cherry-pick from busvoodoo branch, part 1
This commit is contained in:
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a00e332e0f
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0c925ba957
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@ -39,7 +39,7 @@
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/* own libraries */
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#include "global.h" // board definitions
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#include "print.h" // printing utilities
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#include "usart.h" // USART utilities
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#include "uart.h" // USART utilities
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#include "usb_cdcacm.h" // USB CDC ACM utilities
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#define WATCHDOG_PERIOD 10000 /**< watchdog period in ms */
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@ -61,9 +61,9 @@ size_t putc(char c)
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length = 0; // don't print string termination character
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} else if ('\r' == c || '\n' == c) { // send CR+LF newline for most carriage return and line feed combination
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if (0==newline || c==newline) { // send newline only if not already send (and only once on \r\n or \n\r)
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usart_putchar_nonblocking('\r'); // send CR over USART
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uart_putchar_nonblocking('\r'); // send CR over USART
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usb_cdcacm_putchar('\r'); // send CR over USB
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usart_putchar_nonblocking('\n'); // send LF over USART
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uart_putchar_nonblocking('\n'); // send LF over USART
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usb_cdcacm_putchar('\n'); // send LF over USB
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length += 2; // remember we printed 2 characters
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newline = c; // remember on which character we sent the newline
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@ -71,7 +71,7 @@ size_t putc(char c)
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length = 0; // the \r or \n of \n\r or \r\n has already been printed
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}
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} else {
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usart_putchar_nonblocking(c); // send byte over USART
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uart_putchar_nonblocking(c); // send byte over USART
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usb_cdcacm_putchar(c); // send byte over USB
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newline = 0; // clear new line
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length++; // remember we printed 1 character
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@ -189,7 +189,7 @@ void main(void)
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#endif
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board_setup(); // setup board
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usart_setup(); // setup USART (for printing)
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uart_setup(); // setup USART (for printing)
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usb_cdcacm_setup(); // setup USB CDC ACM (for printing)
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printf("welcome to the CuVoodoo STM32F1 example application\n"); // print welcome message
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@ -224,10 +224,10 @@ void main(void)
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bool char_flag = false; // a new character has been received
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while (true) { // infinite loop
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iwdg_reset(); // kick the dog
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while (usart_received) { // data received over UART
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while (uart_received) { // data received over UART
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action = true; // action has been performed
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led_toggle(); // toggle LED
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c = usart_getchar(); // store receive character
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c = uart_getchar(); // store receive character
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char_flag = true; // notify character has been received
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}
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while (usb_cdcacm_received) { // data received over USB
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@ -239,7 +239,8 @@ void main(void)
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while (char_flag) { // user data received
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char_flag = false; // reset flag
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action = true; // action has been performed
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printf("%c",c); // echo receive character
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//printf("%c",c); // echo receive character
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printf("%02x\n",c);
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if (c=='\r' || c=='\n') { // end of command received
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if (command_i>0) { // there is a command to process
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command[command_i] = 0; // end string
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13
bootloader.c
13
bootloader.c
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@ -51,12 +51,13 @@ void main(void)
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rcc_periph_clock_enable(RCC_GPIO(DFU_FORCE_PORT)); // enable clock for GPIO domain
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gpio_set_mode(GPIO(DFU_FORCE_PORT), GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, GPIO(DFU_FORCE_PIN)); // set GPIO to input
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// pull on the opposite of the expected value
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if (DFU_FORCE_VALUE) {
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gpio_clear(GPIO(DFU_FORCE_PORT), GPIO(DFU_FORCE_PIN)); // pull down to be able to detect when tied to high
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} else {
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gpio_set(GPIO(DFU_FORCE_PORT), GPIO(DFU_FORCE_PIN)); // pull up to be able to detect when tied to low
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}
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if ((!DFU_FORCE_VALUE && 0==gpio_get(GPIO(DFU_FORCE_PORT), GPIO(DFU_FORCE_PIN))) || (DFU_FORCE_VALUE && 0!=gpio_get(GPIO(DFU_FORCE_PORT), GPIO(DFU_FORCE_PIN)))) { // check if output is set to the value to force DFU mode
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#if (DFU_FORCE_VALUE==1)
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gpio_clear(GPIO(DFU_FORCE_PORT), GPIO(DFU_FORCE_PIN)); // pull down to be able to detect when tied to high
