docu
This commit is contained in:
Tristan Krause
parent
e8ee9c6cd7
commit
eec2dd0db6
74 changed files with 503 additions and 368 deletions
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@ -100,7 +100,7 @@ void init()
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// set view context
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View::setWinContext(newwin(WIN_HEIGHT, WIN_WIDTH, 0, 0));
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// set graphical error handler
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B15F::setAbortHandler(&abort_handler);
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}
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120
control/src/cli.cpp.orig
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120
control/src/cli.cpp.orig
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@ -0,0 +1,120 @@
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//#define B15F_CLI_DEBUG
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#include <stdio.h>
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#include <ncurses.h> // sudo apt-get install libncurses5-dev
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#include <vector>
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#include <string>
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#include <iostream>
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#include <signal.h>
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#include <sys/ioctl.h>
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#include <unistd.h>
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#include <signal.h>
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#include <future>
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#include <thread>
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#include <chrono>
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#include "drv/b15f.h"
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#include "ui/ui.h"
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#include "ui/view_selection.h"
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#include "ui/view_info.h"
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#include "ui/view_monitor.h"
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#include "ui/view_promt.h"
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constexpr uint8_t WIN_WIDTH = 80;
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constexpr uint8_t WIN_HEIGHT = 24;
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volatile int win_changed_cooldown = 0;
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volatile bool t_refresh_active = false;
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void signal_handler(int signal)
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{
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if(signal == SIGWINCH)
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{
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win_changed_cooldown = 10; // 100ms
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if (!t_refresh_active)
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{
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if(t_refresh.joinable())
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t_refresh.join();
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t_refresh_active = true;
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t_refresh = std::thread([]()
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{
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while(win_changed_cooldown--)
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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t_refresh_active = false;
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if(win_stack.size())
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win_stack.back()->repaint();
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});
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}
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}
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else if(signal == SIGINT)
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{
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cleanup();
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std::cout << "SIGINT - Abbruch." << std::endl;
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exit(EXIT_FAILURE);
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}
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}
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void abort_handler(std::exception& ex)
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{
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ViewInfo* view = new ViewInfo();
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view->setTitle("Fehler");
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std::string msg(ex.what());
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msg += "\n\nBeende in 5 Sekunden.";
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view->setText(msg.c_str());
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view->setLabelClose("");
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view->repaint();
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std::this_thread::sleep_for(std::chrono::milliseconds(5000));
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cleanup();
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std::cerr << std::endl << "*** EXCEPTION ***" << std::endl << ex.what() << std::endl;
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exit(EXIT_FAILURE);
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}
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void init()
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{
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// init b15 driver
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B15F::getInstance();
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#ifndef B15F_CLI_DEBUG
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std::cout << std::endl << "Starte in 3s ..." << std::endl;
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sleep(3);
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#endif
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// init all ncurses stuff
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initscr();
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start_color();
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curs_set(0); // 0: invisible, 1: normal, 2: very visible
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clear();
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noecho();
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cbreak(); // Line buffering disabled. pass on everything
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mousemask(ALL_MOUSE_EVENTS, NULL);
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// connect signals to handler
