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126 lines
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<div id="projectbrief">Board 15 Famulus Edition</div>
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<li class="navelem"><a class="el" href="dir_587c94d866dbb2f408f78cf41f9b2f8d.html">drv</a></li> </ul>
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<div class="title">b15f.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef B15F_H</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define B15F_H</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span>  </div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include <iostream></span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="preprocessor">#include <bits/stdc++.h></span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="preprocessor">#include <string></span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="preprocessor">#include <fstream></span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="preprocessor">#include <cstdlib></span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="preprocessor">#include <chrono></span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="preprocessor">#include <cstdint></span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="preprocessor">#include <vector></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="preprocessor">#include <unistd.h></span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <fcntl.h></span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <sys/ioctl.h></span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <termios.h></span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span>  </div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include "commit_hash.h"</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include "requests.h"</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include "usart.h"</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include "driverexception.h"</span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include "timeoutexception.h"</span></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> <span class="comment">// wichtig für die Register-Zugriffe</span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#define _AVR_IO_H_ 1 // Erzwinge die Inklusion</span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="preprocessor">#include "/usr/lib/avr/include/avr/sfr_defs.h"</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#include "/usr/lib/avr/include/avr/iom1284p.h"</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> <span class="keyword">typedef</span> std::function<void(std::exception&)> errorhandler_t;</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  </div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">// Wrapper für Codeposition-Ersetzung</span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor">#define assertCode(code, expectation) assertCodeFunc(code, expectation, &__FUNCTION__[0], &__FILE__[0], __LINE__)</span></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor">#define assertRequestLength(rq, rq_num) assertRequestLengthFunc(rq, rq_num,& __FUNCTION__[0], &__FILE__[0], __LINE__)</span></div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  </div><div class="line"><a name="l00038"></a><span class="lineno"><a class="line" href="classB15F.html"> 38</a></span> <span class="keyword">class </span><a class="code" href="classB15F.html">B15F</a></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> {</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="comment"> /*************************************</span></div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="comment"> * Grundfunktionen des B15F Treibers *</span></div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="comment"> *************************************/</span></div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">static</span> <a class="code" href="classB15F.html">B15F</a>& <a class="code" href="classB15F.html#a8b4533d232c55ef2aa967e39e2d23380">getInstance</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  </div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a52557b375443c180a044e7d4e80a1ae7">reconnect</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  </div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#ae4740cd473f40a1a4121dfa66b25e1d5">discard</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a6b8c7da1fb9b619543844e0ce7597d83">testConnection</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#ac2c7b6d84da5239ee7cc3d44e689d9db">testIntConv</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  std::vector<std::string> <a class="code" href="classB15F.html#a4f01677e73d6d172a2c1cae9427a591b">getBoardInfo</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#aaffce20afb9f06bc4b7556c70ce76416">delay_ms</a>(uint16_t ms);</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#adcaac8ae8db3c28eccb499fbd720361f">delay_us</a>(uint16_t us);</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a2937f22f1cfc9b533f4b5bf4db726a68">reverse</a>(uint8_t& b);</div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  </div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keyword">static</span> std::string <a class="code" href="classB15F.html#a1a7ac52984ed7ecac008a3e4060eee3a">exec</a>(std::string cmd);</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  </div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e">abort</a>(std::string msg);</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  </div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a3f09a418f9e3be5d1d750e4515c96f1e">abort</a>(std::exception& ex);</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  </div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a55b0cd1ea582bda53d6979442640f8e9">setAbortHandler</a>(errorhandler_t func);</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> <span class="comment"> /*************************************/</span></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>  </div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="comment"> /*************************</span></div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span> <span class="comment"> * Steuerbefehle für B15 *</span></div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span> <span