320 lines
5.8 KiB
C++
320 lines
5.8 KiB
C++
#include "b15f.h"
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B15F* B15F::instance = nullptr;
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B15F::B15F()
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{
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init();
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}
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void B15F::init()
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{
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std::cout << PRE << "Stelle Verbindung mit Adapter her... " << std::flush;
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usart.openDevice(SERIAL_DEVICE);
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std::cout << "OK" << std::endl;
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delay_ms(1);
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std::cout << PRE << "Teste Verbindung... " << std::flush;
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uint8_t tries = 3;
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while(tries--)
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{
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// verwerfe Daten, die µC noch hat
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discard();
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if(!testConnection())
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continue;
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if(!testIntConv())
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continue;
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break;
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}
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if(tries == 0)
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throw DriverException("Verbindungstest fehlgeschlagen. Neueste Version im Einsatz?");
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std::cout << "OK" << std::endl;
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// Gib board info aus
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std::vector<std::string> info = getBoardInfo();
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std::cout << PRE << "AVR Firmware Version: " << info[0] << " um " << info[1] << " Uhr (" << info[2] << ")" << std::endl;
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}
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void B15F::reconnect()
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{
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std::cout << PRE << "Verbindung unterbrochen, stelle Verbindung neu her: " << std::flush;
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uint8_t tries = RECONNECT_TRIES;
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while(tries--)
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{
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delay_ms(RECONNECT_TIMEOUT);
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discard();
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if(testConnection())
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{
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std::cout << "OK" << std::endl << std::flush;
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return;
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}
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}
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throw DriverException("Verbindung kann nicht repariert werden");
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}
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void B15F::discard(void)
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{
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usart.clearOutputBuffer();
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for(uint8_t i = 0; i < 8; i++)
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{
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usart.writeByte(RQ_DISC); // sende discard Befehl (verwerfe input)
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delay_ms((16000 / BAUDRATE) + 1); // warte mindestens eine Millisekunde, gegebenenfalls mehr
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}
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usart.clearInputBuffer();
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}
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bool B15F::testConnection()
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{
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// erzeuge zufälliges Byte
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srand(time(NULL));
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uint8_t dummy = rand() % 256;
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usart.writeByte(RQ_TEST);
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usart.writeByte(dummy);
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uint8_t aw = usart.readByte();
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uint8_t mirror = usart.readByte();
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return aw == MSG_OK && mirror == dummy;
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}
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bool B15F::testIntConv()
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{
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srand(time(NULL));
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uint16_t dummy = rand() % (0xFFFF / 3);
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usart.writeByte(RQ_INT);
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usart.writeInt(dummy);
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uint16_t aw = usart.readInt();
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return aw == dummy * 3;
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}
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std::vector<std::string> B15F::getBoardInfo(void)
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{
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try
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{
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std::vector<std::string> info;
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usart.writeByte(RQ_INFO);
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uint8_t n = usart.readByte();
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while(n--)
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{
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uint8_t len = usart.readByte();
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std::string str;
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while(len--)
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str += static_cast<char>(usart.readByte());
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info.push_back(str);
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}
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uint8_t aw = usart.readByte();
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if(aw != MSG_OK)
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throw DriverException("Board Info fehlerhalft");
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return info;
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}
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catch(DriverException& de)
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{
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reconnect();
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return getBoardInfo();
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}
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}
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bool B15F::digitalWrite0(uint8_t port)
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{
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try
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{
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usart.writeByte(RQ_BA0);
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usart.writeByte(port);
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uint8_t aw = usart.readByte();
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return aw == MSG_OK;
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}
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catch(DriverException& de)
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{
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reconnect();
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return digitalWrite0(port);
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}
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}
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bool B15F::digitalWrite1(uint8_t port)
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{
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try
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{
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usart.writeByte(RQ_BA1);
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usart.writeByte(port);
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uint8_t aw = usart.readByte();
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return aw == MSG_OK;
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}
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catch(DriverException& de)
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{
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reconnect();
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return digitalWrite1(port);
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}
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}
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uint8_t B15F::digitalRead0()
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{
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try
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{
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usart.writeByte(RQ_BE0);
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return usart.readByte();
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}
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catch(DriverException& de)
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{
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reconnect();
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return digitalRead0();
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}
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}
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uint8_t B15F::digitalRead1()
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{
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try
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{
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usart.writeByte(RQ_BE1);
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return usart.readByte();
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}
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catch(DriverException& de)
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{
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reconnect();
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return digitalRead1();
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}
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}
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bool B15F::analogWrite0(uint16_t value)
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{
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try
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{
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usart.writeByte(RQ_AA0);
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delay_ms(1);
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usart.writeInt(value);
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delay_ms(1);
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uint8_t aw = usart.readByte();
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return aw == MSG_OK;
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}
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catch(DriverException& de)
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{
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reconnect();
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return analogWrite0(value);
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}
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}
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bool B15F::analogWrite1(uint16_t value)
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{
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try
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{
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usart.writeByte(RQ_AA1);
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usart.writeInt(value);
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uint8_t aw = usart.readByte();
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return aw == MSG_OK;
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}
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catch(DriverException& de)
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{
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reconnect();
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return analogWrite1(value);
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}
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}
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uint16_t B15F::analogRead(uint8_t channel)
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{
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try
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{
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usart.writeByte(RQ_ADC);
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delay_ms(1);
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usart.writeByte(channel);
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return usart.readInt();
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}
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catch(DriverException& de)
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{
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reconnect();
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return analogRead(channel);
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}
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}
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bool B15F::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)
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{
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discard();
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try
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{
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usart.writeByte(RQ_ADC_DAC_STROKE);
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usart.writeByte(channel_a);
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usart.writeByte(channel_b);
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usart.writeInt(start);
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usart.writeInt(static_cast<uint16_t>(delta));
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usart.writeInt(count);
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uint8_t aw = usart.readByte();
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if(aw != MSG_OK)
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{
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std::cout << PRE << "Out of sync" << std::endl;
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return analogSequence(channel_a, buffer_a, offset_a, channel_b, buffer_b, offset_b, start, delta, count);
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}
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uint8_t block[5]; // 4 Datenbyte + crc
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for(uint16_t i = 0; i < count; i++)
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{
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bool crc_ok = usart.readBlock(&block[0], 0);
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if (!crc_ok)
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{
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std::cout << PRE << "bad crc" << std::endl;
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return analogSequence(channel_a, buffer_a, offset_a, channel_b, buffer_b, offset_b, start, delta, count);
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}
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buffer_a[offset_a + i] = ((uint16_t) block[0]) | (((uint16_t) block[1]) << 8);
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buffer_b[offset_b + i] = ((uint16_t) block[2]) | (((uint16_t) block[3]) << 8);
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}
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aw = usart.readByte();
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if(aw == MSG_OK)
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return aw;
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std::cout << PRE << "Da ging etwas verloren" << std::endl;
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return analogSequence(channel_a, buffer_a, offset_a, channel_b, buffer_b, offset_b, start, delta, count);
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}
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catch(DriverException& de)
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{
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reconnect();
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return analogSequence(channel_a, buffer_a, offset_a, channel_b, buffer_b, offset_b, start, delta, count);
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}
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}
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void B15F::delay_ms(uint16_t ms)
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{
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std::this_thread::sleep_for(std::chrono::milliseconds(ms));
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}
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void B15F::delay_us(uint16_t us)
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{
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std::this_thread::sleep_for(std::chrono::microseconds(us));
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}
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B15F& B15F::getInstance(void)
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{
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if(!instance)
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instance = new B15F();
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return *instance;
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}
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