
MCP23S17 beba1(spi, SPIADR::BEBA1); volatile MCP23S17 beba1(*((SPI*) &spi), SPIADR::BEBA1);
MCP23S17 sw(spi, SPIADR::SWITCH); volatile MCP23S17 sw(*((SPI*) &spi), SPIADR::SWITCH);
TLC5615 dac0(spi, SPIADR::AA0); volatile TLC5615 dac0(*((SPI*) &spi), SPIADR::AA0);
TLC5615 dac1(spi, SPIADR::AA1); volatile TLC5615 dac1(*((SPI*) &spi), SPIADR::AA1);
ADU adu; volatile ADU adu;
USART usart; volatile USART usart;

16
firmware/global_vars.h
View file

@ -6,13 +6,13 @@
#include "adu.h" #include "adu.h"
#include "usart.h" #include "usart.h"
extern SPI spi; extern volatile SPI spi;
extern MCP23S17 beba0; extern volatile MCP23S17 beba0;
extern MCP23S17 beba1; extern volatile MCP23S17 beba1;
extern MCP23S17 sw; extern volatile MCP23S17 sw;
extern TLC5615 dac0; extern volatile TLC5615 dac0;
extern TLC5615 dac1; extern volatile TLC5615 dac1;
extern ADU adu; extern volatile ADU adu;
extern USART usart; extern volatile USART usart;
#endif // GLOBAL_VARS_H #endif // GLOBAL_VARS_H

41
firmware/main.cpp
View file

@ -9,18 +9,29 @@
#define WDT_TIMEOUT WDTO_15MS #define WDT_TIMEOUT WDTO_15MS
ISR(USART0_RX_vect)
{
if(UCSR0A & _BV(DOR0))
{
((MCP23S17*) &beba0)->writePortA(0xFF);
}
cli();
((USART*) &usart)->nextByte(UDR0);
sei();
}
void initAll() void initAll()
{ {
spi.init(); ((SPI*) &spi)->init();
beba0.setDirA(0x00); // alle Ausgang ((MCP23S17*) &beba0)->setDirA(0x00); // alle Ausgang
beba0.setDirB(0xFF); // alle Eingang ((MCP23S17*) &beba0)->setDirB(0xFF); // alle Eingang
beba1.setDirA(0x00); // alle Ausgang ((MCP23S17*) &beba1)->setDirA(0x00); // alle Ausgang
beba1.setDirB(0xFF); // alle Eingang ((MCP23S17*) &beba1)->setDirB(0xFF); // alle Eingang
sw.setDirB(0xFF); // alle Eingang ((MCP23S17*) &sw)->setDirB(0xFF); // alle Eingang
adu.init(); ((ADU*) &adu)->init();
usart.init(); ((USART*) &usart)->init();
// aktiviere Interrupts // aktiviere Interrupts
sei(); sei();
@ -35,9 +46,9 @@ void handleRequest()
{ {
wdt_disable(); wdt_disable();
beba1.writePortA(0xFF); ((MCP23S17*) &beba1)->writePortA(0xFF);
const uint8_t req = usart.readByte(); const uint8_t req = ((USART*) &usart)->readByte();
beba1.writePortA(0x00); ((MCP23S17*) &beba1)->writePortA(0x00);
// starte WDT // starte WDT
wdt_enable(WDT_TIMEOUT); wdt_enable(WDT_TIMEOUT);
@ -104,16 +115,16 @@ int main()
// Reset anzeigen // Reset anzeigen
beba0.writePortA(0xFF); ((MCP23S17*) &beba0)->writePortA(0xFF);
_delay_ms(100); _delay_ms(100);
beba0.writePortA(0x00); ((MCP23S17*) &beba0)->writePortA(0x00);
uint8_t n = 0; uint8_t n = 0;
uint8_t block[16]; uint8_t block[16];
while(1) while(1)
{ {
beba0.writePortA(n++ & 0xFF); //testAll();
usart.readBlock(&block[0], 0); _delay_ms(1);
} }
while(1) while(1)