class="comment"> *************************/</span></div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  </div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#aebb9a8bff15d422b62d21fd4d8408c8a">activateSelfTestMode</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  </div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#afd2c5753b8a5d323d9cfca77986fe893">digitalWrite0</a>(uint8_t);</div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  </div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a8f0d3891ec613a569b0a4309dfe213da">digitalWrite1</a>(uint8_t);</div><div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  </div><div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  uint8_t <a class="code" href="classB15F.html#ae0df6d423deeb2fd610968bd1c72060e">digitalRead0</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  </div><div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  uint8_t <a class="code" href="classB15F.html#afc76b612dd4faeee0ac02a66b65af5f2">digitalRead1</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  </div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  uint8_t <a class="code" href="classB15F.html#a6f858f21ea81d491b5031b3644a2239a">readDipSwitch</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  </div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a051da899f0883737dd1de1ba6a86f466">analogWrite0</a>(uint16_t port);</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</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#aae7bdafb19bf0adf5c7d9d0aff61c81a">analogWrite1</a>(uint16_t port);</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  </div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  uint16_t <a class="code" href="classB15F.html#ae0bd1f69751e2dc3c462db9213fc4627">analogRead</a>(uint8_t channel);</div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  </div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#ab82a324426c3063318c6cafb3089ae02">analogSequence</a>(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="line"><a name="l00212"></a><span class="lineno"> 212</span>  </div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  uint8_t <a class="code" href="classB15F.html#ac6f6532bb9550a0632c28b98c157d0a1">pwmSetFrequency</a>(uint32_t freq);</div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  </div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#aae99d74a945039c365ebd2f995b5546e">pwmSetValue</a>(uint8_t value);</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  </div><div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a65c0eee6b40b6d3ec58b0335fd668503">setMem8</a>(<span class="keyword">volatile</span> uint8_t* adr, uint8_t val);</div><div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  </div><div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  uint8_t <a class="code" href="classB15F.html#a404bd21d5db7270744eea77edfd9578a">getMem8</a>(<span class="keyword">volatile</span> uint8_t* adr);</div><div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  </div><div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a62ef2ee9bd945d30979939fcffa6759a">setMem16</a>(<span class="keyword">volatile</span> uint16_t* adr, uint16_t val);</div><div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  </div><div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  uint16_t <a class="code" href="classB15F.html#a5f84a830f054fbede9444d3b9bb566c4">getMem16</a>(<span class="keyword">volatile</span> uint16_t* adr);</div><div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  </div><div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#a47d7b797129d1ee7ebee4d8ae4f0ff93">setRegister</a>(<span class="keyword">volatile</span> uint8_t* adr, uint8_t val);</div><div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  </div><div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  uint8_t <a class="code" href="classB15F.html#a9bd47da39928af6f51075bdc3fe73ddc">getRegister</a>(<span class="keyword">volatile</span> uint8_t* adr);</div><div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  </div><div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  uint16_t* <a class="code" href="classB15F.html#a055e5b62432aa08c711f430fc0181d86">getInterruptCounterOffset</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  </div><div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#ab23d8c5a0b520b9d12d94a04f90fcfa0">setServoEnabled</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  </div><div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#aad1b3206761c06c7183ae1b8b95b350b">setServoDisabled</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  </div><div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <span class="keywordtype">void</span> <a class="code" href="classB15F.html#aa76f289274e5d0be41c5d4a58b52a416">setServoPosition</a>(uint16_t pos);</div><div class="line"><a name="l00307"></a><span class="lineno"> 307</span>  </div><div class="line"><a name="l00308"></a><span class="lineno"> 308</span> <span class="comment"> /*************************/</span></div><div class="line"><a name="l00309"></a><span class="lineno"> 309</span>  </div><div class="line"><a name="l00310"></a><span class="lineno"><a class="line" href="classB15F.html#a3b0fc1f85954b2d9c145af4a3af5b1ec"> 310</a></span>  </div><div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="classB15F.html#ab01299858f74a6cec598688562e0ad02"> 311</a></span>  <span class="comment">// CONSTANTS</span></div><div class="line"><a name="l00312"></a><span class="lineno"><a class="line" href="classB15F.html#a77d1ecf24b406c9204665d3b09c36f1e"> 312</a></span>  <span class="keyword">const</span> std::string <a class="code" href="classB15F.html#a3b0fc1f85954b2d9c145af4a3af5b1ec">PRE</a> = <span class="stringliteral">"[B15F] "</span>; </div><div class="line"><a name="l00313"></a><span class="lineno"><a class="line" href="classB15F.html#a040951746fbfd632e12bd1ad14578816"> 313</a></span>  constexpr <span class="keyword">static</span> uint8_t <a class="code" href="classB15F.html#ab01299858f74a6cec598688562e0ad02">MSG_OK</a> = 0xFF; </div><div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="classB15F.html#a158d13bc84aed6430cdede1396384e06"> 314</a></span>  constexpr <span class="keyword">static</span> uint8_t <a class="code" href="classB15F.html#a77d1ecf24b406c9204665d3b09c36f1e">MSG_FAIL</a> = 0xFE; </div><div class="line"><a name="l00315"></a><span class="lineno"><a class="line" href="classB15F.html#a6c4895bdbcd71ff6743becf97985c2dc"> 315</a></span>  constexpr <span class="keyword">static</span> uint16_t <a class="code" href="classB15F.html#a040951746fbfd632e12bd1ad14578816">RECONNECT_TIMEOUT</a> = 64; </div><div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="classB15F.html#a7d548d6861cfc69753161bf9cda14f87"> 316</a></span>  constexpr <span class="keyword">static</span> uint16_t <a class="code" href="classB15F.html#a158d13bc84aed6430cdede1396384e06">WDT_TIMEOUT</a> = 15; </div><div class="line"><a name="l00317"></a><span class="lineno"> 317</span>  constexpr <span class="keyword">static</span> uint8_t <a class="code" href="classB15F.html#a6c4895bdbcd71ff6743becf97985c2dc">RECONNECT_TRIES</a> = 3; </div><div class="line"><a name="l00318"></a><span class="lineno"> 318</span>  constexpr <span class="keyword">static</span> uint32_t <a class="code" href="classB15F.html#a7d548d6861cfc69753161bf9cda14f87">BAUDRATE</a> = 57600; </div><div class="line"><a name="l00319"></a><span class="lineno"> 319</span>  </div><div class="line"><a name="l00320"></a><span class="lineno"> 320</span> <span class="keyword">private</span>:</div><div class="line"><a name="l00321"></a><span class="lineno"> 321</span>  </div><div class="line"><a name="l00325"></a><span class="lineno"> 325</span>  <a class="code" href="classB15F.html">B15F</a>(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00326"></a><span class="lineno"> 326</span>  </div><div class="line"><a name="l00331"></a><span class="lineno"> 331</span>  <span class="keywordtype">void</span> init(<span class="keywordtype">void</span>);</div><div class="line"><a name="l00332"></a><span class="lineno"> 332</span>  </div><div class="line"><a name="l00338"></a><span class="lineno"> 338</span>  <span class="keyword">template</span><<span class="keyword">typename</span> CodeType, <span class="keyword">typename</span> ExpectationType></div><div class="line"><a name="l00339"></a><span class="lineno"> 339</span>  <span class="keywordtype">void</span> assertCodeFunc(CodeType& code, ExpectationType expectation, <span class="keyword">const</span> <span class="keywordtype">char</span>* func, <span class="keyword">const</span> <span class="keywordtype">char</span>* file, <span class="keywordtype">int</span> line)<span class="keyword"> const</span></div><div class="line"><a name="l00340"></a><span class="lineno"> 340</span> <span class="keyword"> </span>{</div><div class="line"><a name="l00341"></a><span class="lineno"> 341</span>  <span class="keywordflow">if</span>(code != static_cast<CodeType>(expectation))</div><div class="line"><a name="l00342"></a><span class="lineno"> 342</span>  <span class="keywordflow">throw</span> <a class="code" href="classDriverException.html">DriverException</a>(<span class="stringliteral">"Ungültige Antwort erhalten: "</span> + std::to_string((<span class="keywordtype">int</span>) code) + <span class="stringliteral">" (erwartet: "</span> + std::to_string((<span class="keywordtype">int</span>) expectation) + <span class="stringliteral">") in "</span> + std::string(func) + <span class="stringliteral">": "</span> + std::string(file) + <span class="stringliteral">"#"</span> + std::to_string(line));</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>  </div><div class="line"><a name="l00350"></a><span class="lineno"> 350</span>  <span class="keyword">template</span><<span class="keywordtype">size_t</span> RequestLength></div><div class="line"><a name="l00351"></a><span class="lineno"> 351</span>  <span class="keywordtype">void</span> assertRequestLengthFunc(uint8_t (&)[RequestLength], uint8_t rq_num, <span class="keyword">const</span> <span class="keywordtype">char</span>* func, <span class="keyword">const</span> <span class="keywordtype">char</span>* file, <span class="keywordtype">int</span> line)</div><div class="line"><a name="l00352"></a><span class="lineno"> 352</span>  {</div><div class="line"><a name="l00353"></a><span class="lineno"> 353</span>  <span class="keywordflow">if</span>(RequestLength != rq_len[rq_num])</div><div class="line"><a name="l00354"></a><span class="lineno"> 354</span>  <span class="keywordflow">throw</span> <a class="code" href="classDriverException.html">DriverException</a>(<span class="stringliteral">"Ungültige Request Länge: "</span> + std::to_string(RequestLength) + <span class="stringliteral">" (erwartet: "</span> + std::to_string(rq_len[rq_num]) + <span class="stringliteral">") in "</span> + std::string(func) + <span class="stringliteral">": "</span> + std::string(file) + <span class="stringliteral">"#"</span> + std::to_string(line));</div><div class="line"><a name="l00355"></a><span class="lineno"> 355</span>  }</div><div class="line"><a name="l00356"></a><span class="lineno"> 356</span>  </div><div class="line"><a name="l00357"></a><span class="lineno"> 357</span>  <a class="code" href="classUSART.html">USART</a> usart; </div><div class="line"><a name="l00358"></a><span class="lineno"> 358</span>  <span class="keyword">static</span> <a class="code" href="classB15F.html">B15F</a>* instance; </div><div class="line"><a name="l00359"></a><span class="lineno"> 359</span>  <span class="keyword">static</span> errorhandler_t errorhandler; </div><div class="line"><a name="l00360"></a><span class="lineno"> 360</span> };</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> <span class="preprocessor">#endif // B15F_H</span></div></div><!-- fragment --></div><!-- contents -->
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<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#l00085">b15f.cpp:85</a></div></div>
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<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#l00437">b15f.cpp:437</a></div></div>
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<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#l00159">b15f.cpp:159</a></div></div>
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<div class="ttc" id="aclassB15F_html_a77d1ecf24b406c9204665d3b09c36f1e"><div class="ttname"><a href="classB15F.html#a77d1ecf24b406c9204665d3b09c36f1e">B15F::MSG_FAIL</a></div><div class="ttdeci">constexpr static uint8_t MSG_FAIL</div><div class="ttdoc">Value to reject a received command.</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8h_source.html#l00312">b15f.h:312</a></div></div>
