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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#include "b15f.h"</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <a class="code" href="classB15F.html">B15F</a> *B15F::instance = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> errorhandler_t B15F::errorhandler = <span class="keyword">nullptr</span>;</div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span>  </div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span>  </div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">/*************************************</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * Grundfunktionen des B15F Treibers *</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> *************************************/</span></div><div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="classB15F.html#a8b4533d232c55ef2aa967e39e2d23380"> 10</a></span>  </div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <a class="code" href="classB15F.html">B15F</a> &<a class="code" href="classB15F.html#a8b4533d232c55ef2aa967e39e2d23380">B15F::getInstance</a>(<span class="keywordtype">void</span>)</div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> {</div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span>  <span class="keywordflow">if</span> (!instance)</div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  instance = <span class="keyword">new</span> <a class="code" href="classB15F.html">B15F</a>();</div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span>  </div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  <span class="keywordflow">return</span> *instance;</div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> }</div><div class="line"><a name="l00018"></a><span class="lineno"><a class="line" href="classB15F.html#a52557b375443c180a044e7d4e80a1ae7"> 18</a></span>  </div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a52557b375443c180a044e7d4e80a1ae7">B15F::reconnect</a>()</div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> {</div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  uint8_t tries = <a class="code" href="classB15F.html#a6c4895bdbcd71ff6743becf97985c2dc">RECONNECT_TRIES</a>;</div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span>  <span class="keywordflow">while</span> (tries--)</div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span>  {</div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  <a class="code" href="classB15F.html#aaffce20afb9f06bc4b7556c70ce76416">delay_ms</a>(<a class="code" href="classB15F.html#a040951746fbfd632e12bd1ad14578816">RECONNECT_TIMEOUT</a>);</div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  <a class="code" href="classB15F.html#ae4740cd473f40a1a4121dfa66b25e1d5">discard</a>();</div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  </div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  <span class="keywordflow">try</span></div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  {</div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  <a class="code" href="classB15F.html#a6b8c7da1fb9b619543844e0ce7597d83">testConnection</a>();</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  <span class="keywordflow">return</span>; <span class="comment">// no exceptionm means success</span></div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  }</div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="keywordflow">catch</span>(<a class="code" href="classDriverException.html">DriverException</a>& eDE)</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  {</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="comment">// discard exception</span></div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  }</div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  }</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <a class="code" href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e">abort</a>(<span class="stringliteral">"Verbindung kann nicht repariert werden"</span>);</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> }</div><div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classB15F.html#ae4740cd473f40a1a4121dfa66b25e1d5"> 40</a></span>  </div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#ae4740cd473f40a1a4121dfa66b25e1d5">B15F::discard</a>(<span class="keywordtype">void</span>)</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> {</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="keywordflow">try</span></div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  {</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  uint8_t rq[] =</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  {</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  RQ_DISCARD</div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  };</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  usart.<a class="code" href="classUSART.html#a756d268a8762c316f91ca3238972b0c1">clearOutputBuffer</a>();</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keywordflow">for</span> (uint8_t i = 0; i < 16; i++)</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  {</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq)); <span class="comment">// sende discard Befehl (verwerfe input)</span></div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <a class="code" href="classB15F.html#aaffce20afb9f06bc4b7556c70ce76416">delay_ms</a>(4);</div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  }</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  }</div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordflow">catch</span> (std::exception &ex)</div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  {</div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <a class="code" href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e">abort</a>(ex);</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  }</div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span> }</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classB15F.html#a6b8c7da1fb9b619543844e0ce7597d83"> 63</a></span>  </div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a6b8c7da1fb9b619543844e0ce7597d83">B15F::testConnection</a>()</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span> {</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="comment">// erzeuge zufälliges Byte</span></div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  srand(time(NULL));</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  uint8_t dummy = rand() % 256;</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  uint8_t rq[] =</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  {</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  RQ_TEST,</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  dummy</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  };</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  uint8_t aw[2];</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw[0], 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  assertCode(aw[0], <a class="code" href="classB15F.html#ab01299858f74a6cec598688562e0ad02">MSG_OK</a>);</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  assertCode(aw[1], dummy);</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span> }</div><div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classB15F.html#ac2c7b6d84da5239ee7cc3d44e689d9db"> 83</a></span>  </div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#ac2c7b6d84da5239ee7cc3d44e689d9db">B15F::testIntConv</a>()</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span> {</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  srand(time(NULL));</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  uint16_t dummy = rand() % (0xFFFF / 3);</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  uint8_t rq[] =</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  {</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  RQ_INT_TEST,</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  static_cast<uint8_t >(dummy & 0xFF),</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  static_cast<uint8_t >(dummy >> 8)</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  };</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  </div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  uint16_t aw;</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(reinterpret_cast<uint8_t *>(&aw), 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  assertCode(aw, dummy * 3);</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span> }</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  </div><div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classB15F.html#a4f01677e73d6d172a2c1cae9427a591b"> 103</a></span>  </div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span> std::vector<std::string> <a class="code" href="classB15F.html#a4f01677e73d6d172a2c1cae9427a591b">B15F::getBoardInfo</a>(<span class="keywordtype">void</span>)</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span> {</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  std::vector<std::string> info;</div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  uint8_t rq[] =</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  {</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  RQ_INFO</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  };</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  uint8_t n;</div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&n, 0, <span class="keyword">sizeof</span>(n));</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keywordflow">while</span> (n--)</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  {</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  uint8_t len;</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&len, 0, <span class="keyword">sizeof</span>(len));</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  </div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordtype">char</span> str[len + 1];</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  str[len] = <span class="charliteral">'\0'</span>;</div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(reinterpret_cast<uint8_t *>(&str[0]), 0, len);</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  </div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  info.push_back(std::string(str));</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  }</div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  </div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  uint8_t aw;</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keywordflow">if</span> (aw != <a class="code" href="classB15F.html#ab01299858f74a6cec598688562e0ad02">MSG_OK</a>)</div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <a class="code" href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e">abort</a>(<span class="stringliteral">"Board Info fehlerhalft: code "</span> + std::to_string((<span class="keywordtype">int</span>) aw));</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  </div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordflow">return</span> info;</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span> }</div><div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classB15F.html#aaffce20afb9f06bc4b7556c70ce76416"> 135</a></span>  </div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#aaffce20afb9f06bc4b7556c70ce76416">B15F::delay_ms</a>(uint16_t ms)</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span> {</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  std::this_thread::sleep_for(std::chrono::milliseconds(ms));</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span> }</div><div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classB15F.html#adcaac8ae8db3c28eccb499fbd720361f"> 140</a></span>  </div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#adcaac8ae8db3c28eccb499fbd720361f">B15F::delay_us</a>(uint16_t us)</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span> {</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  std::this_thread::sleep_for(std::chrono::microseconds(us));</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span> }</div><div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classB15F.html#a2937f22f1cfc9b533f4b5bf4db726a68"> 145</a></span>  </div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a2937f22f1cfc9b533f4b5bf4db726a68">B15F::reverse</a>(uint8_t& b)</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span> {</div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  b = (b & 0xF0) >> 4 | (b & 0x0F) << 4;</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  b = (b & 0xCC) >> 2 | (b & 0x33) << 2;</div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  b = (b & 0xAA) >> 1 | (b & 0x55) << 1;</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span> }</div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div><div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classB15F.html#a1a7ac52984ed7ecac008a3e4060eee3a"> 153</a></span> <span class="comment">// https://stackoverflow.com/a/478960</span></div><div class="line"><a name="l00154"></a><span class="lineno"> 154</span> std::string <a class="code" href="classB15F.html#a1a7ac52984ed7ecac008a3e4060eee3a">B15F::exec</a>(std::string cmd)</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span> {</div><div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  std::array<char, 128> buffer;</div><div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  std::string result;</div><div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(cmd.c_str(), <span class="stringliteral">"r"</span>), pclose);</div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keywordflow">if</span> (!pipe)</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  {</div><div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordflow">throw</span> std::runtime_error(<span class="stringliteral">"popen() failed!"</span>);</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  }</div><div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordflow">while</span> (fgets(buffer.data(), buffer.size(), pipe.get()) != <span class="keyword">nullptr</span>)</div><div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  {</div><div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  result += buffer.data();</div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  }</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordflow">return</span> result;</div><div class="line"><a name="l00168"></a><span class="lineno"> 168</span> }</div><div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e"> 169</a></span>  </div><div class="line"><a name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e">B15F::abort</a>(std::string msg)</div><div class="line"><a name="l00171"></a><span class="lineno"> 171</span> {</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <a class="code" href="classDriverException.html">DriverException</a> ex(msg);</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <a class="code" href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e">abort</a>(ex);</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span> }</div><div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classB15F.html#ac962a6a49bddd0e261a8c7d3aded23f8"> 175</a></span>  </div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e">B15F::abort</a>(std::exception &ex)</div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span> {</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordflow">if</span> (errorhandler)</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  errorhandler(ex);</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  {</div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  std::cout << ex.what() << std::endl;</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keywordflow">throw</span> <a class="code" href="classDriverException.html">DriverException</a>(ex.what());</div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  }</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span> }</div><div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classB15F.html#a55b0cd1ea582bda53d6979442640f8e9"> 186</a></span>  </div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a55b0cd1ea582bda53d6979442640f8e9">B15F::setAbortHandler</a>(errorhandler_t func)</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span> {</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  errorhandler = func;</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span> }</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  </div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span> <span class="comment">/*************************************/</span></div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  </div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  </div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  </div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="comment">/*************************</span></div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="comment"> * Steuerbefehle für B15 *</span></div><div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classB15F.html#aebb9a8bff15d422b62d21fd4d8408c8a"> 198</a></span> <span class="comment"> *************************/</span></div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  </div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#aebb9a8bff15d422b62d21fd4d8408c8a">B15F::activateSelfTestMode</a>()</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span> {</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  uint8_t rq[] =</div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  {</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  RQ_SELF_TEST</div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  };</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  </div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  assertRequestLength(rq, RQ_SELF_TEST);</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  </div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  uint8_t aw;</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  assertCode(aw, <a class="code" href="classB15F.html#ab01299858f74a6cec598688562e0ad02">MSG_OK</a>);</div><div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classB15F.html#afd2c5753b8a5d323d9cfca77986fe893"> 213</a></span> }</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  </div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#afd2c5753b8a5d323d9cfca77986fe893">B15F::digitalWrite0</a>(uint8_t port)</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span> {</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  uint8_t rq[] =</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  {</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  RQ_DIGITAL_WRITE_0,</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  port</div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  };</div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  </div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  assertRequestLength(rq, RQ_DIGITAL_WRITE_0);</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  </div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  uint8_t aw;</div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  assertCode(aw, <a class="code" href="classB15F.html#ab01299858f74a6cec598688562e0ad02">MSG_OK</a>);</div><div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classB15F.html#a8f0d3891ec613a569b0a4309dfe213da"> 229</a></span> }</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  </div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a8f0d3891ec613a569b0a4309dfe213da">B15F::digitalWrite1</a>(uint8_t port)</div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span> {</div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  uint8_t rq[] =</div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  {</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  RQ_DIGITAL_WRITE_1,</div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  port</div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  };</div><div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  </div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  assertRequestLength(rq, RQ_DIGITAL_WRITE_1);</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  </div><div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  uint8_t aw;</div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  assertCode(aw, <a class="code" href="classB15F.html#ab01299858f74a6cec598688562e0ad02">MSG_OK</a>);</div><div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classB15F.html#ae0df6d423deeb2fd610968bd1c72060e"> 245</a></span> }</div><div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  </div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span> uint8_t <a class="code" href="classB15F.html#ae0df6d423deeb2fd610968bd1c72060e">B15F::digitalRead0</a>()</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span> {</div><div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  uint8_t rq[] =</div><div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  {</div><div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  