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if (gpio_get(GPIO(DFU_FORCE_PORT), GPIO(DFU_FORCE_PIN))) { // check if output is set to the value to force DFU mode
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#else
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gpio_set(GPIO(DFU_FORCE_PORT), GPIO(DFU_FORCE_PIN)); // pull up to be able to detect when tied to low
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if (0==gpio_get(GPIO(DFU_FORCE_PORT), GPIO(DFU_FORCE_PIN))) { // check if output is set to the value to force DFU mode
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#endif
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dfu_force = true; // DFU mode forced
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}
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}
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18
global.c
18
global.c
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@ -61,21 +61,23 @@ char* b2s(uint64_t binary, uint8_t rjust)
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/** switch on board LED */
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void led_on(void)
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{
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#if defined(SYSTEM_BOARD) || defined(BLUE_PILL) || defined(CORE_BOARD)
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gpio_clear(GPIO(LED_PORT), GPIO(LED_PIN));
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#elif defined(MAPLE_MINI)
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#if defined(LED_ON) && LED_ON
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gpio_set(GPIO(LED_PORT), GPIO(LED_PIN));
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#else
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gpio_clear(GPIO(LED_PORT), GPIO(LED_PIN));
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#endif
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}
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/** switch off board LED */
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void led_off(void)
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{
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#if defined(SYSTEM_BOARD) || defined(BLUE_PILL) || defined(CORE_BOARD)
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gpio_set(GPIO(LED_PORT), GPIO(LED_PIN));
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#elif defined(MAPLE_MINI)
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#if defined(LED_ON) && LED_ON
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gpio_clear(GPIO(LED_PORT), GPIO(LED_PIN));
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#else
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gpio_set(GPIO(LED_PORT), GPIO(LED_PIN));
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#endif
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}
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/** toggle board LED */
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void led_toggle(void)
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{
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@ -133,10 +135,10 @@ void board_setup(void)
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gpio_set_mode(GPIO(BUTTON_PORT), GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, GPIO(BUTTON_PIN)); // set button pin to input
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rcc_periph_clock_enable(RCC_AFIO); // enable alternate function clock for external interrupt
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exti_select_source(EXTI(BUTTON_PIN), GPIO(BUTTON_PORT)); // mask external interrupt of this pin only for this port
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#if defined(MAPLE_MINI)
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#if defined(BUTTON_PRESSED) && BUTTON_PRESSED
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gpio_clear(GPIO(BUTTON_PORT), GPIO(BUTTON_PIN)); // pull down to be able to detect button push (go high)
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exti_set_trigger(EXTI(BUTTON_PIN), EXTI_TRIGGER_RISING); // trigger when button is pressed
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#elif defined(CORE_BOARD)
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#else
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gpio_set(GPIO(BUTTON_PORT), GPIO(BUTTON_PIN)); // pull up to be able to detect button push (go low)
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exti_set_trigger(EXTI(BUTTON_PIN), EXTI_TRIGGER_FALLING); // trigger when button is pressed
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#endif
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13
global.h
13
global.h
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@ -309,14 +309,17 @@
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/* on system and core board LED is on pin 11/PA1 */
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#define LED_PORT A /**< GPIO port (port A) */
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#define LED_PIN 1 /**< GPIO pin (pin PA1) */
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#define LED_ON 0 /**< LED is on when pin is low */
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#elif defined(BLUE_PILL)
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/* on minimum system LED is on pin 2/PC13 */
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#define LED_PORT C /**< GPIO port (port C on blue pill) */
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#define LED_PIN 13 /**< GPIO pin (pin PC13 on system board) */
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#define LED_ON 0 /**< LED is on when pin is low */
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#elif defined (MAPLE_MINI)
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/* on maple mini LED is on pin 19/PB1 */
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#define LED_PORT B /**< GPIO port (port B on maple mini) */
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#define LED_PIN 1 /**< GPIO pin (pin PB1 on maple mini) */
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#define LED_ON 1 /**< LED is on when pin is high */
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#endif
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/** @} */
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@ -327,10 +330,12 @@
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/* on maple mini user button is on 32/PB8 */
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#define BUTTON_PORT B /**< GPIO port (port B on maple mini) */
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#define BUTTON_PIN 8 /**< GPIO pin (pin PB8 on maple mini) */
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#define BUTTON_PRESSED 1 /**< pin is high when button is pressed */
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#elif defined(CORE_BOARD)
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/* on core board user button is on PA8 */
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#define BUTTON_PORT A /**< GPIO port (port A) */
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#define BUTTON_PIN 8 /**< GPIO pin (pin PA8) */
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#define BUTTON_PRESSED 0 /**< pin is low when button is pressed */
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#endif
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/** @} */
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@ -341,17 +346,17 @@