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<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#l00302">b15f.cpp:302</a></div></div>
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<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#l00595">b15f.cpp:595</a></div></div>
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<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#l00319">b15f.cpp:319</a></div></div>
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<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#l00515">b15f.cpp:515</a></div></div>
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<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#l00146">b15f.cpp:146</a></div></div>
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<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#l00251">b15f.cpp:251</a></div></div>
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<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#l00416">b15f.cpp:416</a></div></div>
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<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#l00219">b15f.cpp:219</a></div></div>
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<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#l00359">b15f.cpp:359</a></div></div>
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<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#l00283">b15f.cpp:283</a></div></div>
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<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#l00539">b15f.cpp:539</a></div></div>
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<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#l00475">b15f.cpp:475</a></div></div>
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<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#l00141">b15f.cpp:141</a></div></div>
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<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>
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<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>
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<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#l00038">b15f.h:38</a></div></div>
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<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#l00175">b15f.cpp:175</a></div></div>
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<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#l00544">b15f.cpp:544</a></div></div>
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<div class="ttc" id="aclassUSART_html"><div class="ttname"><a href="classUSART.html">USART</a></div><div class="ttdef"><b>Definition:</b> <a href="usart_8h_source.html#l00016">usart.h:16</a></div></div>
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<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#l00494">b15f.cpp:494</a></div></div>
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<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#l00336">b15f.cpp:336</a></div></div>
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<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#l00204">b15f.cpp:204</a></div></div>
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<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#l00310">b15f.h:310</a></div></div>
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<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#l00151">b15f.cpp:151</a></div></div>
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<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#l00107">b15f.cpp:107</a></div></div>
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<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#l00313">b15f.h:313</a></div></div>
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<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>
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<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#l00534">b15f.cpp:534</a></div></div>
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<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#l00311">b15f.h:311</a></div></div>
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<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#l00267">b15f.cpp:267</a></div></div>
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<div class="ttc" id="aclassB15F_html_a158d13bc84aed6430cdede1396384e06"><div class="ttname"><a href="classB15F.html#a158d13bc84aed6430cdede1396384e06">B15F::WDT_TIMEOUT</a></div><div class="ttdeci">constexpr static uint16_t WDT_TIMEOUT</div><div class="ttdoc">Time in ms after which the watch dog timer resets the MCU.</div><div class="ttdef"><b>Definition:</b> <a href="b15f_8h_source.html#l00314">b15f.h:314</a></div></div>
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<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>
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<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#l00316">b15f.h:316</a></div></div>
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<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#l00192">b15f.cpp:192</a></div></div>
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<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#l00235">b15f.cpp:235</a></div></div>
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<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#l00561">b15f.cpp:561</a></div></div>
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<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#l00315">b15f.h:315</a></div></div>
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<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#l00455">b15f.cpp:455</a></div></div>
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<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#l00578">b15f.cpp:578</a></div></div>
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<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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