86
firmware/requests.cpp
View file

@ -2,99 +2,99 @@
void rqTestConnection() void rqTestConnection()
{ {
uint8_t dummy = usart.readByte(); uint8_t dummy = ((USART*) &usart)->readByte();
usart.writeByte(USART::MSG_OK); ((USART*) &usart)->writeByte(USART::MSG_OK);
usart.writeByte(dummy); ((USART*) &usart)->writeByte(dummy);
} }
void rqBoardInfo() void rqBoardInfo()
{ {
usart.writeByte(3); // Anzahl an Strings ((USART*) &usart)->writeByte(3); // Anzahl an Strings
usart.writeStr(DATE, sizeof(DATE)); ((USART*) &usart)->writeStr(DATE, sizeof(DATE));
usart.writeStr(TIME, sizeof(TIME)); ((USART*) &usart)->writeStr(TIME, sizeof(TIME));
usart.writeStr(FSRC, sizeof(FSRC)); ((USART*) &usart)->writeStr(FSRC, sizeof(FSRC));
usart.writeByte(USART::MSG_OK); ((USART*) &usart)->writeByte(USART::MSG_OK);
} }
void rqTestIntConv() void rqTestIntConv()
{ {
usart.writeInt(usart.readInt() * 3); ((USART*) &usart)->writeInt(((USART*) &usart)->readInt() * 3);
} }
void rqDigitalWrite0() void rqDigitalWrite0()
{ {
uint8_t port = usart.readByte(); uint8_t port = ((USART*) &usart)->readByte();
beba0.writePortA(port); ((MCP23S17*) &beba0)->writePortA(port);
usart.writeByte(USART::MSG_OK); ((USART*) &usart)->writeByte(USART::MSG_OK);
} }
void rqDigitalWrite1() void rqDigitalWrite1()
{ {
uint8_t port = usart.readByte(); uint8_t port = ((USART*) &usart)->readByte();
beba1.writePortA(port); ((MCP23S17*) &beba1)->writePortA(port);
usart.writeByte(USART::MSG_OK); ((USART*) &usart)->writeByte(USART::MSG_OK);
} }
void rqDigitalRead0() void rqDigitalRead0()
{ {
uint8_t port = beba0.readPortB(); uint8_t port = ((MCP23S17*) &beba0)->readPortB();
usart.writeByte(port); ((USART*) &usart)->writeByte(port);
} }
void rqDigitalRead1() void rqDigitalRead1()
{ {
uint8_t port = beba1.readPortB(); uint8_t port = ((MCP23S17*) &beba1)->readPortB();
usart.writeByte(port); ((USART*) &usart)->writeByte(port);
} }
void rqAnalogWrite0() void rqAnalogWrite0()
{ {
uint16_t value = usart.readInt(); uint16_t value = ((USART*) &usart)->readInt();
dac0.setValue(value); ((TLC5615*) &dac0)->setValue(value);
usart.writeByte(USART::MSG_OK); ((USART*) &usart)->writeByte(USART::MSG_OK);
} }
void rqAnalogWrite1() void rqAnalogWrite1()
{ {
uint16_t value = usart.readInt(); uint16_t value = ((USART*) &usart)->readInt();
dac1.setValue(value); ((TLC5615*) &dac1)->setValue(value);
usart.writeByte(USART::MSG_OK); ((USART*) &usart)->writeByte(USART::MSG_OK);
} }
void rqAnalogRead() void rqAnalogRead()
{ {
uint8_t channel = usart.readByte(); uint8_t channel = ((USART*) &usart)->readByte();
uint16_t value = adu.getValue(channel); uint16_t value = ((ADU*) &adu)->getValue(channel);
usart.writeInt(value); ((USART*) &usart)->writeInt(value);
} }
void rqAdcDacStroke() void rqAdcDacStroke()
{ {
uint8_t channel_a = usart.readByte(); uint8_t channel_a = ((USART*) &usart)->readByte();
uint8_t channel_b = usart.readByte(); uint8_t channel_b = ((USART*) &usart)->readByte();
int16_t start = static_cast<int16_t>(usart.readInt()); int16_t start = static_cast<int16_t>(((USART*) &usart)->readInt());
int16_t delta = static_cast<int16_t>(usart.readInt()); int16_t delta = static_cast<int16_t>(((USART*) &usart)->readInt());
int16_t count = static_cast<int16_t>(usart.readInt()); int16_t count = static_cast<int16_t>(((USART*) &usart)->readInt());
usart.writeByte(USART::MSG_OK); ((USART*) &usart)->writeByte(USART::MSG_OK);
count *= delta; count *= delta;
for(int16_t i = start; i < count; i += delta) for(int16_t i = start; i < count; i += delta)
{ {
dac0.setValue(i); ((TLC5615*) &dac0)->setValue(i);
wdt_reset(); wdt_reset();
uint16_t val_a = adu.getValue(channel_a); uint16_t val_a = ((ADU*) &adu)->getValue(channel_a);
uint16_t val_b = adu.getValue(channel_b); uint16_t val_b = ((ADU*) &adu)->getValue(channel_b);
usart.writeInt(val_a); ((USART*) &usart)->writeInt(val_a);
usart.writeInt(val_b); ((USART*) &usart)->writeInt(val_b);
/*union doubleword /*union doubleword
{ {
@ -103,19 +103,19 @@ void rqAdcDacStroke()
}; };
union doubleword dw; union doubleword dw;
dw.word[0] = adu.getValue(channel_a); dw.word[0] = ((ADU*) &adu)->getValue(channel_a);
dw.word[1] = adu.getValue(channel_b); dw.word[1] = ((ADU*) &adu)->getValue(channel_b);
uint8_t ret = 0; uint8_t ret = 0;
do do
{ {
wdt_reset(); wdt_reset();
ret = usart.writeBlock(&(dw.byte[0]), 4); ret = ((USART*) &usart)->writeBlock(&(dw.byte[0]), 4);
if(ret == 0) if(ret == 0)
return; return;
} while(ret != USART::MSG_OK);*/ } while(ret != USART::MSG_OK);*/
} }
usart.writeByte(USART::MSG_OK); ((USART*) &usart)->writeByte(USART::MSG_OK);
} }