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/* use button */
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#define DFU_FORCE_PORT BUTTON_PORT /**< button port */
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#define DFU_FORCE_PIN BUTTON_PIN /**< button pin */
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#define DFU_FORCE_VALUE true /**< button is pulled low unpressed, high pressed to force DFU mode */
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#define DFU_FORCE_VALUE 1 /**< button is pulled low unpressed, high pressed to force DFU mode */
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#elif defined(CORE_BOARD)
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/* use button */
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#define DFU_FORCE_PORT BUTTON_PORT /**< button port */
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#define DFU_FORCE_PIN BUTTON_PIN /**< button pin */
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#define DFU_FORCE_VALUE false /**< button floating unpressed, connected to ground pressed to force DFU mode */
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#define DFU_FORCE_VALUE 0 /**< button floating unpressed, connected to ground pressed to force DFU mode */
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#else
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/* use the JNTRST pin as JPIO (this will disable the SWJ function, but we are not using it) */
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/* use the JNTRST pin as GPIO (this will disable the SWJ function, but we are not using it) */
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#define DFU_FORCE_PORT B /**< JNTRST port (needs to be remapped to become PB4) */
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#define DFU_FORCE_PIN 4 /**< JNTRST pin (needs to be remapped to become PB4) */
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#define DFU_FORCE_VALUE false /**< must be high to force DFU mode, since it's low after reset */
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#define DFU_FORCE_VALUE 1 /**< must be high to force DFU mode, since it's low after reset */
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#endif
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/** @} */
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320
lib/print.c
320
lib/print.c
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@ -22,15 +22,29 @@
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#include <stdlib.h> // standard definitions
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#include <stdbool.h> // boolean types
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#include <stdarg.h> // variadic utilities
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#include <math.h> // mathematics utilities to handle floating points
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/* own libraries */
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#include "print.h" // printing utilities
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/** @defgroup print_crlf output \r\n (Carriage Return + Line Feed) for each \r, \n, \r\n, or \n\r for better terminal compatibility
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* @{
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**/
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#define CRLF true /**< if CR+LN new line should be enforced */
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/** @} */
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uint8_t print_error;
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/** add printed length to total printed length, and sets error if maximum size is exceeded
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* @param[in,out] length total printed length
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* @param[in] printed printed length
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*/
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static void print_printed(size_t* length, size_t printed)
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{
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if (NULL==length) { // check if total is provided
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return;
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}
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if (*length>SIZE_MAX-printed) { // prevent integer overflow
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*length = SIZE_MAX; // set to maximum
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print_error |= PRINT_ERROR_MAX; // set error
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} else {
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*length += printed; // save printed length
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}
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}
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/** print character
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* @param[out] str string to print character on (use NULL to print on user output)
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@ -45,13 +59,12 @@ static size_t print_char(char** str, size_t* size, char c)
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length = 0; // remember we didn't print anything
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} else if (NULL==str || NULL==*str || NULL==size) { // character should not be saved on string
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length = putc(c); // print on user define output
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} else if (*size>1) { // // there is enough space in the string to store the character
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} else if (*size>1) { // there is enough space in the string to store the character
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**str = c; // add provided character to string
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*str += 1; // go to next character on string
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*size -= 1; // remember we used one character on string
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} else if (1==*size) { // string is reaching it's end
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**str = '\0'; // add termination character to string (don't go to next character)
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*size -= 1; // remember we used one character on string
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} else { // string is reached its end
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print_error |= PRINT_ERROR_TRUNCATED; // indicate we did not save the character
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}
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return length;
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}
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@ -66,20 +79,20 @@ static size_t print_string(char** str, size_t* size, const char* s)
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{
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size_t length = 0; // number of characters printed
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while (*s) { // stop at end of string
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length += print_char(str, size, *(s++)); // print character
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print_printed(&length, print_char(str, size, *(s++))); // print character
