aufgeräumt
This commit is contained in:
Tristan Krause
parent
571558ece1
commit
e8ee9c6cd7
5 changed files with 94 additions and 46 deletions
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@ -171,7 +171,6 @@ void B15F::abort(std::exception &ex)
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errorhandler(ex);
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else
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{
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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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@ -190,45 +189,51 @@ void B15F::setAbortHandler(errorhandler_t func)
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* Steuerbefehle für B15 *
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*************************/
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bool B15F::activateSelfTestMode()
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void B15F::activateSelfTestMode()
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{
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uint8_t rq[] =
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{
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RQ_SELF_TEST
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};
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assertRequestLength(rq, RQ_SELF_TEST);
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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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assertCode(aw, MSG_OK);
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}
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bool B15F::digitalWrite0(uint8_t port)
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void B15F::digitalWrite0(uint8_t port)
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{
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uint8_t rq[] =
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{
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RQ_DIGITAL_WRITE_0,
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port
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};
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assertRequestLength(rq, RQ_DIGITAL_WRITE_0);
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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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assertCode(aw, MSG_OK);
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}
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bool B15F::digitalWrite1(uint8_t port)
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void B15F::digitalWrite1(uint8_t port)
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{
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uint8_t rq[] =
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{
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RQ_DIGITAL_WRITE_1,
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port
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};
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assertRequestLength(rq, RQ_DIGITAL_WRITE_1);
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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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assertCode(aw, MSG_OK);
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}
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uint8_t B15F::digitalRead0()
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@ -238,6 +243,8 @@ uint8_t B15F::digitalRead0()
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{
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RQ_DIGITAL_READ_0
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};
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assertRequestLength(rq, RQ_DIGITAL_READ_0);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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@ -252,6 +259,8 @@ uint8_t B15F::digitalRead1()
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{
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RQ_DIGITAL_READ_1
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};
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assertRequestLength(rq, RQ_DIGITAL_READ_1);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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@ -266,6 +275,8 @@ uint8_t B15F::readDipSwitch()
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{
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RQ_READ_DIP_SWITCH
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};
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assertRequestLength(rq, RQ_READ_DIP_SWITCH);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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@ -276,7 +287,7 @@ uint8_t B15F::readDipSwitch()
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return aw;
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}
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bool B15F::analogWrite0(uint16_t value)
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void B15F::analogWrite0(uint16_t value)
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{
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uint8_t rq[] =
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{
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@ -284,14 +295,16 @@ bool B15F::analogWrite0(uint16_t value)
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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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assertRequestLength(rq, RQ_ANALOG_WRITE_0);
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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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assertCode(aw, MSG_OK);
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}
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bool B15F::analogWrite1(uint16_t value)
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void B15F::analogWrite1(uint16_t value)
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{
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uint8_t rq[] =
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{
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@ -299,11 +312,13 @@ bool B15F::analogWrite1(uint16_t value)
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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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assertRequestLength(rq, RQ_ANALOG_WRITE_1);
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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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assertCode(aw, MSG_OK);
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}
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uint16_t B15F::analogRead(uint8_t channel)
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@ -318,6 +333,7 @@ uint16_t B15F::analogRead(uint8_t channel)
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channel
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};
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assertRequestLength(rq, RQ_ANALOG_READ);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint16_t aw;
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@ -328,8 +344,7 @@ uint16_t B15F::analogRead(uint8_t channel)
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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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void 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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{
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// prepare pointers
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@ -351,6 +366,7 @@ B15F::analogSequence(uint8_t channel_a, uint16_t *buffer_a, uint32_t offset_a, u
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static_cast<uint8_t >(count >> 8)
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};
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assertRequestLength(rq, RQ_ADC_DAC_STROKE);
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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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@ -382,8 +398,7 @@ B15F::analogSequence(uint8_t channel_a, uint16_t *buffer_a, uint32_t offset_a, u
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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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assertCode(aw, MSG_OK);
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}
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uint8_t B15F::pwmSetFrequency(uint32_t freq)