20
firmware/selftest.cpp
View file

@ -13,7 +13,7 @@ void testBEBA0(void)
{ {
for(uint8_t i = 0; i < 9; i++) for(uint8_t i = 0; i < 9; i++)
{ {
beba0.writePortA(_BV(i)); ((MCP23S17*) &beba0)->writePortA(_BV(i));
if(i < 8) if(i < 8)
_delay_ms(200); _delay_ms(200);
@ -24,7 +24,7 @@ void testBEBA1(void)
{ {
for(uint8_t i = 0; i < 9; i++) for(uint8_t i = 0; i < 9; i++)
{ {
beba1.writePortA(_BV(i)); ((MCP23S17*) &beba1)->writePortA(_BV(i));
if(i < 8) if(i < 8)
_delay_ms(200); _delay_ms(200);
@ -35,22 +35,22 @@ void testDAC0(void)
{ {
for(uint16_t i = 0; i < 1024; i++) for(uint16_t i = 0; i < 1024; i++)
{ {
dac0.setValue(i); ((TLC5615*) &dac0)->setValue(i);
_delay_ms(1); _delay_ms(1);
} }
_delay_ms(100); _delay_ms(100);
dac0.setValue(0); ((TLC5615*) &dac0)->setValue(0);
} }
void testDAC1(void) void testDAC1(void)
{ {
for(uint16_t i = 0; i < 1024; i++) for(uint16_t i = 0; i < 1024; i++)
{ {
dac1.setValue(i); ((TLC5615*) &dac1)->setValue(i);
_delay_ms(1); _delay_ms(1);
} }
_delay_ms(100); _delay_ms(100);
dac1.setValue(0); ((TLC5615*) &dac1)->setValue(0);
} }
void testMirror() void testMirror()
@ -61,9 +61,9 @@ void testMirror()
// Endlosschleife // Endlosschleife
while(1) while(1)
{ {
dac0.setValue(adu.getValue(0)); ((TLC5615*) &dac0)->setValue(((ADU*) &adu)->getValue(0));
dac1.setValue(adu.getValue(1)); ((TLC5615*) &dac1)->setValue(((ADU*) &adu)->getValue(1));
beba0.writePortA(beba0.readPortB()); ((MCP23S17*) &beba0)->writePortA(((MCP23S17*) &beba0)->readPortB());
beba1.writePortA(sw.readPortB()); ((MCP23S17*) &beba1)->writePortA(((MCP23S17*) &sw)->readPortB());
} }
} }