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}
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return length;
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}
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/** print unsigned number
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* @param[out] str string to print unsigned number on (use NULL to print on user output)
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/** print unsigned integer
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* @param[out] str string to print unsigned integer on (use NULL to print on user output)
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* @param[in,out] size size of string
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* @param[in] u unsigned number to be printed
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* @param[in] u unsigned integer to be printed
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* @param[in] padding number of 0's to pad
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* @param[in] sign if sign should be printed
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* @return number of characters printed
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**/
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static size_t print_unsigned(char** str, size_t* size, uint64_t u, uint8_t padding, bool sign) {
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static size_t print_unsigned(char** str, size_t* size, uint64_t u, uint32_t padding, bool sign) {
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char number[20] = {0}; // construct the number in reverse order (20 chars are required to store UINT64_MAX)
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uint8_t digits = 0; // to count the number of digits
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size_t length = 0; // number of characters printed
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@ -87,36 +100,112 @@ static size_t print_unsigned(char** str, size_t* size, uint64_t u, uint8_t paddi
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number[digits++] = '0'+(u%10); // store digit
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u /= 10; // go to next digit
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} while (u>0);
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if (digits>sizeof(number)) { // prevent buffer underflow
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return 0;
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}
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if (sign) { // print sign
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length += print_char(str, size, '+'); // we only have positive numbers
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print_printed(&length, print_char(str, size, '+')); // we only have positive numbers
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}
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for (uint8_t zeros = digits; zeros<padding; zeros++) { // print padding 0's
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length += print_char(str, size, '0'); // print 0
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for (uint32_t zeros = digits; zeros<padding; zeros++) { // print padding 0's
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print_printed(&length, print_char(str, size, '0')); // print 0
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}
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for (uint8_t digit = 0; digit < digits; digit++) { // go through all digits
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length += print_char(str, size, number[digits-digit-1]); // print digit (in reverse order)
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print_printed(&length, print_char(str, size, number[digits-digit-1])); // print digit (in reverse order)
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}
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return length; // return number of characters printed
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}
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/** print signed number
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* @param[out] str string to print signed number on (use NULL to print on user output)
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/** print signed integer
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* @param[out] str string to print signed integer on (use NULL to print on user output)
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* @param[in,out] size size of string
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* @param[in] d signed number to be printed
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* @param[in] d signed integer to be printed
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* @param[in] padding number of 0's to pad
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* @param[in] sign if sign should be printed
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* @return number of characters printed
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**/
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static size_t print_signed(char** str, size_t* size, int64_t d, uint8_t padding, bool sign) {
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static size_t print_signed(char** str, size_t* size, int64_t d, uint32_t padding, bool sign) {
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size_t length = 0; // number of characters printed
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if (d<0) {
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length += print_char(str, size, '-'); // print sign
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length += print_unsigned(str, size, (uint64_t)-d, padding, false); // print number (casting because there is one more negative value then positive value)
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print_printed(&length, print_char(str, size, '-')); // print sign
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print_printed(&length, print_unsigned(str, size, (uint64_t)-d, padding, false)); // print number (casting because there is one more negative value then positive value)
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} else {
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length += print_unsigned(str, size, d, padding, sign); // print number
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print_printed(&length, print_unsigned(str, size, d, padding, sign)); // print number
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}
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return length; // return number of characters printed
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}
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/** print floating number
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* @param[out] str string to print floating number on (use NULL to print on user output)
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* @param[in,out] size size of string
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* @param[in] f floating number to be printed
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* @param[in] padding number of 0's to pad
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* @param[in] sign if sign should be printed
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* @return number of characters printed