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signal(SIGWINCH, signal_handler);
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signal(SIGINT, signal_handler);
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// set view context
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View::setWinContext(newwin(WIN_HEIGHT, WIN_WIDTH, 0, 0));
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// set graphical error handler
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B15F::setAbortHandler(&abort_handler);
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}
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int main()
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{
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init();
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int exit_code = EXIT_SUCCESS;
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show_main(0);
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cleanup();
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return exit_code;
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}
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@ -195,7 +195,7 @@ void B15F::activateSelfTestMode()
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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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@ -211,7 +211,7 @@ void B15F::digitalWrite0(uint8_t port)
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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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@ -227,7 +227,7 @@ void B15F::digitalWrite1(uint8_t port)
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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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@ -243,7 +243,7 @@ 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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@ -259,7 +259,7 @@ 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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@ -275,7 +275,7 @@ 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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@ -295,7 +295,7 @@ void 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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@ -312,7 +312,7 @@ void 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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@ -345,7 +345,7 @@ uint16_t B15F::analogRead(uint8_t channel)
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}
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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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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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buffer_a += offset_a;
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@ -593,7 +593,7 @@ 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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@ -625,7 +625,7 @@ void B15F::init()
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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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@ -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)
|
|||
static_cast<uint8_t >(val >> 8)
|
||||
};
|
||||
|
||||
assertRequestLength(rq, RQ_SET_MEM_16);
|
||||
usart.transmit(&rq[0], 0, sizeof(rq));
|
||||
|
||||
uint16_t aw;
|
||||
usart.receive(reinterpret_cast<uint8_t *>(&aw), 0, sizeof(aw));
|
||||
return aw == val;
|
||||
assertCode(aw, MSG_OK);
|
||||
}
|
||||
|
||||
uint16_t B15F::getMem16(volatile uint16_t* adr)
|
||||
|
|
@ -491,6 +511,7 @@ uint16_t B15F::getMem16(volatile uint16_t* adr)
|
|||
static_cast<uint8_t >(reinterpret_cast<size_t>(adr) >> 8)
|
||||
};
|
||||
|
||||
assertRequestLength(rq, RQ_GET_MEM_16);
|
||||
usart.transmit(&rq[0], 0, sizeof(rq));
|
||||
|
||||
uint16_t aw;
|
||||
|
|
@ -498,9 +519,9 @@ uint16_t B15F::getMem16(volatile uint16_t* adr)
|
|||
return aw;
|
||||
}
|
||||
|
||||
bool B15F::setRegister(volatile uint8_t* adr, uint8_t val)
|
||||
void B15F::setRegister(volatile uint8_t* adr, uint8_t val)
|
||||
{
|
||||
return setMem8(adr, val);
|
||||
setMem8(adr, val);
|
||||
}
|
||||
|
||||
uint8_t B15F::getRegister(volatile uint8_t* adr)
|
||||
|
|
@ -517,6 +538,7 @@ uint16_t* B15F::getInterruptCounterOffset()
|
|||
RQ_COUNTER_OFFSET
|
||||
};
|
||||
|
||||
assertRequestLength(rq, RQ_COUNTER_OFFSET);
|
||||
usart.transmit(&rq[0], 0, sizeof(rq));
|
||||
|
||||
uint16_t aw;
|
||||
|
|
@ -533,6 +555,7 @@ void B15F::setServoEnabled(void)
|
|||
RQ_SERVO_ENABLE
|
||||
};
|
||||
|
||||
assertRequestLength(rq, RQ_SERVO_ENABLE);
|
||||
usart.transmit(&rq[0], 0, sizeof(rq));
|
||||
|
||||
uint8_t aw;
|
||||
|
|
@ -549,6 +572,7 @@ void B15F::setServoDisabled(void)
|
|||
RQ_SERVO_DISABLE
|
||||
};
|
||||
|
||||
assertRequestLength(rq, RQ_SERVO_DISABLE);
|
||||
usart.transmit(&rq[0], 0, sizeof(rq));
|
||||
|
||||
uint8_t aw;
|
||||
|
|
@ -560,7 +584,7 @@ void B15F::setServoPosition(uint16_t pos)
|
|||
{
|
||||
if(pos > 19000)
|
||||
throw DriverException("Impulslänge ist zu lang: " + std::to_string(pos));
|
||||
|
||||
|
||||
usart.clearInputBuffer();
|
||||
|
||||
uint8_t rq[] =
|
||||
|
|
@ -569,7 +593,8 @@ void B15F::setServoPosition(uint16_t pos)
|
|||
static_cast<uint8_t >(pos & 0xFF),
|
||||
static_cast<uint8_t >(pos >> 8)
|
||||
};
|
||||
|
||||
|
||||
assertRequestLength(rq, RQ_SERVO_SET_POS);
|
||||
usart.transmit(&rq[0], 0, sizeof(rq));
|
||||
|
||||
uint8_t aw;
|
||||
|
|
@ -593,7 +618,14 @@ B15F::B15F()
|
|||
void B15F::init()
|
||||
{
|
||||
|
||||
std::string device = exec("bash -c 'ls /dev/ttyUSB*'");
|
||||
#ifdef __arm__
|
||||
// Raspberry Pi serial interface
|
||||
std::string device = exec("bash -c 'ls /dev/ttyAMA* 2> /dev/null'");
|
||||
#else
|
||||
// normal PC serial interface
|
||||
std::string device = exec("bash -c 'ls /dev/ttyUSB* 2> /dev/null'");
|
||||
#endif
|
||||
|
||||
while (device.find(' ') != std::string::npos || device.find('\n') != std::string::npos ||
|
||||
device.find('\t') != std::string::npos)
|
||||
device.pop_back();
|
||||
|
|
@ -635,9 +667,3 @@ void B15F::init()
|
|||
std::cout << PRE << "AVR Firmware Version: " << info[0] << " um " << info[1] << " Uhr (" << info[2] << ")"
|
||||
<< std::endl;
|
||||
}
|
||||
|
||||
void B15F::assertCode(uint8_t& code, uint8_t expectation) const
|
||||
{
|
||||
if(code != expectation)
|
||||
throw DriverException("Ungültige Antwort erhalten: " + std::to_string((int) code) + " (erwartet: " + std::to_string((int) expectation) + ")");
|
||||
}
|
||||
|
|
|
|||
|
|
@ -335,7 +335,7 @@ private:
|
|||
if(code != static_cast<CodeType>(expectation))
|
||||
throw DriverException("Ungültige Antwort erhalten: " + std::to_string((int) code) + " (erwartet: " + std::to_string((int) expectation) + ")");
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Wirft eine Exception, falls die Request die falsche Länge hat.