79
firmware/usart.cpp
View file

@ -4,7 +4,7 @@ void USART::init()
{ {
UCSR0A = _BV(U2X0); UCSR0A = _BV(U2X0);
UCSR0B = _BV(RXEN0) | _BV(TXEN0); UCSR0B = _BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0);
// Einstellen des Datenformats: 8 Datenbits, 1 Stoppbit // Einstellen des Datenformats: 8 Datenbits, 1 Stoppbit
UCSR0C = _BV(UCSZ00) |_BV(UCSZ01);// (1<<URSEL0)|(1<<UCSZ10)|(1<<UCSZ00); UCSR0C = _BV(UCSZ00) |_BV(UCSZ01);// (1<<URSEL0)|(1<<UCSZ10)|(1<<UCSZ00);
@ -15,7 +15,7 @@ void USART::init()
} }
void USART::flush() void USART::clearInputBuffer()
{ {
uint8_t dummy; uint8_t dummy;
do do
@ -94,6 +94,79 @@ uint16_t USART::readInt()
return v; return v;
} }
void USART::nextByte(uint8_t byte)
{
switch(seq)
{
case IDLE:
{
if(byte > MAX_BLOCK_SIZE)
{
clearInputBuffer();
writeByte(MSG_FAIL);
seq = BlockSequence::IDLE;
}
else
{
block_buffer[0] = byte;
crc = 0;
block_pos = 0;
seq = BlockSequence::LEN;
}
break;
}
case LEN:
{
block_buffer[block_pos] = byte;
seq = BlockSequence::DATA;
break;
}
case DATA:
{
block_buffer[block_pos] = byte;
crc ^= byte;
for (uint8_t i = 0; i < 8; i++)
{
if (crc & 1)
crc ^= CRC7_POLY;
crc >>= 1;
}
if(block_pos == block_buffer[0])
seq = BlockSequence::CRC;
else if(block_pos >= block_buffer[0])
{
clearInputBuffer();
writeByte(MSG_FAIL);
seq = BlockSequence::IDLE;
}
break;
}
case CRC:
{
block_buffer[block_pos] = byte;
crc ^= byte;
for (uint8_t i = 0; i < 8; i++)
{
if (crc & 1)
crc ^= CRC7_POLY;
crc >>= 1;
}
seq = BlockSequence::END;
break;
}
case END:
{
clearInputBuffer();
writeByte(crc == 0 ? MSG_OK : MSG_FAIL);
seq = BlockSequence::IDLE;
break;
}
}
block_pos++;
}
void USART::readBlock(uint8_t* ptr, uint8_t offset) void USART::readBlock(uint8_t* ptr, uint8_t offset)
{ {
ptr += offset; ptr += offset;
@ -129,7 +202,7 @@ void USART::readBlock(uint8_t* ptr, uint8_t offset)
} }
flush(); // leere Eingangspuffer clearInputBuffer(); // leere Eingangspuffer
writeByte(crc == 0 ? MSG_OK : MSG_FAIL); writeByte(crc == 0 ? MSG_OK : MSG_FAIL);
} }

27
firmware/usart.h
View file

@ -5,15 +5,20 @@
#include <util/delay.h> #include <util/delay.h>
#include <stdint.h> #include <stdint.h>
constexpr uint32_t BAUDRATE = 115200; // 38400 enum BlockSequence
constexpr uint8_t CRC7_POLY = 0x91; {
constexpr uint8_t MAX_BLOCK_SIZE = 16; IDLE = 0,
LEN = 1,
DATA = 2,
CRC = 3,
END = 4,
};
class USART class USART
{ {
public: public:
void init(void); void init(void);
void flush(void); void clearInputBuffer(void);
void writeByte(uint8_t); void writeByte(uint8_t);
void writeInt(uint16_t); void writeInt(uint16_t);
@ -23,10 +28,24 @@ public:
uint8_t readByte(void); uint8_t readByte(void);
uint16_t readInt(void); uint16_t readInt(void);
uint32_t readLong(void); uint32_t readLong(void);
void nextByte(uint8_t byte);
void readBlock(uint8_t*, uint8_t); void readBlock(uint8_t*, uint8_t);
constexpr static uint8_t MSG_OK = 0xFF; constexpr static uint8_t MSG_OK = 0xFF;
constexpr static uint8_t MSG_FAIL = 0xFE; constexpr static uint8_t MSG_FAIL = 0xFE;
uint8_t block_pos = 0;
// constants
constexpr static uint32_t BAUDRATE = 115200; // 38400
constexpr static uint8_t CRC7_POLY = 0x91;
constexpr static uint8_t MAX_BLOCK_SIZE = 64;
constexpr static uint8_t BLOCK_END = 0x80;
private:
uint8_t block_buffer[MAX_BLOCK_SIZE + 3]; // don't store BLOCK_END byte
uint8_t crc;
BlockSequence seq = BlockSequence::IDLE;
}; };
#endif // USART_H #endif // USART_H