RQ_DIGITAL_READ_0</div><div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  };</div><div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  </div><div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  assertRequestLength(rq, RQ_DIGITAL_READ_0);</div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  </div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  uint8_t aw;</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordflow">return</span> aw;</div><div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classB15F.html#afc76b612dd4faeee0ac02a66b65af5f2"> 261</a></span> }</div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  </div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span> uint8_t <a class="code" href="classB15F.html#afc76b612dd4faeee0ac02a66b65af5f2">B15F::digitalRead1</a>()</div><div class="line"><a name="l00264"></a><span class="lineno"> 264</span> {</div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  uint8_t rq[] =</div><div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  {</div><div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  RQ_DIGITAL_READ_1</div><div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  };</div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  </div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  assertRequestLength(rq, RQ_DIGITAL_READ_1);</div><div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  </div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  uint8_t aw;</div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  <span class="keywordflow">return</span> aw;</div><div class="line"><a name="l00277"></a><span class="lineno"><a class="line" href="classB15F.html#a6f858f21ea81d491b5031b3644a2239a"> 277</a></span> }</div><div class="line"><a name="l00278"></a><span class="lineno"> 278</span>  </div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span> uint8_t <a class="code" href="classB15F.html#a6f858f21ea81d491b5031b3644a2239a">B15F::readDipSwitch</a>()</div><div class="line"><a name="l00280"></a><span class="lineno"> 280</span> {</div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  uint8_t rq[] =</div><div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  {</div><div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  RQ_READ_DIP_SWITCH</div><div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  };</div><div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  </div><div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  assertRequestLength(rq, RQ_READ_DIP_SWITCH);</div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  </div><div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  uint8_t aw;</div><div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  </div><div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <a class="code" href="classB15F.html#a2937f22f1cfc9b533f4b5bf4db726a68">reverse</a>(aw); <span class="comment">// DIP Schalter muss invertiert werden!</span></div><div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  </div><div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  <span class="keywordflow">return</span> aw;</div><div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="classB15F.html#a051da899f0883737dd1de1ba6a86f466"> 296</a></span> }</div><div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  </div><div class="line"><a name="l00298"></a><span class="lineno"> 298</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a051da899f0883737dd1de1ba6a86f466">B15F::analogWrite0</a>(uint16_t value)</div><div class="line"><a name="l00299"></a><span class="lineno"> 299</span> {</div><div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  uint8_t rq[] =</div><div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  {</div><div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  RQ_ANALOG_WRITE_0,</div><div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  static_cast<uint8_t >(value & 0xFF),</div><div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  static_cast<uint8_t >(value >> 8)</div><div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  };</div><div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  </div><div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  assertRequestLength(rq, RQ_ANALOG_WRITE_0);</div><div class="line"><a name="l00308"></a><span class="lineno"> 308</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  </div><div class="line"><a name="l00310"></a><span class="lineno"> 310</span>  uint8_t aw;</div><div class="line"><a name="l00311"></a><span class="lineno"> 311</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00312"></a><span class="lineno"> 312</span>  assertCode(aw, <a class="code" href="classB15F.html#ab01299858f74a6cec598688562e0ad02">MSG_OK</a>);</div><div class="line"><a name="l00313"></a><span class="lineno"><a class="line" href="classB15F.html#aae7bdafb19bf0adf5c7d9d0aff61c81a"> 313</a></span> }</div><div class="line"><a name="l00314"></a><span class="lineno"> 314</span>  </div><div class="line"><a name="l00315"></a><span class="lineno"> 315</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#aae7bdafb19bf0adf5c7d9d0aff61c81a">B15F::analogWrite1</a>(uint16_t value)</div><div class="line"><a name="l00316"></a><span class="lineno"> 316</span> {</div><div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  uint8_t rq[] =</div><div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  {</div><div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  RQ_ANALOG_WRITE_1,</div><div class="line"><a name="l00320"></a><span class="lineno"> 320</span>  static_cast<uint8_t >(value & 0xFF),</div><div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  static_cast<uint8_t >(value >> 8)</div><div class="line"><a name="l00322"></a><span class="lineno"> 322</span>  };</div><div class="line"><a name="l00323"></a><span class="lineno"> 323</span>  </div><div class="line"><a name="l00324"></a><span class="lineno"> 324</span>  assertRequestLength(rq, RQ_ANALOG_WRITE_1);</div><div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  </div><div class="line"><a name="l00327"></a><span class="lineno"> 327</span>  uint8_t aw;</div><div class="line"><a name="l00328"></a><span class="lineno"> 328</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00329"></a><span class="lineno"> 329</span>  assertCode(aw, <a class="code" href="classB15F.html#ab01299858f74a6cec598688562e0ad02">MSG_OK</a>);</div><div class="line"><a name="l00330"></a><span class="lineno"><a class="line" href="classB15F.html#ae0bd1f69751e2dc3c462db9213fc4627"> 330</a></span> }</div><div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  </div><div class="line"><a name="l00332"></a><span class="lineno"> 332</span> uint16_t <a class="code" href="classB15F.html#ae0bd1f69751e2dc3c462db9213fc4627">B15F::analogRead</a>(uint8_t channel)</div><div class="line"><a name="l00333"></a><span class="lineno"> 333</span> {</div><div class="line"><a name="l00334"></a><span class="lineno"> 334</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00335"></a><span class="lineno"> 335</span>  <span class="keywordflow">if</span> (channel > 7)</div><div class="line"><a name="l00336"></a><span class="lineno"> 336</span>  <a class="code" href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e">abort</a>(<span class="stringliteral">"Bad ADC channel: "</span> + std::to_string(channel));</div><div class="line"><a name="l00337"></a><span class="lineno"> 337</span>  </div><div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  uint8_t rq[] =</div><div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  {</div><div class="line"><a name="l00340"></a><span class="lineno"> 340</span>  RQ_ANALOG_READ,</div><div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  channel</div><div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  };</div><div class="line"><a name="l00343"></a><span class="lineno"> 343</span>  </div><div class="line"><a name="l00344"></a><span class="lineno"> 344</span>  assertRequestLength(rq, RQ_ANALOG_READ);</div><div class="line"><a name="l00345"></a><span class="lineno"> 345</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00346"></a><span class="lineno"> 346</span>  </div><div class="line"><a name="l00347"></a><span class="lineno"> 347</span>  uint16_t aw;</div><div class="line"><a name="l00348"></a><span class="lineno"> 348</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(reinterpret_cast<uint8_t *>(&aw), 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00349"></a><span class="lineno"> 349</span>  </div><div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="keywordflow">if</span> (aw > 1023)</div><div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <a class="code" href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e">abort</a>(<span class="stringliteral">"Bad ADC data detected (1)"</span>);</div><div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  <span class="keywordflow">return</span> aw;</div><div class="line"><a name="l00353"></a><span class="lineno"><a class="line" href="classB15F.html#ab82a324426c3063318c6cafb3089ae02"> 353</a></span> }</div><div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  </div><div class="line"><a name="l00355"></a><span class="lineno"> 355</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#ab82a324426c3063318c6cafb3089ae02">B15F::analogSequence</a>(uint8_t channel_a, uint16_t *buffer_a, uint32_t offset_a, uint8_t channel_b, uint16_t *buffer_b,</div><div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  uint32_t offset_b, uint16_t start, int16_t delta, uint16_t count)</div><div class="line"><a name="l00357"></a><span class="lineno"> 357</span> {</div><div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  <span class="comment">// prepare pointers</span></div><div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  buffer_a += offset_a;</div><div class="line"><a name="l00360"></a><span class="lineno"> 360</span>  buffer_b += offset_b;</div><div class="line"><a name="l00361"></a><span class="lineno"> 361</span>  </div><div class="line"><a name="l00362"></a><span class="lineno"> 362</span>  </div><div class="line"><a name="l00363"></a><span class="lineno"> 363</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00364"></a><span class="lineno"> 364</span>  uint8_t rq[] =</div><div class="line"><a name="l00365"></a><span class="lineno"> 365</span>  {</div><div class="line"><a name="l00366"></a><span class="lineno"> 366</span>  RQ_ADC_DAC_STROKE,</div><div class="line"><a name="l00367"></a><span class="lineno"> 367</span>  channel_a,</div><div class="line"><a name="l00368"></a><span