|
||||
* \throws DriverException
|
||||
|
|
|
|||
|
|
@ -130,21 +130,21 @@ public:
|
|||
* WICHTIG: Es darf dabei nichts an den Klemmen angeschlossen sein!
|
||||
* \throws DriverException
|
||||
*/
|
||||
bool activateSelfTestMode(void);
|
||||
void activateSelfTestMode(void);
|
||||
|
||||
/**
|
||||
* Setzt den Wert des digitalen Ausgabeports 0
|
||||
* \param port Wert für gesamten Port
|
||||
* \throws DriverException
|
||||
*/
|
||||
bool digitalWrite0(uint8_t);
|
||||
void digitalWrite0(uint8_t);
|
||||
|
||||
/**
|
||||
* Setzt den Wert des digitalen Ausgabeports 1
|
||||
* \param port Wert für gesamten Port
|
||||
* \throws DriverException
|
||||
*/
|
||||
bool digitalWrite1(uint8_t);
|
||||
void digitalWrite1(uint8_t);
|
||||
|
||||
/**
|
||||
* Liest den Wert des digitalen Eingabeports 0
|
||||
|
|
@ -172,14 +172,14 @@ public:
|
|||
* \param port 10-Bit Wert
|
||||
* \throws DriverException
|
||||
*/
|
||||
bool analogWrite0(uint16_t port);
|
||||
void analogWrite0(uint16_t port);
|
||||
|
||||
/**
|
||||
* Setzt den Wert des Digital-Analog-Converters (DAC / DAU) 1
|
||||
* \param port 10-Bit Wert
|
||||
* \throws DriverException
|
||||
*/
|
||||
bool analogWrite1(uint16_t port);
|
||||
void analogWrite1(uint16_t port);
|
||||
|
||||
/**
|
||||
* Liest den Wert des Analog-Digital-Converters (ADC / ADU)
|
||||
|
|
@ -221,7 +221,7 @@ public:
|
|||
* \param value PWM Wert [0..TOP]
|
||||
* \throws DriverException
|
||||
*/
|
||||
bool pwmSetValue(uint8_t value);
|
||||
void pwmSetValue(uint8_t value);
|
||||
|
||||
/**
|
||||
* Setzt direkt den Wert einer MCU Speicherzelle der Größe 8 Bit.
|
||||
|
|
@ -231,7 +231,7 @@ public:
|
|||
* \param val Neuer Wert für die Zelle
|
||||
* \return true, falls Vorgang erfolgreich
|
||||
*/
|
||||
bool setMem8(volatile uint8_t* adr, uint8_t val);
|
||||
void setMem8(volatile uint8_t* adr, uint8_t val);
|
||||
|
||||
/**
|
||||
* Liefert den Wert einer MCU Speicherzelle der Größe 8 Bit.
|
||||
|
|
@ -247,9 +247,9 @@ public:
|
|||
* *Wichtig:* bei einer falschen Adresse kann das Board 15 ernsthaften Schaden nehmen!