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**/
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static size_t print_float(char** str, size_t* size, double f, uint32_t padding, uint32_t fractional, bool sign) {
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size_t length = 0; // number of characters printed
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if (isnan(f)) { // not a number
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print_printed(&length, print_string(str, size, "NaN")); // print NaN
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} else if (isinf(f)) { // infinite
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if (-1==isinf(f)) {
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print_printed(&length, print_char(str, size, '-')); // print sign
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} else if (sign) {
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print_printed(&length, print_char(str, size, '+')); // print sign
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}
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print_printed(&length, print_string(str, size, "inf")); // print inf
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} else if (isnormal(f)) { // it should be not 0
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if (f<0) {
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print_printed(&length, print_char(str, size, '-')); // print sign
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} else if (sign) {
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print_printed(&length, print_char(str, size, '+')); // print sign
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}
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double f_abs = fabs(f); // only work using the absolute value now that the sign is printed
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// get the exponent
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int8_t exponent = 0; // exponent min/max for double is 37
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if (f_abs<1.0) {
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while (f_abs<pow(10.0, exponent-1)) { // find negative exponent, base 10
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exponent -= 1; // decrement in deci
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}
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if (padding) { // respect padding wish
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exponent -= padding;
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}
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} else {
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while (f_abs>pow(10.0, exponent)) { // find the positive exponent, base 10
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exponent += 3; // increment in kilo
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}
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if (padding) { // respect padding wish
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exponent -= padding;
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} else {
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exponent -= 3;
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}
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}
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// print integer part
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f_abs /= pow(10.0, exponent); // convert to scientific format
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print_printed(&length, print_unsigned(str, size, f_abs, padding, false)); // print integer part as scientific number
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// print fractional part
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if (fractional) {
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print_printed(&length, print_char(str, size, '.')); // print decimal point
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f_abs -= (uint64_t)f_abs; // remove integer part
|
||||
for (uint32_t frac=0; frac<fractional; frac++) { // print fractional parts
|
||||
f_abs *= 10.0;
|
||||
print_printed(&length, print_unsigned(str, size, f_abs, 0, false));
|
||||
f_abs -= (uint64_t)f_abs;
|
||||
}
|
||||
}
|
||||
// print exponent
|
||||
if (exponent) {
|
||||
print_printed(&length, print_char(str, size, 'E')); // print exponent mark
|
||||
print_printed(&length, print_signed(str, size, exponent, 0, false));
|
||||
}
|
||||
} else { // f=0
|
||||
// print sign
|
||||
if (f<0) {
|
||||
print_printed(&length, print_char(str, size, '-')); // print sign
|
||||
} else if (sign) {
|
||||
print_printed(&length, print_char(str, size, '+')); // print sign
|
||||
}
|
||||
print_printed(&length, print_unsigned(str, size, 0, padding, false)); // print integer part
|
||||
if (fractional) {
|
||||
print_printed(&length, print_char(str, size, '.')); // print decimal point
|
||||
print_printed(&length, print_unsigned(str, size, 0, fractional, false)); // print fractional part
|
||||
}
|
||||
}
|
||||
return length; // return number of characters printed
|
||||
}
|
||||
|
|
@ -132,11 +221,11 @@ static size_t print_nibble(char** str, size_t* size, uint8_t nibble, bool upcase
|
|||
size_t length = 0; // number of characters printed
|
||||
nibble &= 0x0f; // ensure we only have a nibble
|
||||
if (nibble<10) {
|
||||
length += print_char(str, size, '0'+nibble);
|
||||
print_printed(&length, print_char(str, size, '0'+nibble));
|
||||
} else if (upcase) {
|
||||
length += print_char(str, size, 'A'+nibble-10);
|
||||
print_printed(&length, print_char(str, size, 'A'+nibble-10));
|
||||
} else {
|
||||
length += print_char(str, size, 'a'+nibble-10);
|
||||
print_printed(&length, print_char(str, size, 'a'+nibble-10));
|
||||
}
|
||||
return length; // return number of characters printed
|
||||
}
|
||||
|
|
@ -150,28 +239,36 @@ static size_t print_nibble(char** str, size_t* size, uint8_t nibble, bool upcase
|
|||
* @param[in] upcase use upcase digits (A-F)
|
||||
* @return number of characters printed
|
||||
**/
|
||||
static size_t print_hex(char** str, size_t* size, uint32_t hex, uint8_t padding, bool prefix, bool upcase) {
|
||||
static size_t print_hex(char** str, size_t* size, uint64_t hex, uint32_t padding, bool prefix, bool upcase) {
|
||||
size_t length = 0; // number of characters printed
|
||||
if (prefix) { // print 0x prefix
|
||||
length += print_char(str, size, '0');
|
||||
length += print_char(str, size, 'x');
|
||||
print_printed(&length, print_char(str, size, '0'));
|
||||
print_printed(&length, print_char(str, size, 'x'));
|
||||
}
|
||||
uint8_t digits = 0; // number of digits to print
|
||||
// figure out number of digits to print
|
||||
if (hex>0x00ffffff) {
|
||||
if (hex>0xffffffffffffffUL) {
|
||||
digits = 16;
|
||||
} else if (hex>0xffffffffffffUL) {
|
||||
digits = 14;
|
||||
} else if (hex>0xffffffffffUL) {
|
||||
digits = 12;
|
||||
} else if (hex>0xffffffffUL) {
|
||||
digits = 10;
|
||||
} else if (hex>0xffffffUL) {
|
||||
digits = 8;
|
||||
} else if (hex>0x0000ffff) {
|
||||
} else if (hex>0xffffUL) {
|
||||
digits = 6;
|
||||
} else if (hex>0x000000ff) {
|
||||
} else if (hex>0xffUL) {
|
||||
digits = 4;
|
||||
} else {
|
||||
digits = 2;
|
||||
}
|
||||
for (uint8_t zeros = digits; zeros<padding; zeros++) { // print padding 0's
|
||||
length += print_char(str, size, '0'); // print 0
|
||||
for (uint32_t zeros = digits; zeros<padding; zeros++) { // print padding 0's
|