class="lineno"> 368</span>  channel_b,</div><div class="line"><a name="l00369"></a><span class="lineno"> 369</span>  static_cast<uint8_t >(start & 0xFF),</div><div class="line"><a name="l00370"></a><span class="lineno"> 370</span>  static_cast<uint8_t >(start >> 8),</div><div class="line"><a name="l00371"></a><span class="lineno"> 371</span>  static_cast<uint8_t >(delta & 0xFF),</div><div class="line"><a name="l00372"></a><span class="lineno"> 372</span>  static_cast<uint8_t >(delta >> 8),</div><div class="line"><a name="l00373"></a><span class="lineno"> 373</span>  static_cast<uint8_t >(count & 0xFF),</div><div class="line"><a name="l00374"></a><span class="lineno"> 374</span>  static_cast<uint8_t >(count >> 8)</div><div class="line"><a name="l00375"></a><span class="lineno"> 375</span>  };</div><div class="line"><a name="l00376"></a><span class="lineno"> 376</span>  </div><div class="line"><a name="l00377"></a><span class="lineno"> 377</span>  assertRequestLength(rq, RQ_ADC_DAC_STROKE);</div><div class="line"><a name="l00378"></a><span class="lineno"> 378</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00379"></a><span class="lineno"> 379</span>  </div><div class="line"><a name="l00380"></a><span class="lineno"> 380</span>  <span class="keywordflow">for</span> (uint16_t i = 0; i < count; i++)</div><div class="line"><a name="l00381"></a><span class="lineno"> 381</span>  {</div><div class="line"><a name="l00382"></a><span class="lineno"> 382</span>  <span class="keywordflow">if</span> (buffer_a)</div><div class="line"><a name="l00383"></a><span class="lineno"> 383</span>  {</div><div class="line"><a name="l00384"></a><span class="lineno"> 384</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(reinterpret_cast<uint8_t *>(&buffer_a[i]), 0, 2);</div><div class="line"><a name="l00385"></a><span class="lineno"> 385</span>  </div><div class="line"><a name="l00386"></a><span class="lineno"> 386</span>  <span class="keywordflow">if</span> (buffer_a[i] > 1023) <span class="comment">// check for broken usart connection</span></div><div class="line"><a name="l00387"></a><span class="lineno"> 387</span>  <a class="code" href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e">abort</a>(<span class="stringliteral">"Bad ADC data detected (2)"</span>);</div><div class="line"><a name="l00388"></a><span class="lineno"> 388</span>  }</div><div class="line"><a name="l00389"></a><span class="lineno"> 389</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00390"></a><span class="lineno"> 390</span>  {</div><div class="line"><a name="l00391"></a><span class="lineno"> 391</span>  usart.<a class="code" href="classUSART.html#a038d00c0b3d8c0c13c3e7eae5dad7813">drop</a>(2);</div><div class="line"><a name="l00392"></a><span class="lineno"> 392</span>  }</div><div class="line"><a name="l00393"></a><span class="lineno"> 393</span>  </div><div class="line"><a name="l00394"></a><span class="lineno"> 394</span>  <span class="keywordflow">if</span> (buffer_b)</div><div class="line"><a name="l00395"></a><span class="lineno"> 395</span>  {</div><div class="line"><a name="l00396"></a><span class="lineno"> 396</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(reinterpret_cast<uint8_t *>(&buffer_b[i]), 0, 2);</div><div class="line"><a name="l00397"></a><span class="lineno"> 397</span>  </div><div class="line"><a name="l00398"></a><span class="lineno"> 398</span>  <span class="keywordflow">if</span> (buffer_b[i] > 1023) <span class="comment">// check for broken usart connection</span></div><div class="line"><a name="l00399"></a><span class="lineno"> 399</span>  <a class="code" href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e">abort</a>(<span class="stringliteral">"Bad ADC data detected (3)"</span>);</div><div class="line"><a name="l00400"></a><span class="lineno"> 400</span>  }</div><div class="line"><a name="l00401"></a><span class="lineno"> 401</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00402"></a><span class="lineno"> 402</span>  {</div><div class="line"><a name="l00403"></a><span class="lineno"> 403</span>  usart.<a class="code" href="classUSART.html#a038d00c0b3d8c0c13c3e7eae5dad7813">drop</a>(2);</div><div class="line"><a name="l00404"></a><span class="lineno"> 404</span>  }</div><div class="line"><a name="l00405"></a><span class="lineno"> 405</span>  }</div><div class="line"><a name="l00406"></a><span class="lineno"> 406</span>  </div><div class="line"><a name="l00407"></a><span class="lineno"> 407</span>  uint8_t aw;</div><div class="line"><a name="l00408"></a><span class="lineno"> 408</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00409"></a><span class="lineno"> 409</span>  assertCode(aw, <a class="code" href="classB15F.html#ab01299858f74a6cec598688562e0ad02">MSG_OK</a>);</div><div class="line"><a name="l00410"></a><span class="lineno"><a class="line" href="classB15F.html#ac6f6532bb9550a0632c28b98c157d0a1"> 410</a></span> }</div><div class="line"><a name="l00411"></a><span class="lineno"> 411</span>  </div><div class="line"><a name="l00412"></a><span class="lineno"> 412</span> uint8_t <a class="code" href="classB15F.html#ac6f6532bb9550a0632c28b98c157d0a1">B15F::pwmSetFrequency</a>(uint32_t freq)</div><div class="line"><a name="l00413"></a><span class="lineno"> 413</span> {</div><div class="line"><a name="l00414"></a><span class="lineno"> 414</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00415"></a><span class="lineno"> 415</span>  </div><div class="line"><a name="l00416"></a><span class="lineno"> 416</span>  uint8_t rq[] =</div><div class="line"><a name="l00417"></a><span class="lineno"> 417</span>  {</div><div class="line"><a name="l00418"></a><span class="lineno"> 418</span>  RQ_PWM_SET_FREQ,</div><div class="line"><a name="l00419"></a><span class="lineno"> 419</span>  static_cast<uint8_t>((freq >> 0) & 0xFF),</div><div class="line"><a name="l00420"></a><span class="lineno"> 420</span>  static_cast<uint8_t>((freq >> 8) & 0xFF),</div><div class="line"><a name="l00421"></a><span class="lineno"> 421</span>  static_cast<uint8_t>((freq >> 16) & 0xFF),</div><div class="line"><a name="l00422"></a><span class="lineno"> 422</span>  static_cast<uint8_t>((freq >> 24) & 0xFF)</div><div class="line"><a name="l00423"></a><span class="lineno"> 423</span>  };</div><div class="line"><a name="l00424"></a><span class="lineno"> 424</span>  </div><div class="line"><a name="l00425"></a><span class="lineno"> 425</span>  assertRequestLength(rq, RQ_PWM_SET_FREQ);</div><div class="line"><a name="l00426"></a><span class="lineno"> 426</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00427"></a><span class="lineno"> 427</span>  </div><div class="line"><a name="l00428"></a><span class="lineno"> 428</span>  uint8_t aw;</div><div class="line"><a name="l00429"></a><span class="lineno"> 429</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00430"></a><span class="lineno"> 430</span>  <span class="keywordflow">return</span> aw;</div><div class="line"><a name="l00431"></a><span class="lineno"><a class="line" href="classB15F.html#aae99d74a945039c365ebd2f995b5546e"> 431</a></span> }</div><div class="line"><a name="l00432"></a><span class="lineno"> 432</span>  </div><div class="line"><a name="l00433"></a><span class="lineno"> 433</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#aae99d74a945039c365ebd2f995b5546e">B15F::pwmSetValue</a>(uint8_t value)</div><div class="line"><a name="l00434"></a><span class="lineno"> 434</span> {</div><div class="line"><a name="l00435"></a><span class="lineno"> 435</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00436"></a><span class="lineno"> 436</span>  </div><div class="line"><a name="l00437"></a><span class="lineno"> 437</span>  uint8_t rq[] =</div><div class="line"><a name="l00438"></a><span class="lineno"> 438</span>  {</div><div class="line"><a name="l00439"></a><span class="lineno"> 439</span>  RQ_PWM_SET_VALUE,</div><div class="line"><a name="l00440"></a><span class="lineno"> 440</span>  value</div><div class="line"><a name="l00441"></a><span class="lineno"> 441</span>  };</div><div class="line"><a name="l00442"></a><span class="lineno"> 442</span>  </div><div class="line"><a name="l00443"></a><span class="lineno"> 443</span>  assertRequestLength(rq, RQ_PWM_SET_VALUE);</div><div class="line"><a name="l00444"></a><span class="lineno"> 444</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00445"></a><span class="lineno"> 445</span>  </div><div class="line"><a name="l00446"></a><span class="lineno"> 446</span>  uint8_t aw;</div><div class="line"><a name="l00447"></a><span class="lineno"> 447</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00448"></a><span class="lineno"> 448</span>  assertCode(aw, <a class="code" href="classB15F.html#ab01299858f74a6cec598688562e0ad02">MSG_OK</a>);</div><div class="line"><a name="l00449"></a><span class="lineno"><a class="line" href="classB15F.html#a65c0eee6b40b6d3ec58b0335fd668503"> 449</a></span> }</div><div class="line"><a name="l00450"></a><span class="lineno"> 450</span>  </div><div class="line"><a name="l00451"></a><span class="lineno"> 451</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a65c0eee6b40b6d3ec58b0335fd668503">B15F::setMem8</a>(<span class="keyword">volatile</span> uint8_t* adr, uint8_t val)</div><div class="line"><a name="l00452"></a><span class="lineno"> 452</span> {</div><div class="line"><a name="l00453"></a><span class="lineno"> 453</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00454"></a><span class="lineno"> 454</span>  </div><div class="line"><a name="l00455"></a><span class="lineno"> 455</span>  uint8_t rq[] =</div><div class="line"><a name="l00456"></a><span class="lineno"> 456</span>  {</div><div class="line"><a name="l00457"></a><span class="lineno"> 457</span>  RQ_SET_MEM_8,</div><div class="line"><a name="l00458"></a><span class="lineno"> 458</span>  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) & 0xFF),</div><div class="line"><a name="l00459"></a><span class="lineno"> 459</span>  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) >> 8),</div><div class="line"><a name="l00460"></a><span class="lineno"> 460</span>  val</div><div class="line"><a name="l00461"></a><span class="lineno"> 461</span>  };</div><div class="line"><a name="l00462"></a><span class="lineno"> 462</span>  </div><div class="line"><a name="l00463"></a><span class="lineno"> 463</span>  assertRequestLength(rq, RQ_SET_MEM_8);</div><div class="line"><a name="l00464"></a><span class="lineno"> 464</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00465"></a><span class="lineno"> 465</span>  </div><div class="line"><a name="l00466"></a><span class="lineno"> 466</span>  uint8_t aw;</div><div class="line"><a name="l00467"></a><span class="lineno"> 467</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00468"></a><span class="lineno"> 468</span>  assertCode(aw, <a class="code" href="classB15F.html#ab01299858f74a6cec598688562e0ad02">MSG_OK</a>);</div><div class="line"><a name="l00469"></a><span class="lineno"><a class="line" href="classB15F.html#a404bd21d5db7270744eea77edfd9578a"> 469</a></span> }</div><div class="line"><a name="l00470"></a><span class="lineno"> 470</span>  </div><div class="line"><a name="l00471"></a><span class="lineno"> 471</span> uint8_t <a class="code" href="classB15F.html#a404bd21d5db7270744eea77edfd9578a">B15F::getMem8</a>(<span class="keyword">volatile</span> uint8_t* adr)</div><div class="line"><a name="l00472"></a><span class="lineno"> 472</span> {</div><div class="line"><a name="l00473"></a><span class="lineno"> 473</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00474"></a><span class="lineno"> 474</span>  </div><div class="line"><a name="l00475"></a><span class="lineno"> 475</span>  uint8_t rq[] =</div><div class="line"><a name="l00476"></a><span class="lineno"> 476</span>  {</div><div class="line"><a name="l00477"></a><span class="lineno"> 477</span>  RQ_GET_MEM_8,</div><div class="line"><a name="l00478"></a><span class="lineno"> 478</span>  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) & 0xFF),</div><div class="line"><a name="l00479"></a><span class="lineno"> 479</span>  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) >> 8)</div><div class="line"><a name="l00480"></a><span class="lineno"> 480</span>  };</div><div class="line"><a name="l00481"></a><span class="lineno"> 481</span>  </div><div class="line"><a name="l00482"></a><span class="lineno"> 482</span>  assertRequestLength(rq, RQ_GET_MEM_8);</div><div class="line"><a name="l00483"></a><span class="lineno"> 483</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00484"></a><span class="lineno"> 484</span>  </div><div class="line"><a name="l00485"></a><span class="lineno"> 485</span>  uint8_t aw;</div><div class="line"><a name="l00486"></a><span class="lineno"> 486</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00487"></a><span class="lineno"> 487</span>  <span class="keywordflow">return</span> aw;</div><div class="line"><a name="l00488"></a><span class="lineno"><a class="line" href="classB15F.html#a62ef2ee9bd945d30979939fcffa6759a"> 488</a></span> }</div><div class="line"><a name="l00489"></a><span class="lineno"> 489</span>  </div><div class="line"><a name="l00490"></a><span class="lineno"> 490</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a62ef2ee9bd945d30979939fcffa6759a">B15F::setMem16</a>(<span class="keyword">volatile</span> uint16_t* adr, uint16_t val)</div><div class="line"><a name="l00491"></a><span class="lineno"> 491</span> {</div><div class="line"><a name="l00492"></a><span class="lineno"> 492</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00493"></a><span class="lineno"> 493</span>  </div><div class="line"><a name="l00494"></a><span class="lineno"> 494</span>  uint8_t rq[] =</div><div class="line"><a name="l00495"></a><span class="lineno"> 495</span>  {</div><div class="line"><a name="l00496"></a><span class="lineno"> 496</span>  RQ_SET_MEM_16,</div><div class="line"><a name="l00497"></a><span class="lineno"> 497</span>  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) & 0xFF),</div><div class="line"><a name="l00498"></a><span class="lineno"> 498</span>  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) >> 8),</div><div class="line"><a name="l00499"></a><span class="lineno"> 499</span>  static_cast<uint8_t >(val & 0xFF),</div><div class="line"><a name="l00500"></a><span class="lineno"> 500</span>  static_cast<uint8_t >(val >> 8)</div><div class="line"><a name="l00501"></a><span class="lineno"> 501</span>  };</div><div class="line"><a name="l00502"></a><span class="lineno"> 502</span>  </div><div class="line"><a name="l00503"></a><span class="lineno"> 503</span>  assertRequestLength(rq, RQ_SET_MEM_16);</div><div class="line"><a name="l00504"></a><span class="lineno"> 504</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00505"></a><span class="lineno"> 505</span>  </div><div class="line"><a name="l00506"></a><span class="lineno"> 506</span>  uint16_t aw;</div><div class="line"><a name="l00507"></a><span class="lineno"> 507</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(reinterpret_cast<uint8_t *>(&aw), 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00508"></a><span class="lineno"> 508</span>  assertCode(aw, <a class="code" href="classB15F.html#ab01299858f74a6cec598688562e0ad02">MSG_OK</a>);</div><div class="line"><a name="l00509"></a><span class="lineno"><a class="line" href="classB15F.html#a5f84a830f054fbede9444d3b9bb566c4"> 509</a></span> }</div><div class="line"><a name="l00510"></a><span class="lineno"> 510</span>  </div><div class="line"><a name="l00511"></a><span class="lineno"> 511</span> uint16_t <a class="code" href="classB15F.html#a5f84a830f054fbede9444d3b9bb566c4">B15F::getMem16</a>(<span class="keyword">volatile</span> uint16_t* adr)</div><div class="line"><a name="l00512"></a><span class="lineno"> 512</span> {</div><div class="line"><a name="l00513"></a><span class="lineno"> 513</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00514"></a><span class="lineno"> 514</span>  </div><div class="line"><a name="l00515"></a><span class="lineno"> 515</span>  uint8_t rq[] =</div><div class="line"><a name="l00516"></a><span class="lineno"> 516</span>  {</div><div class="line"><a name="l00517"></a><span class="lineno"> 517</span>  RQ_GET_MEM_16,</div><div class="line"><a name="l00518"></a><span class="lineno"> 518</span>  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) & 0xFF),</div><div class="line"><a name="l00519"></a><span class="lineno"> 519</span>  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) >> 8)</div><div class="line"><a name="l00520"></a><span class="lineno"> 520</span>  };</div><div class="line"><a name="l00521"></a><span class="lineno"> 521</span>  </div><div class="line"><a name="l00522"></a><span class="lineno"> 522</span>  assertRequestLength(rq, RQ_GET_MEM_16);</div><div class="line"><a name="l00523"></a><span class="lineno"> 523</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00524"></a><span class="lineno"> 524</span>  </div><div class="line"><a name="l00525"></a><span class="lineno"> 525</span>  uint16_t aw;</div><div class="line"><a name="l00526"></a><span class="lineno"> 526</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(reinterpret_cast<uint8_t *>(&aw), 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00527"></a><span class="lineno"> 527</span>  <span class="keywordflow">return</span> aw;</div><div class="line"><a name="l00528"></a><span class="lineno"><a class="line" href="classB15F.html#a47d7b797129d1ee7ebee4d8ae4f0ff93"> 528</a></span> }</div><div class="line"><a name="l00529"></a><span class="lineno"> 529</span>  </div><div class="line"><a name="l00530"></a><span class="lineno"> 530</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a47d7b797129d1ee7ebee4d8ae4f0ff93">B15F::setRegister</a>(<span class="keyword">volatile</span> uint8_t* adr, uint8_t val)</div><div class="line"><a name="l00531"></a><span class="lineno"> 531</span> {</div><div class="line"><a name="l00532"></a><span class="lineno"> 532</span>  <a class="code" href="classB15F.html#a65c0eee6b40b6d3ec58b0335fd668503">setMem8</a>(adr, val);</div><div class="line"><a name="l00533"></a><span class="lineno"><a class="line" href="classB15F.html#a9bd47da39928af6f51075bdc3fe73ddc"> 533</a></span> }</div><div class="line"><a name="l00534"></a><span class="lineno"> 534</span>  </div><div class="line"><a name="l00535"></a><span class="lineno"> 535</span> uint8_t <a class="code" href="classB15F.html#a9bd47da39928af6f51075bdc3fe73ddc">B15F::getRegister</a>(<span class="keyword">volatile</span> uint8_t* adr)</div><div class="line"><a name="l00536"></a><span class="lineno"> 536</span> {</div><div class="line"><a name="l00537"></a><span class="lineno"> 537</span>  <span class="keywordflow">return</span> <a class="code" href="classB15F.html#a404bd21d5db7270744eea77edfd9578a">getMem8</a>(adr);</div><div class="line"><a name="l00538"></a><span class="lineno"><a class="line" href="classB15F.html#a055e5b62432aa08c711f430fc0181d86"> 538</a></span> }</div><div class="line"><a name="l00539"></a><span class="lineno"> 539</span>  </div><div class="line"><a name="l00540"></a><span class="lineno"> 540</span> uint16_t* <a class="code" href="classB15F.html#a055e5b62432aa08c711f430fc0181d86">B15F::getInterruptCounterOffset</a>()</div><div class="line"><a name="l00541"></a><span class="lineno"> 541</span> {</div><div class="line"><a name="l00542"></a><span class="lineno"> 542</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00543"></a><span class="lineno"> 543</span>  </div><div class="line"><a name="l00544"></a><span class="lineno"> 544</span>  uint8_t rq[] =</div><div class="line"><a name="l00545"></a><span class="lineno"> 545</span>  {</div><div class="line"><a name="l00546"></a><span class="lineno"> 546</span>  RQ_COUNTER_OFFSET</div><div class="line"><a name="l00547"></a><span class="lineno"> 547</span>  };</div><div class="line"><a name="l00548"></a><span class="lineno"> 548</span>  </div><div class="line"><a name="l00549"></a><span class="lineno"> 549</span>  assertRequestLength(rq, RQ_COUNTER_OFFSET);</div><div class="line"><a name="l00550"></a><span class="lineno"> 550</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00551"></a><span class="lineno"> 551</span>  </div><div class="line"><a name="l00552"></a><span class="lineno"> 552</span>  uint16_t aw;</div><div class="line"><a name="l00553"></a><span class="lineno"> 553</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(reinterpret_cast<uint8_t *>(&aw), 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00554"></a><span class="lineno"> 554</span>  <span class="keywordflow">return</span> reinterpret_cast<uint16_t*>(aw);</div><div class="line"><a name="l00555"></a><span class="lineno"><a class="line" href="classB15F.html#ab23d8c5a0b520b9d12d94a04f90fcfa0"> 555</a></span> }</div><div class="line"><a name="l00556"></a><span class="lineno"> 556</span>  </div><div class="line"><a name="l00557"></a><span class="lineno"> 557</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#ab23d8c5a0b520b9d12d94a04f90fcfa0">B15F::setServoEnabled</a>(<span class="keywordtype">void</span>)</div><div class="line"><a name="l00558"></a><span class="lineno"> 558</span> {</div><div class="line"><a name="l00559"></a><span class="lineno"> 559</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00560"></a><span class="lineno"> 560</span>  </div><div class="line"><a name="l00561"></a><span class="lineno"> 561</span>  uint8_t rq[] =</div><div class="line"><a name="l00562"></a><span class="lineno"> 562</span>  {</div><div class="line"><a name="l00563"></a><span class="lineno"> 563</span>  RQ_SERVO_ENABLE</div><div class="line"><a name="l00564"></a><span class="lineno"> 564</span>  };</div><div class="line"><a name="l00565"></a><span class="lineno"> 565</span>  </div><div class="line"><a name="l00566"></a><span class="lineno"> 566</span>  assertRequestLength(rq, RQ_SERVO_ENABLE);</div><div class="line"><a name="l00567"></a><span class="lineno"> 567</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00568"></a><span class="lineno"> 568</span>  </div><div class="line"><a name="l00569"></a><span class="lineno"> 569</span>  uint8_t aw;</div><div class="line"><a name="l00570"></a><span class="lineno"> 570</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00571"></a><span class="lineno"> 571</span>  assertCode(aw, <a class="code" href="classB15F.html#ab01299858f74a6cec598688562e0ad02">MSG_OK</a>);</div><div class="line"><a name="l00572"></a><span class="lineno"><a class="line" href="classB15F.html#aad1b3206761c06c7183ae1b8b95b350b"> 572</a></span> }</div><div class="line"><a name="l00573"></a><span class="lineno"> 573</span>  </div><div class="line"><a name="l00574"></a><span class="lineno"> 574</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#aad1b3206761c06c7183ae1b8b95b350b">B15F::setServoDisabled</a>(<span class="keywordtype">void</span>)</div><div class="line"><a name="l00575"></a><span class="lineno"> 575</span> {</div><div class="line"><a name="l00576"></a><span class="lineno"> 576</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00577"></a><span class="lineno"> 577</span>  </div><div class="line"><a name="l00578"></a><span class="lineno"> 578</span>  uint8_t rq[] =</div><div class="line"><a name="l00579"></a><span class="lineno"> 579</span>  {</div><div class="line"><a name="l00580"></a><span class="lineno"> 580</span>  RQ_SERVO_DISABLE</div><div class="line"><a name="l00581"></a><span class="lineno"> 581</span>  };</div><div class="line"><a name="l00582"></a><span class="lineno"> 582</span>  </div><div class="line"><a name="l00583"></a><span class="lineno"> 583</span>  assertRequestLength(rq, RQ_SERVO_DISABLE);</div><div class="line"><a name="l00584"></a><span class="lineno"> 584</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00585"></a><span class="lineno"> 585</span>  </div><div class="line"><a name="l00586"></a><span class="lineno"> 586</span>  uint8_t aw;</div><div class="line"><a name="l00587"></a><span class="lineno"> 587</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00588"></a><span class="lineno"> 588</span>  assertCode(aw, <a class="code" href="classB15F.html#ab01299858f74a6cec598688562e0ad02">MSG_OK</a>);</div><div class="line"><a name="l00589"></a><span class="lineno"><a class="line" href="classB15F.html#aa76f289274e5d0be41c5d4a58b52a416"> 589</a></span> }</div><div class="line"><a name="l00590"></a><span class="lineno"> 590</span>  </div><div class="line"><a name="l00591"></a><span class="lineno"> 591</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#aa76f289274e5d0be41c5d4a58b52a416">B15F::setServoPosition</a>(uint16_t pos)</div><div class="line"><a name="l00592"></a><span class="lineno"> 592</span> {</div><div class="line"><a name="l00593"></a><span class="lineno"> 593</span>  <span class="keywordflow">if</span>(pos > 19000)</div><div class="line"><a name="l00594"></a><span class="lineno"> 594</span>  <span class="keywordflow">throw</span> <a class="code" href="classDriverException.html">DriverException</a>(<span class="stringliteral">"Impulslänge ist zu lang: "</span> + std::to_string(pos));</div><div class="line"><a name="l00595"></a><span class="lineno"> 595</span>  </div><div class="line"><a name="l00596"></a><span class="lineno"> 596</span>  usart.<a class="code" href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">clearInputBuffer</a>();</div><div class="line"><a name="l00597"></a><span class="lineno"> 597</span>  </div><div class="line"><a name="l00598"></a><span class="lineno"> 598</span>  uint8_t rq[] =</div><div class="line"><a name="l00599"></a><span class="lineno"> 599</span>  {</div><div class="line"><a name="l00600"></a><span class="lineno"> 600</span>  RQ_SERVO_SET_POS,</div><div class="line"><a name="l00601"></a><span class="lineno"> 601</span>  static_cast<uint8_t >(pos & 0xFF),</div><div class="line"><a name="l00602"></a><span class="lineno"> 602</span>  static_cast<uint8_t >(pos >> 8)</div><div class="line"><a name="l00603"></a><span class="lineno"> 603</span>  };</div><div class="line"><a name="l00604"></a><span class="lineno"> 604</span>  </div><div class="line"><a name="l00605"></a><span class="lineno"> 605</span>  assertRequestLength(rq, RQ_SERVO_SET_POS);</div><div class="line"><a name="l00606"></a><span class="lineno"> 606</span>  usart.<a class="code" href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">transmit</a>(&rq[0], 0, <span class="keyword">sizeof</span>(rq));</div><div class="line"><a name="l00607"></a><span class="lineno"> 607</span>  </div><div class="line"><a name="l00608"></a><span class="lineno"> 608</span>  uint8_t aw;</div><div class="line"><a name="l00609"></a><span class="lineno"> 609</span>  usart.<a class="code" href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">receive</a>(&aw, 0, <span class="keyword">sizeof</span>(aw));</div><div class="line"><a name="l00610"></a><span class="lineno"> 610</span>  assertCode(aw, <a class="code" href="classB15F.html#ab01299858f74a6cec598688562e0ad02">MSG_OK</a>);</div><div class="line"><a name="l00611"></a><span class="lineno"> 611</span> }</div><div class="line"><a name="l00612"></a><span class="lineno"> 612</span>  </div><div class="line"><a name="l00613"></a><span class="lineno"> 613</span> <span class="comment">/*************************/</span></div><div class="line"><a name="l00614"></a><span class="lineno"> 614</span>  </div><div class="line"><a name="l00615"></a><span class="lineno"> 615</span>  </div><div class="line"><a name="l00616"></a><span class="lineno"> 616</span> <span class="comment">/**********************</span></div><div class="line"><a name="l00617"></a><span class="lineno"> 617</span> <span class="comment"> * Private Funktionen *</span></div><div class="line"><a name="l00618"></a><span class="lineno"> 618</span> <span class="comment"> **********************/</span></div><div class="line"><a name="l00619"></a><span class="lineno"> 619</span>  </div><div class="line"><a name="l00620"></a><span class="lineno"> 620</span> B15F::B15F()</div><div class="line"><a name="l00621"></a><span class="lineno"> 621</span> {</div><div class="line"><a name="l00622"></a><span class="lineno"> 622</span>  init();</div><div class="line"><a name="l00623"></a><span class="lineno"> 623</span> }</div><div class="line"><a name="l00624"></a><span class="lineno"> 624</span>  </div><div class="line"><a name="l00625"></a><span class="lineno"> 625</span>  </div><div class="line"><a name="l00626"></a><span class="lineno"> 626</span> <span class="keywordtype">void</span> B15F::init()</div><div class="line"><a name="l00627"></a><span class="lineno"> 627</span> {</div><div class="line"><a name="l00628"></a><span class="lineno"> 628</span>  </div><div class="line"><a name="l00629"></a><span class="lineno"> 629</span> <span class="preprocessor">#ifdef __arm__</span></div><div class="line"><a name="l00630"></a><span class="lineno"> 630</span>  <span class="comment">// Raspberry Pi serial interface</span></div><div class="line"><a name="l00631"></a><span class="lineno"> 631</span>  std::string device = <a class="code" href="classB15F.html#a1a7ac52984ed7ecac008a3e4060eee3a">exec</a>(<span class="stringliteral">"bash -c 'ls /dev/ttyAMA* 2> /dev/null'"</span>);</div><div class="line"><a name="l00632"></a><span class="lineno"> 632</span> <span class="preprocessor">#else</span></div><div class="line"><a name="l00633"></a><span class="lineno"> 633</span>  <span class="comment">// normal PC serial interface</span></div><div class="line"><a name="l00634"></a><span class="lineno"> 634</span>  std::string device = <a class="code" href="classB15F.html#a1a7ac52984ed7ecac008a3e4060eee3a">exec</a>(<span class="stringliteral">"bash -c 'ls /dev/ttyUSB* 2> /dev/null'"</span>);</div><div class="line"><a name="l00635"></a><span class="lineno"> 635</span> <span class="preprocessor">#endif</span></div><div class="line"><a name="l00636"></a><span class="lineno"> 636</span>  </div><div class="line"><a name="l00637"></a><span class="lineno"> 637</span>  <span class="keywordflow">while</span> (device.find(<span class="charliteral">' '</span>) != std::string::npos || device.find(<span class="charliteral">'\n'</span>) != std::string::npos ||</div><div class="line"><a name="l00638"></a><span class="lineno"> 638</span>  device.find(<span class="charliteral">'\t'</span>) != std::string::npos)</div><div class="line"><a name="l00639"></a><span class="lineno"> 639</span>  device.pop_back();</div><div class="line"><a name="l00640"></a><span class="lineno"> 640</span>  </div><div class="line"><a name="l00641"></a><span class="lineno"> 641</span>  <span class="keywordflow">if</span> (device.length() == 0)</div><div class="line"><a name="l00642"></a><span class="lineno"> 642</span>  <a class="code" href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e">abort</a>(<span class="stringliteral">"Adapter nicht gefunden"</span>);</div><div class="line"><a name="l00643"></a><span class="lineno"> 643</span>  </div><div class="line"><a name="l00644"></a><span class="lineno"> 644</span>  std::cout << <a class="code" href="classB15F.html#a3b0fc1f85954b2d9c145af4a3af5b1ec">PRE</a> << <span class="stringliteral">"Verwende Adapter: "</span> << device << std::endl;</div><div class="line"><a name="l00645"></a><span class="lineno"> 645</span>  </div><div class="line"><a name="l00646"></a><span class="lineno"> 646</span>  </div><div class="line"><a name="l00647"></a><span class="lineno"> 647</span>  std::cout << <a class="code" href="classB15F.html#a3b0fc1f85954b2d9c145af4a3af5b1ec">PRE</a> << <span class="stringliteral">"Stelle Verbindung mit Adapter her... "</span> << std::flush;</div><div class="line"><a name="l00648"></a><span class="lineno"> 648</span>  usart.<a class="code" href="classUSART.html#aac63918a8b97ae63ee607cfa39e6d88d">setBaudrate</a>(<a class="code" href="classB15F.html#a7d548d6861cfc69753161bf9cda14f87">BAUDRATE</a>);</div><div class="line"><a name="l00649"></a><span class="lineno"> 649</span>  usart.<a class="code" href="classUSART.html#a5f7e2abda2ec4a68a5fdb8ee2f8a940a">openDevice</a>(device);</div><div class="line"><a name="l00650"></a><span class="lineno"> 650</span>  std::cout << <span class="stringliteral">"OK"</span> << std::endl;</div><div class="line"><a name="l00651"></a><span class="lineno"> 651</span>  </div><div class="line"><a name="l00652"></a><span class="lineno"> 652</span>  </div><div class="line"><a name="l00653"></a><span class="lineno"> 653</span>  std::cout << <a class="code" href="classB15F.html#a3b0fc1f85954b2d9c145af4a3af5b1ec">PRE</a> << <span class="stringliteral">"Teste Verbindung... "</span> << std::flush;</div><div class="line"><a name="l00654"></a><span class="lineno"> 654</span>  <span class="keywordtype">int</span> tries = 4;</div><div class="line"><a name="l00655"></a><span class="lineno"> 655</span>  <span class="keywordflow">while</span> (--tries)</div><div class="line"><a name="l00656"></a><span class="lineno"> 656</span>  {</div><div class="line"><a name="l00657"></a><span class="lineno"> 657</span>  <a class="code" href="classB15F.html#ae4740cd473f40a1a4121dfa66b25e1d5">discard</a>();</div><div class="line"><a name="l00658"></a><span class="lineno"> 658</span>  </div><div class="line"><a name="l00659"></a><span class="lineno"> 659</span>  <span class="keywordflow">try</span></div><div class="line"><a name="l00660"></a><span class="lineno"> 660</span>  {</div><div class="line"><a name="l00661"></a><span class="lineno"> 661</span>  <a class="code" href="classB15F.html#a6b8c7da1fb9b619543844e0ce7597d83">testConnection</a>();</div><div class="line"><a name="l00662"></a><span class="lineno"> 662</span>  }</div><div class="line"><a name="l00663"></a><span class="lineno"> 663</span>  <span class="keywordflow">catch</span>(<a class="code" href="classDriverException.html">DriverException</a>& eDE)</div><div class="line"><a name="l00664"></a><span class="lineno"> 664</span>  {</div><div class="line"><a name="l00665"></a><span class="lineno"> 665</span>  <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00666"></a><span class="lineno"> 666</span>  }</div><div class="line"><a name="l00667"></a><span class="lineno"> 667</span>  </div><div class="line"><a name="l00668"></a><span class="lineno"> 668</span>  <span class="keywordflow">try</span></div><div class="line"><a name="l00669"></a><span class="lineno"> 669</span>  {</div><div class="line"><a name="l00670"></a><span class="lineno"> 670</span>  <a class="code" href="classB15F.html#ac2c7b6d84da5239ee7cc3d44e689d9db">testIntConv</a>();</div><div class="line"><a name="l00671"></a><span class="lineno"> 671</span>  }</div><div class="line"><a name="l00672"></a><span class="lineno"> 672</span>  <span class="keywordflow">catch</span>(<a class="code" href="classDriverException.html">DriverException</a>& eDE)</div><div class="line"><a name="l00673"></a><span class="lineno"> 673</span>  {</div><div class="line"><a name="l00674"></a><span class="lineno"> 674</span>  <span class="keywordflow">continue</span>;</div><div class="line"><a name="l00675"></a><span class="lineno"> 675</span>  }</div><div class="line"><a name="l00676"></a><span class="lineno"> 676</span>  </div><div class="line"><a name="l00677"></a><span class="lineno"> 677</span>  <span class="keywordflow">break</span>;</div><div class="line"><a name="l00678"></a><span class="lineno"> 678</span>  }</div><div class="line"><a name="l00679"></a><span class="lineno"> 679</span>  <span class="keywordflow">if</span> (!tries)</div><div class="line"><a name="l00680"></a><span class="lineno"> 680</span>  <a class="code" href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e">abort</a>(<span class="stringliteral">"Verbindungstest fehlgeschlagen. Neueste Version im Einsatz?"</span>);</div><div class="line"><a name="l00681"></a><span class="lineno"> 681</span>  </div><div class="line"><a name="l00682"></a><span class="lineno"> 682</span>  std::cout << <span class="stringliteral">"OK"</span> << std::endl;</div><div class="line"><a name="l00683"></a><span class="lineno"> 683</span>  </div><div class="line"><a name="l00684"></a><span class="lineno"> 684</span>  </div><div class="line"><a name="l00685"></a><span class="lineno"> 685</span>  <span class="comment">// Gib board info aus</span></div><div class="line"><a name="l00686"></a><span class="lineno"> 686</span>  std::vector<std::string> info = <a class="code" href="classB15F.html#a4f01677e73d6d172a2c1cae9427a591b">getBoardInfo</a>();</div><div class="line"><a name="l00687"></a><span class="lineno"> 687</span>  std::cout << <a class="code" href="classB15F.html#a3b0fc1f85954b2d9c145af4a3af5b1ec">PRE</a> << <span class="stringliteral">"AVR Firmware Version: "</span> << info[0] << <span class="stringliteral">" um "</span> << info[1] << <span class="stringliteral">" Uhr ("</span> << info[2] << <span class="stringliteral">")"</span></div><div class="line"><a name="l00688"></a><span class="lineno"> 688</span>  << std::endl;</div><div class="line"><a name="l00689"></a><span class="lineno"> 689</span> }</div></div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassB15F_html_ac2c7b6d84da5239ee7cc3d44e689d9db"><div class="ttname"><a href="classB15F.html#ac2c7b6d84da5239ee7cc3d44e689d9db">B15F::testIntConv</a></div><div class="ttdeci">void testIntConv(void)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00083">b15f.cpp:83</a></div></div>
<div class="ttc" id="aclassB15F_html_aae99d74a945039c365ebd2f995b5546e"><div class="ttname"><a href="classB15F.html#aae99d74a945039c365ebd2f995b5546e">B15F::pwmSetValue</a></div><div class="ttdeci">void pwmSetValue(uint8_t value)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00431">b15f.cpp:431</a></div></div>
<div class="ttc" id="aclassB15F_html_a1a7ac52984ed7ecac008a3e4060eee3a"><div class="ttname"><a href="classB15F.html#a1a7ac52984ed7ecac008a3e4060eee3a">B15F::exec</a></div><div class="ttdeci">static std::string exec(std::string cmd)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00153">b15f.cpp:153</a></div></div>
<div class="ttc" id="aclassB15F_html_a051da899f0883737dd1de1ba6a86f466"><div class="ttname"><a href="classB15F.html#a051da899f0883737dd1de1ba6a86f466">B15F::analogWrite0</a></div><div class="ttdeci">void analogWrite0(uint16_t port)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00296">b15f.cpp:296</a></div></div>
<div class="ttc" id="aclassB15F_html_aa76f289274e5d0be41c5d4a58b52a416"><div class="ttname"><a href="classB15F.html#aa76f289274e5d0be41c5d4a58b52a416">B15F::setServoPosition</a></div><div class="ttdeci">void setServoPosition(uint16_t pos)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00589">b15f.cpp:589</a></div></div>
<div class="ttc" id="aclassB15F_html_aae7bdafb19bf0adf5c7d9d0aff61c81a"><div class="ttname"><a href="classB15F.html#aae7bdafb19bf0adf5c7d9d0aff61c81a">B15F::analogWrite1</a></div><div class="ttdeci">void analogWrite1(uint16_t port)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00313">b15f.cpp:313</a></div></div>
<div class="ttc" id="aclassB15F_html_a5f84a830f054fbede9444d3b9bb566c4"><div class="ttname"><a href="classB15F.html#a5f84a830f054fbede9444d3b9bb566c4">B15F::getMem16</a></div><div class="ttdeci">uint16_t getMem16(volatile uint16_t *adr)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00509">b15f.cpp:509</a></div></div>
<div class="ttc" id="aclassB15F_html_adcaac8ae8db3c28eccb499fbd720361f"><div class="ttname"><a href="classB15F.html#adcaac8ae8db3c28eccb499fbd720361f">B15F::delay_us</a></div><div class="ttdeci">void delay_us(uint16_t us)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00140">b15f.cpp:140</a></div></div>
<div class="ttc" id="aclassB15F_html_ae0df6d423deeb2fd610968bd1c72060e"><div class="ttname"><a href="classB15F.html#ae0df6d423deeb2fd610968bd1c72060e">B15F::digitalRead0</a></div><div class="ttdeci">uint8_t digitalRead0(void)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00245">b15f.cpp:245</a></div></div>
<div class="ttc" id="aclassB15F_html_ac6f6532bb9550a0632c28b98c157d0a1"><div class="ttname"><a href="classB15F.html#ac6f6532bb9550a0632c28b98c157d0a1">B15F::pwmSetFrequency</a></div><div class="ttdeci">uint8_t pwmSetFrequency(uint32_t freq)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00410">b15f.cpp:410</a></div></div>
<div class="ttc" id="aclassB15F_html_afd2c5753b8a5d323d9cfca77986fe893"><div class="ttname"><a href="classB15F.html#afd2c5753b8a5d323d9cfca77986fe893">B15F::digitalWrite0</a></div><div class="ttdeci">void digitalWrite0(uint8_t)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00213">b15f.cpp:213</a></div></div>
<div class="ttc" id="aclassB15F_html_ab82a324426c3063318c6cafb3089ae02"><div class="ttname"><a href="classB15F.html#ab82a324426c3063318c6cafb3089ae02">B15F::analogSequence</a></div><div class="ttdeci">void 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)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00353">b15f.cpp:353</a></div></div>
<div class="ttc" id="aclassB15F_html_a6f858f21ea81d491b5031b3644a2239a"><div class="ttname"><a href="classB15F.html#a6f858f21ea81d491b5031b3644a2239a">B15F::readDipSwitch</a></div><div class="ttdeci">uint8_t readDipSwitch(void)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00277">b15f.cpp:277</a></div></div>
<div class="ttc" id="aclassB15F_html_a9bd47da39928af6f51075bdc3fe73ddc"><div class="ttname"><a href="classB15F.html#a9bd47da39928af6f51075bdc3fe73ddc">B15F::getRegister</a></div><div class="ttdeci">uint8_t getRegister(volatile uint8_t *adr)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00533">b15f.cpp:533</a></div></div>
<div class="ttc" id="aclassB15F_html_a404bd21d5db7270744eea77edfd9578a"><div class="ttname"><a href="classB15F.html#a404bd21d5db7270744eea77edfd9578a">B15F::getMem8</a></div><div class="ttdeci">uint8_t getMem8(volatile uint8_t *adr)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00469">b15f.cpp:469</a></div></div>
<div class="ttc" id="aclassB15F_html_aaffce20afb9f06bc4b7556c70ce76416"><div class="ttname"><a href="classB15F.html#aaffce20afb9f06bc4b7556c70ce76416">B15F::delay_ms</a></div><div class="ttdeci">void delay_ms(uint16_t ms)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00135">b15f.cpp:135</a></div></div>
<div class="ttc" id="aclassB15F_html_a6b8c7da1fb9b619543844e0ce7597d83"><div class="ttname"><a href="classB15F.html#a6b8c7da1fb9b619543844e0ce7597d83">B15F::testConnection</a></div><div class="ttdeci">void testConnection(void)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00063">b15f.cpp:63</a></div></div>
<div class="ttc" id="aclassB15F_html_a8b4533d232c55ef2aa967e39e2d23380"><div class="ttname"><a href="classB15F.html#a8b4533d232c55ef2aa967e39e2d23380">B15F::getInstance</a></div><div class="ttdeci">static B15F & getInstance(void)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00010">b15f.cpp:10</a></div></div>
<div class="ttc" id="aclassB15F_html"><div class="ttname"><a href="classB15F.html">B15F</a></div><div class="ttdef"><b>Definition:</b> <a href="b15f_8h_source.html#l00037">b15f.h:37</a></div></div>
<div class="ttc" id="aclassUSART_html_a41b19dd58f307015b73e154048cd74ca"><div class="ttname"><a href="classUSART.html#a41b19dd58f307015b73e154048cd74ca">USART::transmit</a></div><div class="ttdeci">void transmit(uint8_t *buffer, uint16_t offset, uint8_t len)</div><div class="ttdef"><b>Definition:</b> <a href="usart_8cpp_source.html#l00075">usart.cpp:75</a></div></div>
<div class="ttc" id="aclassB15F_html_a3f09a418f9e3be5d1d750e4515c96f1e"><div class="ttname"><a href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e">B15F::abort</a></div><div class="ttdeci">static void abort(std::string msg)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00169">b15f.cpp:169</a></div></div>
<div class="ttc" id="aclassUSART_html_a0fdc238203852f00bd750127602b2a6a"><div class="ttname"><a href="classUSART.html#a0fdc238203852f00bd750127602b2a6a">USART::receive</a></div><div class="ttdeci">void receive(uint8_t *buffer, uint16_t offset, uint8_t len)</div><div class="ttdef"><b>Definition:</b> <a href="usart_8cpp_source.html#l00084">usart.cpp:84</a></div></div>
<div class="ttc" id="aclassUSART_html_a28a2b4c5ed66b2c3a81196f76884f156"><div class="ttname"><a href="classUSART.html#a28a2b4c5ed66b2c3a81196f76884f156">USART::clearInputBuffer</a></div><div class="ttdeci">void clearInputBuffer(void)</div><div class="ttdef"><b>Definition:</b> <a href="usart_8cpp_source.html#l00054">usart.cpp:54</a></div></div>
<div class="ttc" id="aclassB15F_html_a055e5b62432aa08c711f430fc0181d86"><div class="ttname"><a href="classB15F.html#a055e5b62432aa08c711f430fc0181d86">B15F::getInterruptCounterOffset</a></div><div class="ttdeci">uint16_t * getInterruptCounterOffset(void)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00538">b15f.cpp:538</a></div></div>
<div class="ttc" id="aclassB15F_html_a62ef2ee9bd945d30979939fcffa6759a"><div class="ttname"><a href="classB15F.html#a62ef2ee9bd945d30979939fcffa6759a">B15F::setMem16</a></div><div class="ttdeci">void setMem16(volatile uint16_t *adr, uint16_t val)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00488">b15f.cpp:488</a></div></div>
<div class="ttc" id="aclassUSART_html_a756d268a8762c316f91ca3238972b0c1"><div class="ttname"><a href="classUSART.html#a756d268a8762c316f91ca3238972b0c1">USART::clearOutputBuffer</a></div><div class="ttdeci">void clearOutputBuffer(void)</div><div class="ttdef"><b>Definition:</b> <a href="usart_8cpp_source.html#l00061">usart.cpp:61</a></div></div>
<div class="ttc" id="aclassB15F_html_ae0bd1f69751e2dc3c462db9213fc4627"><div class="ttname"><a href="classB15F.html#ae0bd1f69751e2dc3c462db9213fc4627">B15F::analogRead</a></div><div class="ttdeci">uint16_t analogRead(uint8_t channel)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00330">b15f.cpp:330</a></div></div>
<div class="ttc" id="aclassB15F_html_aebb9a8bff15d422b62d21fd4d8408c8a"><div class="ttname"><a href="classB15F.html#aebb9a8bff15d422b62d21fd4d8408c8a">B15F::activateSelfTestMode</a></div><div class="ttdeci">void activateSelfTestMode(void)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00198">b15f.cpp:198</a></div></div>
<div class="ttc" id="aclassB15F_html_a3b0fc1f85954b2d9c145af4a3af5b1ec"><div class="ttname"><a href="classB15F.html#a3b0fc1f85954b2d9c145af4a3af5b1ec">B15F::PRE</a></div><div class="ttdeci">const std::string PRE</div><div class="ttdoc">B15F stdout prefix.</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8h_source.html#l00309">b15f.h:309</a></div></div>
<div class="ttc" id="aclassB15F_html_a2937f22f1cfc9b533f4b5bf4db726a68"><div class="ttname"><a href="classB15F.html#a2937f22f1cfc9b533f4b5bf4db726a68">B15F::reverse</a></div><div class="ttdeci">void reverse(uint8_t &b)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00145">b15f.cpp:145</a></div></div>
<div class="ttc" id="aclassUSART_html_aac63918a8b97ae63ee607cfa39e6d88d"><div class="ttname"><a href="classUSART.html#aac63918a8b97ae63ee607cfa39e6d88d">USART::setBaudrate</a></div><div class="ttdeci">void setBaudrate(uint32_t baudrate)</div><div class="ttdef"><b>Definition:</b> <a href="usart_8cpp_source.html#l00131">usart.cpp:131</a></div></div>
<div class="ttc" id="aclassB15F_html_a4f01677e73d6d172a2c1cae9427a591b"><div class="ttname"><a href="classB15F.html#a4f01677e73d6d172a2c1cae9427a591b">B15F::getBoardInfo</a></div><div class="ttdeci">std::vector< std::string > getBoardInfo(void)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00103">b15f.cpp:103</a></div></div>
<div class="ttc" id="aclassB15F_html_a040951746fbfd632e12bd1ad14578816"><div class="ttname"><a href="classB15F.html#a040951746fbfd632e12bd1ad14578816">B15F::RECONNECT_TIMEOUT</a></div><div class="ttdeci">constexpr static uint16_t RECONNECT_TIMEOUT</div><div class="ttdoc">Time in ms after which a reconnect attempt aborts.</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8h_source.html#l00312">b15f.h:312</a></div></div>
<div class="ttc" id="aclassB15F_html_ae4740cd473f40a1a4121dfa66b25e1d5"><div class="ttname"><a href="classB15F.html#ae4740cd473f40a1a4121dfa66b25e1d5">B15F::discard</a></div><div class="ttdeci">void discard(void)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00040">b15f.cpp:40</a></div></div>
<div class="ttc" id="aclassB15F_html_a47d7b797129d1ee7ebee4d8ae4f0ff93"><div class="ttname"><a href="classB15F.html#a47d7b797129d1ee7ebee4d8ae4f0ff93">B15F::setRegister</a></div><div class="ttdeci">void setRegister(volatile uint8_t *adr, uint8_t val)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00528">b15f.cpp:528</a></div></div>
<div class="ttc" id="aclassB15F_html_ab01299858f74a6cec598688562e0ad02"><div class="ttname"><a href="classB15F.html#ab01299858f74a6cec598688562e0ad02">B15F::MSG_OK</a></div><div class="ttdeci">constexpr static uint8_t MSG_OK</div><div class="ttdoc">Value to acknowledge a received command.</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8h_source.html#l00310">b15f.h:310</a></div></div>
<div class="ttc" id="aclassUSART_html_a5f7e2abda2ec4a68a5fdb8ee2f8a940a"><div class="ttname"><a href="classUSART.html#a5f7e2abda2ec4a68a5fdb8ee2f8a940a">USART::openDevice</a></div><div class="ttdeci">void openDevice(std::string device)</div><div class="ttdef"><b>Definition:</b> <a href="usart_8cpp_source.html#l00009">usart.cpp:9</a></div></div>
<div class="ttc" id="aclassB15F_html_afc76b612dd4faeee0ac02a66b65af5f2"><div class="ttname"><a href="classB15F.html#afc76b612dd4faeee0ac02a66b65af5f2">B15F::digitalRead1</a></div><div class="ttdeci">uint8_t digitalRead1(void)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00261">b15f.cpp:261</a></div></div>
<div class="ttc" id="aclassB15F_html_a52557b375443c180a044e7d4e80a1ae7"><div class="ttname"><a href="classB15F.html#a52557b375443c180a044e7d4e80a1ae7">B15F::reconnect</a></div><div class="ttdeci">void reconnect(void)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00018">b15f.cpp:18</a></div></div>
<div class="ttc" id="aclassB15F_html_a7d548d6861cfc69753161bf9cda14f87"><div class="ttname"><a href="classB15F.html#a7d548d6861cfc69753161bf9cda14f87">B15F::BAUDRATE</a></div><div class="ttdeci">constexpr static uint32_t BAUDRATE</div><div class="ttdoc">USART baudrate for communication with the MCU.</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8h_source.html#l00315">b15f.h:315</a></div></div>
<div class="ttc" id="aclassB15F_html_a55b0cd1ea582bda53d6979442640f8e9"><div class="ttname"><a href="classB15F.html#a55b0cd1ea582bda53d6979442640f8e9">B15F::setAbortHandler</a></div><div class="ttdeci">static void setAbortHandler(errorhandler_t func)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00186">b15f.cpp:186</a></div></div>
<div class="ttc" id="aclassUSART_html_a038d00c0b3d8c0c13c3e7eae5dad7813"><div class="ttname"><a href="classUSART.html#a038d00c0b3d8c0c13c3e7eae5dad7813">USART::drop</a></div><div class="ttdeci">void drop(uint8_t len)</div><div class="ttdef"><b>Definition:</b> <a href="usart_8cpp_source.html#l00114">usart.cpp:114</a></div></div>
<div class="ttc" id="aclassB15F_html_a8f0d3891ec613a569b0a4309dfe213da"><div class="ttname"><a href="classB15F.html#a8f0d3891ec613a569b0a4309dfe213da">B15F::digitalWrite1</a></div><div class="ttdeci">void digitalWrite1(uint8_t)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00229">b15f.cpp:229</a></div></div>
<div class="ttc" id="aclassB15F_html_ab23d8c5a0b520b9d12d94a04f90fcfa0"><div class="ttname"><a href="classB15F.html#ab23d8c5a0b520b9d12d94a04f90fcfa0">B15F::setServoEnabled</a></div><div class="ttdeci">void setServoEnabled(void)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00555">b15f.cpp:555</a></div></div>
<div class="ttc" id="aclassB15F_html_a6c4895bdbcd71ff6743becf97985c2dc"><div class="ttname"><a href="classB15F.html#a6c4895bdbcd71ff6743becf97985c2dc">B15F::RECONNECT_TRIES</a></div><div class="ttdeci">constexpr static uint8_t RECONNECT_TRIES</div><div class="ttdoc">Maximum count of reconnect attempts after which the driver stops.</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8h_source.html#l00314">b15f.h:314</a></div></div>
<div class="ttc" id="aclassB15F_html_a65c0eee6b40b6d3ec58b0335fd668503"><div class="ttname"><a href="classB15F.html#a65c0eee6b40b6d3ec58b0335fd668503">B15F::setMem8</a></div><div class="ttdeci">void setMem8(volatile uint8_t *adr, uint8_t val)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00449">b15f.cpp:449</a></div></div>
<div class="ttc" id="aclassB15F_html_aad1b3206761c06c7183ae1b8b95b350b"><div class="ttname"><a href="classB15F.html#aad1b3206761c06c7183ae1b8b95b350b">B15F::setServoDisabled</a></div><div class="ttdeci">void setServoDisabled(void)</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8cpp_source.html#l00572">b15f.cpp:572</a></div></div>
<div class="ttc" id="aclassDriverException_html"><div class="ttname"><a href="classDriverException.html">DriverException</a></div><div class="ttdef"><b>Definition:</b> <a href="driverexception_8h_source.html#l00010">driverexception.h:10</a></div></div>
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