B15F
Board 15 Famulus Edition
b15f.cpp
1 #include "b15f.h"
2 
3 B15F *B15F::instance = nullptr;
4 errorhandler_t B15F::errorhandler = nullptr;
5 
6 
7 /*************************************
8  * Grundfunktionen des B15F Treibers *
9  *************************************/
10 
11 B15F &B15F::getInstance(void)
12 {
13  if (!instance)
14  instance = new B15F();
15 
16  return *instance;
17 }
18 
19 void B15F::reconnect()
20 {
21  uint8_t tries = RECONNECT_TRIES;
22  while (tries--)
23  {
24  delay_ms(RECONNECT_TIMEOUT);
25  discard();
26 
27  try
28  {
29  testConnection();
30  return; // no exceptionm means success
31  }
32  catch(DriverException& eDE)
33  {
34  // discard exception
35  }
36  }
37 
38  abort("Verbindung kann nicht repariert werden");
39 }
40 
41 void B15F::discard(void)
42 {
43  try
44  {
45  uint8_t rq[] =
46  {
47  RQ_DISCARD
48  };
49 
50  usart.clearOutputBuffer();
51  for (uint8_t i = 0; i < 16; i++)
52  {
53  usart.transmit(&rq[0], 0, sizeof(rq)); // sende discard Befehl (verwerfe input)
54  delay_ms(4);
55  }
56  usart.clearInputBuffer();
57  }
58  catch (std::exception &ex)
59  {
60  abort(ex);
61  }
62 }
63 
64 void B15F::testConnection()
65 {
66  // erzeuge zufälliges Byte
67  srand(time(NULL));
68  uint8_t dummy = rand() % 256;
69 
70  uint8_t rq[] =
71  {
72  RQ_TEST,
73  dummy
74  };
75  usart.transmit(&rq[0], 0, sizeof(rq));
76 
77  uint8_t aw[2];
78  usart.receive(&aw[0], 0, sizeof(aw));
79 
80  assertCode(aw[0], MSG_OK);
81  assertCode(aw[1], dummy);
82 }
83 
84 void B15F::testIntConv()
85 {
86  srand(time(NULL));
87  uint16_t dummy = rand() % (0xFFFF / 3);
88 
89  uint8_t rq[] =
90  {
91  RQ_INT_TEST,
92  static_cast<uint8_t >(dummy & 0xFF),
93  static_cast<uint8_t >(dummy >> 8)
94  };
95  usart.transmit(&rq[0], 0, sizeof(rq));
96 
97  uint16_t aw;
98  usart.receive(reinterpret_cast<uint8_t *>(&aw), 0, sizeof(aw));
99 
100  assertCode(aw, dummy * 3);
101 }
102 
103 
104 std::vector<std::string> B15F::getBoardInfo(void)
105 {
106  std::vector<std::string> info;
107 
108  uint8_t rq[] =
109  {
110  RQ_INFO
111  };
112  usart.transmit(&rq[0], 0, sizeof(rq));
113 
114  uint8_t n;
115  usart.receive(&n, 0, sizeof(n));
116  while (n--)
117  {
118  uint8_t len;
119  usart.receive(&len, 0, sizeof(len));
120 
121  char str[len + 1];
122  usart.receive(reinterpret_cast<uint8_t *>(&str[0]), 0, len);
123  str[len] = '\0';
124 
125  info.push_back(std::string(str));
126  }
127 
128  uint8_t aw;
129  usart.receive(&aw, 0, sizeof(aw));
130  if (aw != MSG_OK)
131  abort("Board Info fehlerhalft: code " + std::to_string((int) aw));
132 
133  return info;
134 }
135 
136 void B15F::delay_ms(uint16_t ms)
137 {
138  std::this_thread::sleep_for(std::chrono::milliseconds(ms));
139 }
140 
141 void B15F::delay_us(uint16_t us)
142 {
143  std::this_thread::sleep_for(std::chrono::microseconds(us));
144 }
145 
146 void B15F::reverse(uint8_t& b)
147 {
148  b = (b & 0xF0) >> 4 | (b & 0x0F) << 4;
149  b = (b & 0xCC) >> 2 | (b & 0x33) << 2;