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@ -399,6 +414,7 @@ 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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assertRequestLength(rq, RQ_PWM_SET_FREQ);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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@ -406,7 +422,7 @@ uint8_t B15F::pwmSetFrequency(uint32_t freq)
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return aw;
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}
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bool B15F::pwmSetValue(uint8_t value)
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void B15F::pwmSetValue(uint8_t value)
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{
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usart.clearInputBuffer();
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@ -416,14 +432,15 @@ bool B15F::pwmSetValue(uint8_t value)
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value
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};
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assertRequestLength(rq, RQ_PWM_SET_VALUE);
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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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assertCode(aw, MSG_OK);
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}
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bool B15F::setMem8(volatile uint8_t* adr, uint8_t val)
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void B15F::setMem8(volatile uint8_t* adr, uint8_t val)
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{
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usart.clearInputBuffer();
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@ -435,11 +452,12 @@ bool B15F::setMem8(volatile uint8_t* adr, uint8_t val)
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val
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};
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assertRequestLength(rq, RQ_SET_MEM_8);
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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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assertCode(aw, MSG_OK);
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}
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uint8_t B15F::getMem8(volatile uint8_t* adr)
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@ -453,6 +471,7 @@ uint8_t B15F::getMem8(volatile uint8_t* adr)
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static_cast<uint8_t >(reinterpret_cast<size_t>(adr) >> 8)
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};
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assertRequestLength(rq, RQ_GET_MEM_8);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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@ -460,7 +479,7 @@ uint8_t B15F::getMem8(volatile uint8_t* adr)
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return aw;
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}
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bool B15F::setMem16(volatile uint16_t* adr, uint16_t val)
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void B15F::setMem16(volatile uint16_t* adr, uint16_t val)
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{
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usart.clearInputBuffer();
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@ -473,11 +492,12 @@ bool B15F::setMem16(volatile uint16_t* adr, uint16_t val)
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static_cast<uint8_t >(val >> 8)
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};
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assertRequestLength(rq, RQ_SET_MEM_16);
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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 == val;
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assertCode(aw, MSG_OK);
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}
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uint16_t B15F::getMem16(volatile uint16_t* adr)
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@ -491,6 +511,7 @@ uint16_t B15F::getMem16(volatile uint16_t* adr)
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static_cast<uint8_t >(reinterpret_cast<size_t>(adr) >> 8)
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};
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assertRequestLength(rq, RQ_GET_MEM_16);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint16_t aw;
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@ -498,9 +519,9 @@ uint16_t B15F::getMem16(volatile uint16_t* adr)
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return aw;
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}
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bool B15F::setRegister(volatile uint8_t* adr, uint8_t val)
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void B15F::setRegister(volatile uint8_t* adr, uint8_t val)
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{
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return setMem8(adr, val);
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setMem8(adr, val);
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}
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uint8_t B15F::getRegister(volatile uint8_t* adr)
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@ -517,6 +538,7 @@ uint16_t* B15F::getInterruptCounterOffset()
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RQ_COUNTER_OFFSET
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};
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assertRequestLength(rq, RQ_COUNTER_OFFSET);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint16_t aw;
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@ -533,6 +555,7 @@ void B15F::setServoEnabled(void)
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RQ_SERVO_ENABLE
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};
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assertRequestLength(rq, RQ_SERVO_ENABLE);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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@ -549,6 +572,7 @@ void B15F::setServoDisabled(void)
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RQ_SERVO_DISABLE
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};
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assertRequestLength(rq, RQ_SERVO_DISABLE);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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@ -569,7 +593,8 @@ void B15F::setServoPosition(uint16_t pos)
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static_cast<uint8_t >(pos & 0xFF),
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static_cast<uint8_t >(pos >> 8)
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};
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assertRequestLength(rq, RQ_SERVO_SET_POS);
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usart.transmit(&rq[0], 0, sizeof(rq));
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uint8_t aw;
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@ -593,7 +618,14 @@ B15F::B15F()
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void B15F::init()
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{
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std::string device = exec("bash -c 'ls /dev/ttyUSB*'");
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#ifdef __arm__
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// Raspberry Pi serial interface
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std::string device = exec("bash -c 'ls /dev/ttyAMA* 2> /dev/null'");
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#else
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// normal PC serial interface
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std::string device = exec("bash -c 'ls /dev/ttyUSB* 2> /dev/null'");
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#endif
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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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@ -635,9 +667,3 @@ void B15F::init()
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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::assertCode(uint8_t& code, uint8_t expectation) const
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{
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if(code != expectation)
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throw DriverException("Ungültige Antwort erhalten: " + std::to_string((int) code) + " (erwartet: " + std::to_string((int) expectation) + ")");
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}
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