||||
print_printed(&length, print_char(str, size, '0')); // print 0
|
||||
}
|
||||
for (uint8_t digit = 0; digit < digits; digit++) { // go through all digits
|
||||
length += print_nibble(str, size, hex>>((digits-digit-1)*4), upcase); // print nibble (in reverse order)
|
||||
print_printed(&length, print_nibble(str, size, hex>>((digits-digit-1)*4), upcase)); // print nibble (in reverse order)
|
||||
}
|
||||
return length; // return number of characters printed
|
||||
}
|
||||
|
|
@ -184,8 +281,8 @@ static size_t print_hex(char** str, size_t* size, uint32_t hex, uint8_t padding,
|
|||
* @param[in] prefix if 0b prefix should be printed
|
||||
* @return number of characters printed
|
||||
**/
|
||||
static size_t print_bits(char** str, size_t* size, uint32_t u, uint8_t padding, bool prefix) {
|
||||
char bits[32] = {0}; // construct the bit string in reverse order
|
||||
static size_t print_bits(char** str, size_t* size, uint64_t u, uint32_t padding, bool prefix) {
|
||||
char bits[64] = {0}; // construct the bit string in reverse order
|
||||
uint8_t digits = 0; // to count the number of digits
|
||||
size_t length = 0; // number of characters printed
|
||||
do {
|
||||
|
|
@ -196,14 +293,14 @@ static size_t print_bits(char** str, size_t* size, uint32_t u, uint8_t padding,
|
|||
return 0;
|
||||
}
|
||||
if (prefix) { // print prefix
|
||||
length += print_char(str, size, '0');
|
||||
length += print_char(str, size, 'b');
|
||||
print_printed(&length, print_char(str, size, '0'));
|
||||
print_printed(&length, print_char(str, size, 'b'));
|
||||
}
|
||||
for (uint8_t zeros = digits; zeros<padding; zeros++) { // print padding 0's
|
||||
length += print_char(str, size, '0'); // print 0
|
||||
for (uint32_t zeros = digits; zeros<padding; zeros++) { // print padding 0's
|
||||
print_printed(&length, print_char(str, size, '0')); // print 0
|
||||
}
|
||||
for (uint8_t digit = 0; digit < digits; digit++) { // go through all bits
|
||||
length += print_char(str, size, bits[digits-digit-1]); // print bit (in reverse order)
|
||||
print_printed(&length, print_char(str, size, bits[digits-digit-1])); // print bit (in reverse order)
|
||||
}
|
||||
return length; // return number of characters printed
|
||||
}
|
||||
|
|
@ -217,17 +314,19 @@ static size_t print_bits(char** str, size_t* size, uint32_t u, uint8_t padding,
|
|||
**/
|
||||
static size_t vsnprintf(char** str, size_t* size, const char *format, va_list va)
|
||||
{
|
||||
size_t length = 0; // number of characters printed
|
||||
uint8_t padding = 0; // number of padding 0's
|
||||
size_t length = 0; // total number of characters printed
|
||||
uint32_t padding = 0; // number of padding 0's
|
||||
uint32_t fractional = 0; // number or fractional digits for floating point numbers
|
||||
bool sign = false; // if sign needs to be printed
|
||||
while (*format) { // go through format string
|
||||
padding = 0; // reset padding
|
||||
sign = false; // reset sign
|
||||
if ('%'!=*format) { // check for format specifier prefix
|
||||
length += print_char(str, size, *format++); // print character (no interpretation needed)
|
||||
print_printed(&length, print_char(str, size, *format++)); // print character (no interpretation needed)
|
||||
} else {
|
||||
format++; // go to format specifier
|
||||
if (0==*format) { // end of string detected
|
||||
print_error |= PRINT_ERROR_MALFORMED; // set error
|
||||
goto end;
|
||||
}
|
||||
// check if sign need to be printed
|
||||
|
|
@ -235,54 +334,98 @@ static size_t vsnprintf(char** str, size_t* size, const char *format, va_list va
|
|||
sign = true; // remember sign is required
|
||||
format++; // go to padding number
|
||||
if (0==*format) { // end of string detected
|
||||
print_error |= PRINT_ERROR_MALFORMED; // set error
|
||||
goto end;
|
||||
}
|
||||
}
|
||||
// check padding
|
||||
if ('0'==*format) { // padding required
|
||||
format++; // go to padding number
|
||||
if (0==*format) { // end of string detected
|
||||
goto end;
|
||||
}
|
||||
if (*format>='0' && *format<='9') {
|
||||
padding = *format-'0';
|
||||
format++; // go to format specifier
|
||||
if (0==*format) { // end of string detected
|
||||
while (*format>='0' && *format<='9') {
|
||||
if (padding>UINT32_MAX/10) { // check for overflow
|
||||
print_error |= PRINT_ERROR_UNSUPPORTED; // set error
|
||||
goto end;
|
||||
}
|
||||
padding *= 10; // go to next magnitude
|
||||
if (padding>UINT32_MAX-(*format-'0')) { // check for overflow
|
||||
print_error |= PRINT_ERROR_UNSUPPORTED; // set error
|
||||
goto end;
|
||||
}
|
||||
padding += *format-'0'; // save digit
|
||||
format++; // go to next character
|
||||
}
|
||||
if (0==*format) { // end of string detected
|
||||
print_error |= PRINT_ERROR_MALFORMED; // set error
|
||||
goto end;
|
||||
}
|
||||
}
|
||||
// check fractional
|
||||
if ('.'==*format) { // fractional required
|
||||
format++; // go to fractional number
|
||||
while (*format>='0' && *format<='9') {
|
||||
if (fractional>UINT32_MAX/10) { // check for overflow
|
||||
print_error |= PRINT_ERROR_UNSUPPORTED; // set error
|
||||
goto end;
|
||||
}
|
||||
fractional *= 10; // go to next magnitude
|
||||
if (fractional>UINT32_MAX-(*format-'0')) { // check for overflow
|
||||
print_error |= PRINT_ERROR_UNSUPPORTED; // set error
|
||||
goto end;
|
||||
}
|
||||
fractional += *format-'0'; // save digit
|
||||
format++; // go to next character
|
||||
}
|
||||
if (0==*format) { // end of string detected
|
||||
print_error |= PRINT_ERROR_MALFORMED; // set error
|
||||
goto end;
|
||||
}
|
||||
} else {
|
||||
fractional = 2; // default fractional precision
|
||||
}
|
||||
// check format specifier
|
||||
switch (*format) {
|
||||
case 'u': // for uint8_t, uint16_t, uint32_t, unsigned int, unsigned long
|
||||
length += print_unsigned(str, size, va_arg(va,uint32_t), padding, sign);
|
||||
break;
|
||||
case 'U': // for uint64_t, unsigned long long
|
||||
length += print_unsigned(str, size, va_arg(va,uint64_t), padding, sign);
|
||||
break;
|
||||
case 'd': // for int8_t, int16_t, int32_t, int, long
|
||||
length += print_signed(str, size, va_arg(va,int32_t), padding, sign);
|
||||
break;
|
||||
case 'D': // for int64_t, long long
|
||||
length += print_signed(str, size, va_arg(va,int64_t), padding, sign);
|
||||
break;
|
||||
case 'c': // for char, unsigned char
|
||||
length += print_char(str, size, (char)(va_arg(va,int))); // needs casting because the returned value is promoted
|
||||
break;
|
||||
case 'x': // for downcase hexadecimal
|
||||
length += print_hex(str, size, va_arg(va,uint32_t), padding, sign, false);
|
||||
break;
|
||||
case 'X': // for upcase hexadecimal
|
||||
length += print_hex(str, size, va_arg(va,uint32_t), padding, sign, true);
|
||||
break;
|
||||
case 'b': // for bits
|
||||
length += print_bits(str, size, va_arg(va,uint32_t), padding, sign);
|
||||
print_printed(&length, print_char(str, size, (char)(va_arg(va,int)))); // needs casting because the returned value is promoted
|
||||
break;
|
||||
case 's': // for strings
|
||||
length += print_string(str, size, va_arg(va,char*));
|
||||
print_printed(&length, print_string(str, size, va_arg(va,char*)));
|
||||
break;
|
||||
case 'u': // for uint8_t, uint16_t, uint32_t, unsigned int, unsigned long
|
||||
print_printed(&length, print_unsigned(str, size, va_arg(va,uint32_t), padding, sign));
|
||||
break;
|
||||
case 'U': // for uint64_t, unsigned long long
|
||||
print_printed(&length, print_unsigned(str, size, va_arg(va,uint64_t), padding, sign));
|
||||
break;
|
||||