150  b = (b & 0xAA) >> 1 | (b & 0x55) << 1;
151 }
152 
153 // https://stackoverflow.com/a/478960
154 std::string B15F::exec(std::string cmd)
155 {
156  std::array<char, 128> buffer;
157  std::string result;
158  std::unique_ptr<FILE, decltype(&pclose)> pipe(popen(cmd.c_str(), "r"), pclose);
159  if (!pipe)
160  {
161  throw std::runtime_error("popen() failed!");
162  }
163  while (fgets(buffer.data(), buffer.size(), pipe.get()) != nullptr)
164  {
165  result += buffer.data();
166  }
167  return result;
168 }
169 
170 void B15F::abort(std::string msg)
171 {
172  DriverException ex(msg);
173  abort(ex);
174 }
175 
176 void B15F::abort(std::exception &ex)
177 {
178  if (errorhandler)
179  errorhandler(ex);
180  else
181  {
182  std::cout << ex.what() << std::endl;
183  throw DriverException(ex.what());
184  }
185 }
186 
187 void B15F::setAbortHandler(errorhandler_t func)
188 {
189  errorhandler = func;
190 }
191 
192 /*************************************/
193 
194 
195 
196 /*************************
197  * Steuerbefehle für B15 *
198  *************************/
199 
200 void B15F::activateSelfTestMode()
201 {
202  uint8_t rq[] =
203  {
204  RQ_SELF_TEST
205  };
206 
207  assertRequestLength(rq, RQ_SELF_TEST);
208  usart.transmit(&rq[0], 0, sizeof(rq));
209 
210  uint8_t aw;
211  usart.receive(&aw, 0, sizeof(aw));
212  assertCode(aw, MSG_OK);
213 }
214 
215 void B15F::digitalWrite0(uint8_t port)
216 {
217  uint8_t rq[] =
218  {
219  RQ_DIGITAL_WRITE_0,
220  port
221  };
222 
223  assertRequestLength(rq, RQ_DIGITAL_WRITE_0);
224  usart.transmit(&rq[0], 0, sizeof(rq));
225 
226  uint8_t aw;
227  usart.receive(&aw, 0, sizeof(aw));
228  assertCode(aw, MSG_OK);
229 }
230 
231 void B15F::digitalWrite1(uint8_t port)
232 {
233  uint8_t rq[] =
234  {
235  RQ_DIGITAL_WRITE_1,
236  port
237  };
238 
239  assertRequestLength(rq, RQ_DIGITAL_WRITE_1);
240  usart.transmit(&rq[0], 0, sizeof(rq));
241 
242  uint8_t aw;
243  usart.receive(&aw, 0, sizeof(aw));
244  assertCode(aw, MSG_OK);
245 }
246 
247 uint8_t B15F::digitalRead0()
248 {
249  usart.clearInputBuffer();
250  uint8_t rq[] =
251  {
252  RQ_DIGITAL_READ_0
253  };
254 
255  assertRequestLength(rq, RQ_DIGITAL_READ_0);
256  usart.transmit(&rq[0], 0, sizeof(rq));
257 
258  uint8_t aw;
259  usart.receive(&aw, 0, sizeof(aw));
260  return aw;
261 }
262 
263 uint8_t B15F::digitalRead1()
264 {
265  usart.clearInputBuffer();
266  uint8_t rq[] =
267  {
268  RQ_DIGITAL_READ_1
269  };
270 
271  assertRequestLength(rq, RQ_DIGITAL_READ_1);
272  usart.transmit(&rq[0], 0, sizeof(rq));
273 
274  uint8_t aw;
275  usart.receive(&aw, 0, sizeof(aw));
276  return aw;
277 }
278 
279 uint8_t B15F::readDipSwitch()
280 {
281  usart.clearInputBuffer();
282  uint8_t rq[] =
283  {
284  RQ_READ_DIP_SWITCH
285  };
286 
287  assertRequestLength(rq, RQ_READ_DIP_SWITCH);
288  usart.transmit(&rq[0], 0, sizeof(rq));
289 
290  uint8_t aw;
291  usart.receive(&aw, 0, sizeof(aw));
292 
293  reverse(aw); // DIP Schalter muss invertiert werden!
294 
295  return aw;
296 }
297 
298 void B15F::analogWrite0(uint16_t value)
299 {
300  uint8_t rq[] =
301  {
302  RQ_ANALOG_WRITE_0,
303  static_cast<uint8_t >(value & 0xFF),
304  static_cast<uint8_t >(value >> 8)
305  };
306 
307  assertRequestLength(rq, RQ_ANALOG_WRITE_0);
308  usart.transmit(&rq[0], 0, sizeof(rq));
309 
310  uint8_t aw;
311  usart.receive(&aw, 0, sizeof(aw));
312  assertCode(aw, MSG_OK);
313 }
314 
315 void B15F::analogWrite1(uint16_t value)
316 {
317  uint8_t rq[] =
318  {
319  RQ_ANALOG_WRITE_1,
320  static_cast<uint8_t >(value & 0xFF),
321  static_cast<uint8_t >(value >> 8)
322  };
323 
324  assertRequestLength(rq, RQ_ANALOG_WRITE_1);
325  usart.transmit(&rq[0], 0, sizeof(rq));
326 
327  uint8_t aw;
328  usart.receive(&aw, 0, sizeof(aw));
329  assertCode(aw, MSG_OK);
330 }
331 
332 uint16_t B15F::analogRead(uint8_t channel)
333 {
334  usart.clearInputBuffer();
335  if (channel > 7)
336  abort("Bad ADC channel: " + std::to_string(channel));
337 
338  uint8_t rq[] =
339  {
340  RQ_ANALOG_READ,
341  channel
342  };
343 
344  assertRequestLength(rq, RQ_ANALOG_READ);
345  usart.transmit(&rq[0], 0, sizeof(rq));
346 
347  uint16_t aw;
348  usart.receive(reinterpret_cast<uint8_t *>(&aw), 0, sizeof(aw));
349 
350  if (aw > 1023)
351  abort("Bad ADC data detected (1)");
352  return aw;
353 }
354 
355 void B15F::analogSequence(uint8_t channel_a, uint16_t *buffer_a, uint32_t offset_a, uint8_t channel_b, uint16_t *buffer_b,
356  uint32_t offset_b, uint16_t start, int16_t delta, uint16_t count)
357 {
358  // prepare pointers
359  buffer_a += offset_a;
360  buffer_b += offset_b;
361 
362 
363  usart.clearInputBuffer();
364  uint8_t rq[] =
365  {
366  RQ_ADC_DAC_STROKE,
367  channel_a,
368  channel_b,
369  static_cast<uint8_t >(start & 0xFF),
370  static_cast<uint8_t >(start >> 8),
371  static_cast<uint8_t >(delta & 0xFF),
372  static_cast<uint8_t >(delta >> 8),
373  static_cast<uint8_t >(count & 0xFF),
374  static_cast<uint8_t >(count >> 8)
375  };
376 
377  assertRequestLength(rq, RQ_ADC_DAC_STROKE);
378  usart.transmit(&rq[0], 0, sizeof(rq));
379 
380  for (uint16_t i = 0; i < count; i++)
381  {
382  if (buffer_a)
383  {
384  usart.receive(reinterpret_cast<uint8_t *>(&buffer_a[i]), 0, 2);
385 
386  if (buffer_a[i] > 1023) // check for broken usart connection
387  abort("Bad ADC data detected (2)");
388  }
389  else
390  {
391  usart.drop(2);
392  }
393 
394  if (buffer_b)
395  {
396  usart.receive(reinterpret_cast<uint8_t *>(&buffer_b[i]), 0, 2);
397 
398  if (buffer_b[i] > 1023) // check for broken usart connection
399  abort("Bad ADC data detected (3)");
400  }
401  else
402  {
403  usart.drop(2);
404  }
405  }
406 
407  uint8_t aw;
408  usart.receive(&aw, 0, sizeof(aw));
409  assertCode(aw, MSG_OK);
410 }
411 
412 uint8_t B15F::pwmSetFrequency(uint32_t freq)
413 {
414  usart.clearInputBuffer();
415 
416  uint8_t rq[] =
417  {
418  RQ_PWM_SET_FREQ,
419  static_cast<uint8_t>((freq >> 0) & 0xFF),
420  static_cast<uint8_t>((freq >> 8) & 0xFF),
421  static_cast<uint8_t>((freq >> 16) & 0xFF),
422  static_cast<uint8_t>((freq >> 24) & 0xFF)
423  };
424 
425  assertRequestLength(rq, RQ_PWM_SET_FREQ);
426  usart.transmit(&rq[0], 0, sizeof(rq));
427 
428  uint8_t aw;
429  usart.receive(&aw, 0, sizeof(aw));
430  return aw;
431 }
432 
433 void B15F::pwmSetValue(uint8_t value)
434 {
435  usart.clearInputBuffer();
436 
437  uint8_t rq[] =
438  {
439  RQ_PWM_SET_VALUE,
440  value
441  };
442 
443  assertRequestLength(rq, RQ_PWM_SET_VALUE);
444  usart.transmit(&rq[0], 0, sizeof(rq));
445 
446  uint8_t aw;
447  usart.receive(&aw, 0, sizeof(aw));
448  assertCode(aw, MSG_OK);
449 }
450 
451 void B15F::setMem8(volatile uint8_t* adr, uint8_t val)
452 {
453  usart.clearInputBuffer();
454 
455  uint8_t rq[] =
456  {
457  RQ_SET_MEM_8,
458  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) & 0xFF),
459  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) >> 8),
460  val
461  };
462 
463  assertRequestLength(rq, RQ_SET_MEM_8);
464  usart.transmit(&rq[0], 0, sizeof(rq));
465 
466  uint8_t aw;
467  usart.receive(&aw, 0, sizeof(aw));
468  assertCode(aw, MSG_OK);
469 }
470 
471 uint8_t B15F::getMem8(volatile uint8_t* adr)
472 {
473  usart.clearInputBuffer();
474 
475  uint8_t rq[] =
476  {
477  RQ_GET_MEM_8,
478  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) & 0xFF),
479  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) >> 8)
480  };
481 
482  assertRequestLength(rq, RQ_GET_MEM_8);
483  usart.transmit(&rq[0], 0, sizeof(rq));
484 
485  uint8_t aw;
486  usart.receive(&aw, 0, sizeof(aw));
487  return aw;
488 }
489 
490 void B15F::setMem16(volatile uint16_t* adr, uint16_t val)
491 {
492  usart.clearInputBuffer();
493 
494  uint8_t rq[] =
495  {
496  RQ_SET_MEM_16,
497  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) & 0xFF),
498  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) >> 8),
499  static_cast<uint8_t >(val & 0xFF),
500  static_cast<uint8_t >(val >> 8)
501  };
502 
503  assertRequestLength(rq, RQ_SET_MEM_16);
504  usart.transmit(&rq[0], 0, sizeof(rq));
505 
506  uint16_t aw;
507  usart.receive(reinterpret_cast<uint8_t *>(&aw), 0, sizeof(aw));
508  assertCode(aw, MSG_OK);
509 }
510 
511 uint16_t B15F::getMem16(volatile uint16_t* adr)
512 {
513  usart.clearInputBuffer();
514 
515  uint8_t rq[] =
516  {
517  RQ_GET_MEM_16,
518  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) & 0xFF),
519  static_cast<uint8_t >(reinterpret_cast<size_t>(adr) >> 8)
520  };
521 
522  assertRequestLength(rq, RQ_GET_MEM_16);
523  usart.transmit(&rq[0], 0, sizeof(rq));
524 
525  uint16_t aw;
526  usart.receive(reinterpret_cast<uint8_t *>(&aw), 0, sizeof(aw));
527  return aw;
528 }
529 
530 void B15F::setRegister(volatile uint8_t* adr, uint8_t val)
531 {
532  setMem8(adr, val);
533 }
534 
535 uint8_t B15F::getRegister(volatile uint8_t* adr)
536 {
537  return getMem8(adr);
538 }
539 
540 uint16_t* B15F::getInterruptCounterOffset()
541 {
542  usart.clearInputBuffer();
543 
544  uint8_t rq[] =
545  {
546  RQ_COUNTER_OFFSET
547  };
548 
549  assertRequestLength(rq, RQ_COUNTER_OFFSET);
550  usart.transmit(&rq[0], 0, sizeof(rq));
551 
552  uint16_t aw;
553  usart.receive(reinterpret_cast<uint8_t *>(&aw), 0, sizeof(aw));
554  return reinterpret_cast<uint16_t*>(aw);
555 }
556 
557 void B15F::setServoEnabled(void)
558 {
559  usart.clearInputBuffer();
560 
561  uint8_t rq[] =
562  {
563  RQ_SERVO_ENABLE
564  };
565 
566  assertRequestLength(rq, RQ_SERVO_ENABLE);
567  usart.transmit(&rq[0], 0, sizeof(rq));
568 
569  uint8_t aw;
570  usart.receive(&aw, 0, sizeof(aw));
571  assertCode(aw, MSG_OK);
572 }
573 
574 void B15F::setServoDisabled(void)
575 {
576  usart.clearInputBuffer();
577 
578  uint8_t rq[] =
579  {
580  RQ_SERVO_DISABLE
581  };
582 
583  assertRequestLength(rq, RQ_SERVO_DISABLE);
584  usart.transmit(&rq[0], 0, sizeof(rq));
585 
586  uint8_t aw;
587  usart.receive(&aw, 0, sizeof(aw));
588  assertCode(aw, MSG_OK);
589 }
590 
591 void B15F::setServoPosition(uint16_t pos)
592 {
593  if(pos > 19000)
594  throw DriverException("Impulslänge ist zu lang: " + std::to_string(pos));
595 
596  usart.clearInputBuffer();
597 
598  uint8_t rq[] =
599  {
600  RQ_SERVO_SET_POS,
601  static_cast<uint8_t >(pos & 0xFF),
602  static_cast<uint8_t >(pos >> 8)
603  };
604 
605  assertRequestLength(rq, RQ_SERVO_SET_POS);
606  usart.transmit(&rq[0], 0, sizeof(rq));
607 
608  uint8_t aw;
609  usart.receive(&aw, 0, sizeof(aw));
610  assertCode(aw, MSG_OK);
611 }
612 
613 /*************************/
614 
615 
616 /**********************
617  * Private Funktionen *
618  **********************/
619 
620 B15F::B15F()
621 {
622  init();
623 }
624 
625 
626 void B15F::init()
627 {
628 
629 #ifdef __arm__
630  // Raspberry Pi serial interface
631  std::string device = exec("bash -c 'ls /dev/ttyAMA* 2> /dev/null'");
632 #else
633  // normal PC serial interface
634  std::string device = exec("bash -c 'ls /dev/ttyUSB* 2> /dev/null'");
635 #endif
636 
637  while (device.find(' ') != std::string::npos || device.find('\n') != std::string::npos ||
638  device.find('\t') != std::string::npos)
639  device.pop_back();
640 
641  if (device.length() == 0)
642  abort("Adapter nicht gefunden");
643 
644  std::cout << PRE << "Verwende Adapter: " << device << std::endl;
645 
646 
647  std::cout << PRE << "Stelle Verbindung mit Adapter her... " << std::flush;
648  usart.setBaudrate(BAUDRATE);
649  usart.openDevice(device);
650  std::cout << "OK" << std::endl;
651 
652 
653  std::cout << PRE << "Teste Verbindung... " << std::flush;
654  int tries = 4;
655  while (--tries)
656  {
657  discard();
658 
659  try
660  {
661  testConnection();
662  }
663  catch(DriverException& eDE)
664  {
665  continue;
666  }
667 
668  try
669  {
670  testIntConv();
671  }
672  catch(DriverException& eDE)
673  {
674  continue;
675  }
676 
677  break;
678  }
679  if (!tries)
680  abort("Verbindungstest fehlgeschlagen. Neueste Version im Einsatz?");
681 
682  std::cout << "OK" << std::endl;
683 
684 
685  // Gib board info aus
686  std::vector<std::string> info = getBoardInfo();
687  std::cout << PRE << "AVR Firmware Version: " << info[0] << " um " << info[1] << " Uhr (" << info[2] << ")"
688  << std::endl;
689 
690  // Überprüfe Version
691  std::string& avr_commit_hash = info[3];
692  if(avr_commit_hash.compare(COMMIT_HASH))
693  {
694  std::cout << PRE << "Unterschiedliche commit hashes: " << std::endl;
695  std::cout << std::string(PRE.length(), ' ') << "AVR: " << avr_commit_hash << std::endl;