|
||||
* \param adr Speicheradresse
|
||||
* \param val Neuer Wert für die Zelle
|
||||
* \return true, falls Vorgang erfolgreich
|
||||
* \throws DriverException
|
||||
*/
|
||||
bool setMem16(volatile uint16_t* adr, uint16_t val);
|
||||
void setMem16(volatile uint16_t* adr, uint16_t val);
|
||||
|
||||
/**
|
||||
* Liefert den Wert einer MCU Speicherzelle der Größe 16 Bit.
|
||||
|
|
@ -264,9 +264,9 @@ public:
|
|||
* *Wichtig:* bei einer falschen Adresse kann das Board 15 ernsthaften Schaden nehmen!
|
||||
* \param adr Speicheradresse
|
||||
* \param val Neuer Wert für das Register
|
||||
* \return true, falls Vorgang erfolgreich
|
||||
* \throws DriverException
|
||||
*/
|
||||
bool setRegister(volatile uint8_t* adr, uint8_t val);
|
||||
void setRegister(volatile uint8_t* adr, uint8_t val);
|
||||
|
||||
/**
|
||||
* Diese Funktion ist ein Alias für getMem8().
|
||||
|
|
@ -280,20 +280,23 @@ public:
|
|||
* \return Adresse (in der MCU)
|
||||
*/
|
||||
uint16_t* getInterruptCounterOffset(void);
|
||||
|
||||
|
||||
/**
|
||||
* Aktiviert das Servo Signal an PB2 und Initialisiert es mit 1,5ms Pulselänge.
|
||||
* \throws DriverException
|
||||
*/
|
||||
void setServoEnabled(void);
|
||||
|
||||
|
||||
/**
|
||||
* Deaktiviert das Servo Signal an PB2.
|
||||
* \throws DriverException
|
||||
*/
|
||||
void setServoDisabled(void);
|
||||
|
||||
|
||||
/**
|
||||
* Setzt die Pulselänge des Servo Signals und damit die Position.
|
||||
* \param pos Pulselänge des Signals in Mikrosekunden
|
||||
* \throws DriverException
|
||||
*/
|
||||
void setServoPosition(uint16_t pos);
|
||||
|
||||
|
|
@ -321,12 +324,28 @@ private:
|
|||
* \throws DriverException
|
||||
*/
|
||||
void init(void);
|
||||
|
||||
|
||||
/**
|
||||
* Wirft eine Exception, falls der Code ungleich dem erwarteten Wert ist.
|
||||
* \throws DriverException
|
||||
*/
|
||||
void assertCode(uint8_t& code, uint8_t expectation) const;
|
||||
template<typename CodeType, typename ExpectationType>
|
||||
void assertCode(CodeType& code, ExpectationType expectation) const
|
||||
{
|
||||
if(code != static_cast<CodeType>(expectation))
|
||||
throw DriverException("Ungültige Antwort erhalten: " + std::to_string((int) code) + " (erwartet: " + std::to_string((int) expectation) + ")");
|
||||
}
|
||||
|
||||
/**
|
||||
* Wirft eine Exception, falls die Request die falsche Länge hat.
|
||||
* \throws DriverException
|
||||
*/
|
||||
template<size_t RequestLength>
|
||||
void assertRequestLength(uint8_t (&)[RequestLength], uint8_t rq_num)
|
||||
{
|
||||
if(RequestLength != rq_len[rq_num])
|
||||
throw DriverException("Ungültige Request Länge: " + std::to_string(RequestLength) + " (erwartet: " + std::to_string(rq_len[rq_num]) + ")");
|
||||
}
|
||||
|
||||
USART usart; //!< USART Instanz für serielle Verbindung
|
||||
static B15F* instance; //!< private Instanz für Singleton
|
||||
|
|
|
|||
|
|
@ -1,57 +0,0 @@
|
|||
#ifndef REQUESTS_H
|
||||
#define REQUESTS_H
|
||||
|
||||
constexpr static uint8_t RQ_DISCARD = 0;
|
||||