case 'd': // for int8_t, int16_t, int32_t, int, long
|
||||
print_printed(&length, print_signed(str, size, va_arg(va,int32_t), padding, sign));
|
||||
break;
|
||||
case 'D': // for int64_t, long long
|
||||
print_printed(&length, print_signed(str, size, va_arg(va,int64_t), padding, sign));
|
||||
break;
|
||||
case 'f':
|
||||
print_printed(&length, print_float(str, size, va_arg(va,double), padding, fractional, sign));
|
||||
break;
|
||||
case 'x': // for uint8_t, uint16_t, uint32_t downcase hexadecimal
|
||||
print_printed(&length, print_hex(str, size, va_arg(va,uint32_t), padding, sign, false));
|
||||
break;
|
||||
case 'X': // for uint64_t downcase hexadecimal
|
||||
print_printed(&length, print_hex(str, size, va_arg(va,uint64_t), padding, sign, false));
|
||||
break;
|
||||
case 'h': // for uint8_t, uint16_t, uint32_t upcase hexadecimal
|
||||
print_printed(&length, print_hex(str, size, va_arg(va,uint32_t), padding, sign, true));
|
||||
break;
|
||||
case 'H': // for uint64_t upcase hexadecimal
|
||||
print_printed(&length, print_hex(str, size, va_arg(va,uint64_t), padding, sign, true));
|
||||
break;
|
||||
case 'b': // for uint8_t, uint16_t, uint32_t bits
|
||||
print_printed(&length, print_bits(str, size, va_arg(va,uint32_t), padding, sign));
|
||||
break;
|
||||
case 'B': // for uint64_t bits
|
||||
print_printed(&length, print_bits(str, size, va_arg(va,uint64_t), padding, sign));
|
||||
break;
|
||||
default:
|
||||
length += print_char(str, size, *format); // print character (unknown format specifier)
|
||||
print_error |= PRINT_ERROR_UNSUPPORTED; // set error
|
||||
print_printed(&length, print_char(str, size, *format)); // print character (unknown format specifier)
|
||||
}
|
||||
format++; // go to next character
|
||||
}
|
||||
|
|
@ -290,26 +433,31 @@ static size_t vsnprintf(char** str, size_t* size, const char *format, va_list va
|
|||
end:
|
||||
if (NULL!=str && NULL!=*str && NULL!=size) { // when working on a string
|
||||
**str='\0'; // enforce null termination
|
||||
if (*size>0) {
|
||||
*size -= 1; // remember we used memory
|
||||
} else {
|
||||
print_error |= PRINT_ERROR_TRUNCATED; // indicate we truncated the string
|
||||
}
|
||||
}
|
||||
return length; // return number of characters it should have written
|
||||
return length; // return number of characters it should have written (not including the '\0' null termination character)
|
||||
}
|
||||
|
||||
size_t printf(const char *format, ...)
|
||||
{
|
||||
size_t length = 0;
|
||||
print_error = PRINT_ERROR_NONE; // clear error
|
||||
va_list arglist;
|
||||
va_start(arglist, format);
|
||||
length = vsnprintf(NULL, NULL, format, arglist);
|
||||
size_t length = vsnprintf(NULL, NULL, format, arglist);
|
||||
va_end(arglist);
|
||||
return length;
|
||||
}
|
||||
|
||||
size_t snprintf(char* str, size_t size, const char* format, ...)
|
||||
{
|
||||
size_t length = 0;
|
||||
print_error = PRINT_ERROR_NONE; // clear error
|
||||
va_list arglist;
|
||||
va_start(arglist, format);
|
||||
length = vsnprintf(&str, &size, format, arglist);
|
||||
size_t length = vsnprintf(&str, &size, format, arglist);
|
||||
va_end(arglist);
|
||||
return length;
|
||||
}
|
||||
|
|
|
|||
25
lib/print.h
25
lib/print.h
|
|
@ -13,14 +13,35 @@
|
|||
*
|
||||
*/
|
||||
/** printing utilities to replace the large printf from the standard library (API)
|
||||
* @note use % as format specifier prefix, followed by + to enforce sign of prefix, 0 and 0-9 for padding, and format specifier
|
||||
* format specifier supported are: c for far, s for string, u for uint32_t, d for int32_t, U for uint64_t, D for int64_t, x for lower case hex up to uint32_t, X for upper case hex up to uint32_t, b for bits up to uint32_t
|
||||
* @note use % as format specifier prefix, followed by + to enforce sign or 0x prefix, 0 followed by n for padding or forcing integer part of floating point number, . followed by n for number for fractional precision of floating point numbers, and format specifier
|
||||
* format specifier supported are:
|
||||
* - c for character
|
||||
* - s for string
|
||||
* - u for up to uint32_t unsigned integer
|
||||
* - U for uint64_t unsigned integer
|
||||
* - d for up to int32_t signed integer
|
||||
* - D for int64_t signed integer
|
||||
* - f for float and double floating point numbers
|
||||
* - x for up to uint32_t lower case hexadecimal
|
||||
* - X for uint64_t lower case hexadecimal
|
||||
* - h for up to uint32_t upper case hexadecimal
|
||||
* - H for uint64_t upper case hexadecimal
|
||||
* - b for up to uint32_t bits
|
||||
* - B for uint64_t bits
|
||||
* @file print.h
|
||||
* @author King Kévin <kingkevin@cuvoodoo.info>
|
||||
* @date 2017
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
extern uint8_t print_error; /**< flags to indicate which error(s) occurred within printf or snprintf */
|
||||
|
||||
#define PRINT_ERROR_NONE 0 /**< no error occurred */
|
||||
#define PRINT_ERROR_MALFORMED 0x1 /**< input format string is malformed */
|
||||
#define PRINT_ERROR_UNSUPPORTED 0x2 /**< input format string is not supported */
|
||||
#define PRINT_ERROR_MAX 0x04 /**< maximum returned printed length reached but more has been printed */
|
||||
#define PRINT_ERROR_TRUNCATED 0x08 /**< output string size is not large enough to include complete printed string */
|
||||
|
||||
/** print a single character on user output
|
||||
* @warning this must be implemented by the user (using the desired output interface)
|
||||
* @param[in] c character to be printed
|
||||
|
|
|
|||
|
|
@ -0,0 +1,148 @@
|
|||
/* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
/** library for UART communication (code)
|
||||
* @file uart.c
|
||||
* @author King Kévin <kingkevin@cuvoodoo.info>
|
||||
* @date 2016
|
||||
* @note peripherals used: USART @ref uart
|
||||
*/
|
||||
|
||||
/* standard libraries */
|
||||
#include <stdint.h> // standard integer types
|
||||
#include <stdio.h> // standard I/O facilities
|
||||
#include <stdlib.h> // general utilities
|
||||
|
||||
/* STM32 (including CM3) libraries */
|
||||
#include <libopencm3/stm32/rcc.h> // real-time control clock library
|
||||
#include <libopencm3/stm32/gpio.h> // general purpose input output library
|
||||
#include <libopencm3/stm32/usart.h> // universal synchronous asynchronous receiver transmitter library
|
||||
#include <libopencm3/cm3/nvic.h> // interrupt handler
|
||||
#include <libopencmsis/core_cm3.h> // Cortex M3 utilities
|
||||
|
||||
#include "uart.h" // UART header and definitions
|
||||
#include "global.h" // common methods
|
||||
|
||||
/** @defgroup uart UART peripheral used for UART communication
|
||||
* @{
|
||||
*/
|
||||
#define UART_ID 1 /**< UART peripheral */
|
||||
/** @} */
|
||||
|
||||
#define UART_BAUDRATE 921600 /**< serial baudrate, in bits per second (with 8N1 8 bits, no parity bit, 1 stop bit settings) */
|
||||
|
||||
/* input and output ring buffer, indexes, and available memory */
|
||||
static uint8_t rx_buffer[UART_BUFFER] = {0}; /**< ring buffer for received data */
|
||||
static volatile uint8_t rx_i = 0; /**< current position of read received data */
|
||||
static volatile uint8_t rx_used = 0; /**< how much data has been received and not red */
|
||||
static uint8_t tx_buffer[UART_BUFFER] = {0}; /**< ring buffer for data to transmit */
|
||||
static volatile uint8_t tx_i = 0; /**< current position of transmitted data */
|
||||
static volatile uint8_t tx_used = 0; /**< how much data needs to be transmitted */
|
||||
|
||||
volatile bool uart_received = false;
|
||||
|
||||
void uart_setup(void)
|
||||