696  std::cout << std::string(PRE.length(), ' ') << "Control: " << COMMIT_HASH << std::endl << std::endl;
697  abort("Versionen inkompatibel. Bitte Software aktualisieren!");
698  }
699 }
B15F::testIntConv
void testIntConv(void)
Definition: b15f.cpp:83
B15F::pwmSetValue
void pwmSetValue(uint8_t value)
Definition: b15f.cpp:431
B15F::exec
static std::string exec(std::string cmd)
Definition: b15f.cpp:153
B15F::analogWrite0
void analogWrite0(uint16_t port)
Definition: b15f.cpp:296
B15F::setServoPosition
void setServoPosition(uint16_t pos)
Definition: b15f.cpp:589
B15F::analogWrite1
void analogWrite1(uint16_t port)
Definition: b15f.cpp:313
B15F::getMem16
uint16_t getMem16(volatile uint16_t *adr)
Definition: b15f.cpp:509
B15F::delay_us
void delay_us(uint16_t us)
Definition: b15f.cpp:140
B15F::digitalRead0
uint8_t digitalRead0(void)
Definition: b15f.cpp:245
B15F::pwmSetFrequency
uint8_t pwmSetFrequency(uint32_t freq)
Definition: b15f.cpp:410
B15F::digitalWrite0
void digitalWrite0(uint8_t)
Definition: b15f.cpp:213
B15F::analogSequence
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)
Definition: b15f.cpp:353
B15F::readDipSwitch
uint8_t readDipSwitch(void)
Definition: b15f.cpp:277
B15F::getRegister
uint8_t getRegister(volatile uint8_t *adr)
Definition: b15f.cpp:533
B15F::getMem8
uint8_t getMem8(volatile uint8_t *adr)
Definition: b15f.cpp:469
B15F::delay_ms
void delay_ms(uint16_t ms)
Definition: b15f.cpp:135
B15F::testConnection
void testConnection(void)
Definition: b15f.cpp:63
B15F::getInstance
static B15F & getInstance(void)
Definition: b15f.cpp:10
B15F
Definition: b15f.h:38
USART::transmit
void transmit(uint8_t *buffer, uint16_t offset, uint8_t len)
Definition: usart.cpp:75
B15F::abort
static void abort(std::string msg)
Definition: b15f.cpp:169
USART::receive
void receive(uint8_t *buffer, uint16_t offset, uint8_t len)
Definition: usart.cpp:84
USART::clearInputBuffer
void clearInputBuffer(void)
Definition: usart.cpp:54
B15F::getInterruptCounterOffset
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Definition: b15f.cpp:488
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Definition: usart.cpp:61
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const std::string PRE
B15F stdout prefix.
Definition: b15f.h:310
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Time in ms after which a reconnect attempt aborts.
Definition: b15f.h:313
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Definition: b15f.cpp:40
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Value to acknowledge a received command.
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B15F::BAUDRATE
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Definition: b15f.h:316
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B15F::setServoEnabled
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B15F::RECONNECT_TRIES
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Maximum count of reconnect attempts after which the driver stops.
Definition: b15f.h:315
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Definition: b15f.cpp:572
DriverException
Definition: driverexception.h:10
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