constexpr static uint8_t RQ_TEST = 1;
|
||||
constexpr static uint8_t RQ_INFO = 2;
|
||||
constexpr static uint8_t RQ_INT_TEST = 3;
|
||||
constexpr static uint8_t RQ_SELF_TEST = 4;
|
||||
constexpr static uint8_t RQ_DIGITAL_WRITE_0 = 5;
|
||||
constexpr static uint8_t RQ_DIGITAL_WRITE_1 = 6;
|
||||
constexpr static uint8_t RQ_DIGITAL_READ_0 = 7;
|
||||
constexpr static uint8_t RQ_DIGITAL_READ_1 = 8;
|
||||
constexpr static uint8_t RQ_READ_DIP_SWITCH = 9;
|
||||
constexpr static uint8_t RQ_ANALOG_WRITE_0 = 10;
|
||||
constexpr static uint8_t RQ_ANALOG_WRITE_1 = 11;
|
||||
constexpr static uint8_t RQ_ANALOG_READ = 12;
|
||||
constexpr static uint8_t RQ_ADC_DAC_STROKE = 13;
|
||||
constexpr static uint8_t RQ_PWM_SET_FREQ = 14;
|
||||
constexpr static uint8_t RQ_PWM_SET_VALUE = 15;
|
||||
constexpr static uint8_t RQ_SET_MEM_8 = 16;
|
||||
constexpr static uint8_t RQ_GET_MEM_8 = 17;
|
||||
constexpr static uint8_t RQ_SET_MEM_16 = 18;
|
||||
constexpr static uint8_t RQ_GET_MEM_16 = 19;
|
||||
constexpr static uint8_t RQ_COUNTER_OFFSET = 20;
|
||||
constexpr static uint8_t RQ_SERVO_ENABLE = 21;
|
||||
constexpr static uint8_t RQ_SERVO_DISABLE = 22;
|
||||
constexpr static uint8_t RQ_SERVO_SET_POS = 23;
|
||||
|
||||
uint8_t const rq_len[] =
|
||||
{
|
||||
1 /* RQ_DISCARD */,
|
||||
1 /* RQ_TEST */ + 1 /* test byte */,
|
||||
1 /* RQ_INFO */,
|
||||
1 /* RQ_INT_TEST */ + 1 /* test int high low */ + 1 /* test int high high */,
|
||||
1 /* RQ_SELF_TEST */,
|
||||
1 /* RQ_DIGITAL_WRITE_0 */ + 1 /* port value */,
|
||||
1 /* RQ_DIGITAL_WRITE_1 */ + 1 /* port value */,
|
||||
1 /* RQ_DIGITAL_READ_0 */,
|
||||
1 /* RQ_DIGITAL_READ_1 */,
|
||||
1 /* RQ_READ_DIP_SWITCH */,
|
||||
1 /* RQ_ANALOG_WRITE_0 */ + 1 /* test int high low */ + 1 /* test int high high */,
|
||||
1 /* RQ_ANALOG_WRITE_1 */ + 1 /* test int high low */ + 1 /* test int high high */,
|
||||
1 /* RQ_ANALOG_READ */ + 1 /* adc channel */,
|
||||
1 /* RQ_ADC_DAC_STROKE */ + 1 /* channel a */ + 1 /* channel b */ + 1 /* start low */ + 1 /* start high */ + 1 /* delta low */ + 1 /* delta high */ + 1 /* count low */ + 1 /* count high */,
|
||||
1 /* RQ_PWM_SET_FREQ */ + 1 /* freq low low */ + 1 /* freq low high */ + 1 /* freq high low */ + 1 /* freq high high */,
|
||||
1 /* RQ_PWM_SET_VALUE */ + 1 /* pwm value */,
|
||||
1 /* RQ_SET_MEM_8 */ + 1 /* memory address low */ + 1 /* memory address high */ + 1 /* memory value (8-bit) */,
|
||||
1 /* RQ_GET_MEM_8 */ + 1 /* memory address low */ + 1 /* memory address high */,
|
||||
1 /* RQ_SET_MEM_16 */ + 1 /* memory address low */ + 1 /* memory address high */ + 1 /* memory value low */ + 1 /* memory value high */,
|
||||
1 /* RQ_GET_MEM_16 */ + 1 /* memory address low */ + 1 /* memory address high */,
|
||||
1 /* RQ_COUNTER_OFFSET */,
|
||||
1 /* RQ_SERVO_ENABLE */,
|
||||
1 /* RQ_SERVO_DISABLE */,
|
||||
1 /* RQ_SERVO_SET_POS */ + 1 /* pulse length low */ + 1 /* pulse length high */,
|
||||
};
|
||||
|
||||
#endif // REQUESTS_H
|
||||
Loading…
Add table
Add a link
Reference in a new issue