{
|
||||
/* enable UART I/O peripheral */
|
||||
rcc_periph_clock_enable(USART_PORT_RCC(UART_ID)); // enable clock for UART port peripheral
|
||||
rcc_periph_clock_enable(USART_RCC(UART_ID)); // enable clock for UART peripheral
|
||||
rcc_periph_clock_enable(RCC_AFIO); // enable pin alternate function (UART)
|
||||
gpio_set_mode(USART_PORT(UART_ID), GPIO_MODE_OUTPUT_2_MHZ, GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, USART_PIN_TX(UART_ID)); // setup GPIO pin UART transmit
|
||||
gpio_set_mode(USART_PORT(UART_ID), GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, USART_PIN_RX(UART_ID)); // setup GPIO pin UART receive
|
||||
gpio_set(USART_PORT(UART_ID), USART_PIN_RX(UART_ID)); // pull up to avoid noise when not connected
|
||||
|
||||
/* setup UART parameters */
|
||||
usart_set_baudrate(USART(UART_ID), UART_BAUDRATE);
|
||||
usart_set_databits(USART(UART_ID), 8);
|
||||
usart_set_stopbits(USART(UART_ID), USART_STOPBITS_1);
|
||||
usart_set_mode(USART(UART_ID), USART_MODE_TX_RX);
|
||||
usart_set_parity(USART(UART_ID), USART_PARITY_NONE);
|
||||
usart_set_flow_control(USART(UART_ID), USART_FLOWCONTROL_NONE);
|
||||
|
||||
nvic_enable_irq(USART_IRQ(UART_ID)); // enable the UART interrupt
|
||||
usart_enable_rx_interrupt(USART(UART_ID)); // enable receive interrupt
|
||||
usart_enable(USART(UART_ID)); // enable UART
|
||||
|
||||
/* reset buffer states */
|
||||
tx_i = 0;
|
||||
tx_used = 0;
|
||||
rx_i = 0;
|
||||
rx_used = 0;
|
||||
uart_received = false;
|
||||
}
|
||||
|
||||
void uart_putchar_blocking(char c)
|
||||
{
|
||||
uart_flush(); // empty buffer first
|
||||
usart_send_blocking(USART(UART_ID), c); // send character
|
||||
}
|
||||
|
||||
void uart_flush(void)
|
||||
{
|
||||
while (tx_used) { // idle until buffer is empty
|
||||
__WFI(); // sleep until interrupt
|
||||
}
|
||||
usart_wait_send_ready(USART(UART_ID)); // wait until transmit register is empty (transmission might not be complete)
|
||||
}
|
||||
|
||||
char uart_getchar(void)
|
||||
{
|
||||
while (!rx_used) { // idle until data is available
|
||||
__WFI(); // sleep until interrupt
|
||||
}
|
||||
char to_return = rx_buffer[rx_i]; // get the next available character
|
||||
usart_disable_rx_interrupt(USART(UART_ID)); // disable receive interrupt to prevent index corruption
|
||||
rx_i = (rx_i+1)%LENGTH(rx_buffer); // update used buffer
|
||||
rx_used--; // update used buffer
|
||||
uart_received = (rx_used!=0); // update available data
|
||||
usart_enable_rx_interrupt(USART(UART_ID)); // enable receive interrupt
|
||||
return to_return;
|
||||
}
|
||||
|
||||
void uart_putchar_nonblocking(char c)
|
||||
{
|
||||
while (tx_used>=LENGTH(tx_buffer)) { // idle until buffer has some space
|
||||
usart_enable_tx_interrupt(USART(UART_ID)); // enable transmit interrupt
|
||||
__WFI(); // sleep until something happened
|
||||
}
|
||||
usart_disable_tx_interrupt(USART(UART_ID)); // disable transmit interrupt to prevent index corruption
|
||||
tx_buffer[(tx_i+tx_used)%LENGTH(tx_buffer)] = c; // put character in buffer
|
||||
tx_used++; // update used buffer
|
||||
usart_enable_tx_interrupt(USART(UART_ID)); // enable transmit interrupt
|
||||
}
|
||||
|
||||
/** UART interrupt service routine called when data has been transmitted or received */
|
||||
void USART_ISR(UART_ID)(void)
|
||||
{
|
||||
if (usart_get_flag(USART(UART_ID), USART_SR_TXE)) { // data has been transmitted
|
||||
if (!tx_used) { // no data in the buffer to transmit
|
||||
usart_disable_tx_interrupt(USART(UART_ID)); // disable transmit interrupt
|
||||
} else {
|
||||
usart_send(USART(UART_ID),tx_buffer[tx_i]); // put data in transmit register
|
||||
tx_i = (tx_i+1)%LENGTH(rx_buffer); // update location on buffer
|
||||
tx_used--; // update used size
|
||||
}
|
||||
}
|
||||
while (usart_get_flag(USART(UART_ID), USART_SR_RXNE)) { // data has been received (repeat while receiving)
|
||||
char c = usart_recv(USART(UART_ID)); // save character and free UART buffer
|
||||
// only save data if there is space in the buffer
|
||||
if (rx_used>=LENGTH(rx_buffer)) { // if buffer is full
|
||||
rx_i = (rx_i+1)%LENGTH(rx_buffer); // drop oldest data
|
||||
rx_used--; // update used buffer information
|
||||
}
|
||||
rx_buffer[(rx_i+rx_used)%LENGTH(rx_buffer)] = c; // put character in buffer
|
||||
rx_used++; // update used buffer
|
||||
uart_received = true; // update available data
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,47 @@
|
|||
/* This program is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*
|
||||
*/
|
||||
/** library for UART communication (API)
|
||||
* @file uart.h
|
||||
* @author King Kévin <kingkevin@cuvoodoo.info>
|
||||
* @date 2016
|
||||
* @note peripherals used: USART @ref uart
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
/** transmit and receive buffer sizes */
|
||||
#define UART_BUFFER 128
|
||||
/** how many bytes available in the received buffer since last read */
|
||||
extern volatile bool uart_received;
|
||||
|
||||
/** setup USART peripheral */
|
||||
void uart_setup(void);
|
||||
/** send character over USART (blocking)
|
||||
* @param[in] c character to send
|
||||
* @note blocks until character transmission started */
|
||||
void uart_putchar_blocking(char c);
|
||||
/** ensure all data has been transmitted (blocking)
|
||||
* @note block until all data has been transmitted
|
||||
*/
|
||||
void uart_flush(void);
|
||||
/** get character received over USART (blocking)
|
||||
* @return character received over USART
|
||||
* @note blocks until character is received over USART when received buffer is empty
|
||||
*/
|
||||
char uart_getchar(void);
|
||||
/** send character over USART (non-blocking)
|
||||
* @param[in] c character to send
|
||||
* @note blocks if transmit buffer is full, else puts in buffer and returns
|
||||
*/
|
||||
void uart_putchar_nonblocking(char c);
|
||||
11
lib/usart.c
11
lib/usart.c
|
|
@ -40,7 +40,7 @@
|
|||
#define USART_ID 1 /**< USART peripheral */
|
||||
/** @} */
|
||||
|
||||
#define USART_BAUDRATE 1500000 /**< serial baudrate, in bits per second (with 8N1 8 bits, no parity bit, 1 stop bit settings) */
|
||||
#define USART_BAUDRATE 921600 /**< serial baudrate, in bits per second (with 8N1 8 bits, no parity bit, 1 stop bit settings) */
|
||||
|
||||
/* input and output ring buffer, indexes, and available memory */
|
||||
static uint8_t rx_buffer[USART_BUFFER] = {0}; /**< ring buffer for received data */
|
||||
|
|
@ -134,14 +134,15 @@ void USART_ISR(USART_ID)(void)
|
|||
tx_used--; // update used size
|
||||
}
|
||||
}
|
||||
if (usart_get_flag(USART(USART_ID), USART_SR_RXNE)) { // data has been received
|
||||
while (usart_get_flag(USART(USART_ID), USART_SR_RXNE)) { // data has been received (repeat while receiving)
|
||||
char c = usart_recv(USART(USART_ID)); // save character and free USART buffer
|
||||
// only save data if there is space in the buffer
|
||||
while (rx_used>=LENGTH(rx_buffer)) { // if buffer is full
|
||||
if (rx_used>=LENGTH(rx_buffer)) { // if buffer is full
|
||||
rx_i = (rx_i+1)%LENGTH(rx_buffer); // drop oldest data
|
||||
rx_used--; // update used buffer information
|
||||
}
|
||||
rx_buffer[(rx_i+rx_used)%LENGTH(rx_buffer)] = usart_recv(USART(USART_ID)); // put character in buffer
|
||||
rx_buffer[(rx_i+rx_used)%LENGTH(rx_buffer)] = c; // put character in buffer
|
||||
rx_used++; // update used buffer
|
||||
usart_received = (rx_used!=0); // update available data
|
||||
usart_received = true; // update available data
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue