cherry-pick from busvoodoo branch, part 1

This commit is contained in:
King Kévin 2018-02-18 15:18:42 +01:00
parent a00e332e0f
commit 0c925ba957
9 changed files with 493 additions and 119 deletions

View File

@ -39,7 +39,7 @@
/* own libraries */
#include "global.h" // board definitions
#include "print.h" // printing utilities
#include "usart.h" // USART utilities
#include "uart.h" // USART utilities
#include "usb_cdcacm.h" // USB CDC ACM utilities
#define WATCHDOG_PERIOD 10000 /**< watchdog period in ms */
@ -61,9 +61,9 @@ size_t putc(char c)
length = 0; // don't print string termination character
} else if ('\r' == c || '\n' == c) { // send CR+LF newline for most carriage return and line feed combination
if (0==newline || c==newline) { // send newline only if not already send (and only once on \r\n or \n\r)
usart_putchar_nonblocking('\r'); // send CR over USART
uart_putchar_nonblocking('\r'); // send CR over USART
usb_cdcacm_putchar('\r'); // send CR over USB
usart_putchar_nonblocking('\n'); // send LF over USART
uart_putchar_nonblocking('\n'); // send LF over USART
usb_cdcacm_putchar('\n'); // send LF over USB
length += 2; // remember we printed 2 characters
newline = c; // remember on which character we sent the newline
@ -71,7 +71,7 @@ size_t putc(char c)
length = 0; // the \r or \n of \n\r or \r\n has already been printed
}
} else {
usart_putchar_nonblocking(c); // send byte over USART
uart_putchar_nonblocking(c); // send byte over USART
usb_cdcacm_putchar(c); // send byte over USB
newline = 0; // clear new line
length++; // remember we printed 1 character
@ -189,7 +189,7 @@ void main(void)
#endif
board_setup(); // setup board
usart_setup(); // setup USART (for printing)
uart_setup(); // setup USART (for printing)
usb_cdcacm_setup(); // setup USB CDC ACM (for printing)
printf("welcome to the CuVoodoo STM32F1 example application\n"); // print welcome message
@ -224,10 +224,10 @@ void main(void)
bool char_flag = false; // a new character has been received
while (true) { // infinite loop
iwdg_reset(); // kick the dog
while (usart_received) { // data received over UART
while (uart_received) { // data received over UART
action = true; // action has been performed
led_toggle(); // toggle LED
c = usart_getchar(); // store receive character
c = uart_getchar(); // store receive character
char_flag = true; // notify character has been received
}
while (usb_cdcacm_received) { // data received over USB
@ -239,7 +239,8 @@ void main(void)
while (char_flag) { // user data received
char_flag = false; // reset flag
action = true; // action has been performed
printf("%c",c); // echo receive character
//printf("%c",c); // echo receive character
printf("%02x\n",c);
if (c=='\r' || c=='\n') { // end of command received
if (command_i>0) { // there is a command to process
command[command_i] = 0; // end string

View File

@ -51,12 +51,13 @@ void main(void)
rcc_periph_clock_enable(RCC_GPIO(DFU_FORCE_PORT)); // enable clock for GPIO domain
gpio_set_mode(GPIO(DFU_FORCE_PORT), GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, GPIO(DFU_FORCE_PIN)); // set GPIO to input
// pull on the opposite of the expected value
if (DFU_FORCE_VALUE) {
gpio_clear(GPIO(DFU_FORCE_PORT), GPIO(DFU_FORCE_PIN)); // pull down to be able to detect when tied to high
} else {
gpio_set(GPIO(DFU_FORCE_PORT), GPIO(DFU_FORCE_PIN)); // pull up to be able to detect when tied to low
}
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
#if (DFU_FORCE_VALUE==1)
gpio_clear(GPIO(DFU_FORCE_PORT), GPIO(DFU_FORCE_PIN)); // pull down to be able to detect when tied to high
if (gpio_get(GPIO(DFU_FORCE_PORT), GPIO(DFU_FORCE_PIN))) { // check if output is set to the value to force DFU mode
#else
gpio_set(GPIO(DFU_FORCE_PORT), GPIO(DFU_FORCE_PIN)); // pull up to be able to detect when tied to low
if (0==gpio_get(GPIO(DFU_FORCE_PORT), GPIO(DFU_FORCE_PIN))) { // check if output is set to the value to force DFU mode
#endif
dfu_force = true; // DFU mode forced
}
}

View File

@ -61,21 +61,23 @@ char* b2s(uint64_t binary, uint8_t rjust)
/** switch on board LED */
void led_on(void)
{
#if defined(SYSTEM_BOARD) || defined(BLUE_PILL) || defined(CORE_BOARD)
gpio_clear(GPIO(LED_PORT), GPIO(LED_PIN));
#elif defined(MAPLE_MINI)
#if defined(LED_ON) && LED_ON
gpio_set(GPIO(LED_PORT), GPIO(LED_PIN));
#else
gpio_clear(GPIO(LED_PORT), GPIO(LED_PIN));
#endif
}
/** switch off board LED */
void led_off(void)
{
#if defined(SYSTEM_BOARD) || defined(BLUE_PILL) || defined(CORE_BOARD)
gpio_set(GPIO(LED_PORT), GPIO(LED_PIN));
#elif defined(MAPLE_MINI)
#if defined(LED_ON) && LED_ON
gpio_clear(GPIO(LED_PORT), GPIO(LED_PIN));
#else
gpio_set(GPIO(LED_PORT), GPIO(LED_PIN));
#endif
}
/** toggle board LED */
void led_toggle(void)
{
@ -133,10 +135,10 @@ void board_setup(void)
gpio_set_mode(GPIO(BUTTON_PORT), GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, GPIO(BUTTON_PIN)); // set button pin to input
rcc_periph_clock_enable(RCC_AFIO); // enable alternate function clock for external interrupt
exti_select_source(EXTI(BUTTON_PIN), GPIO(BUTTON_PORT)); // mask external interrupt of this pin only for this port
#if defined(MAPLE_MINI)
#if defined(BUTTON_PRESSED) && BUTTON_PRESSED
gpio_clear(GPIO(BUTTON_PORT), GPIO(BUTTON_PIN)); // pull down to be able to detect button push (go high)
exti_set_trigger(EXTI(BUTTON_PIN), EXTI_TRIGGER_RISING); // trigger when button is pressed
#elif defined(CORE_BOARD)
#else
gpio_set(GPIO(BUTTON_PORT), GPIO(BUTTON_PIN)); // pull up to be able to detect button push (go low)
exti_set_trigger(EXTI(BUTTON_PIN), EXTI_TRIGGER_FALLING); // trigger when button is pressed
#endif

View File

@ -309,14 +309,17 @@
/* on system and core board LED is on pin 11/PA1 */
#define LED_PORT A /**< GPIO port (port A) */
#define LED_PIN 1 /**< GPIO pin (pin PA1) */
#define LED_ON 0 /**< LED is on when pin is low */
#elif defined(BLUE_PILL)
/* on minimum system LED is on pin 2/PC13 */
#define LED_PORT C /**< GPIO port (port C on blue pill) */
#define LED_PIN 13 /**< GPIO pin (pin PC13 on system board) */
#define LED_ON 0 /**< LED is on when pin is low */
#elif defined (MAPLE_MINI)
/* on maple mini LED is on pin 19/PB1 */
#define LED_PORT B /**< GPIO port (port B on maple mini) */
#define LED_PIN 1 /**< GPIO pin (pin PB1 on maple mini) */
#define LED_ON 1 /**< LED is on when pin is high */
#endif
/** @} */
@ -327,10 +330,12 @@
/* on maple mini user button is on 32/PB8 */
#define BUTTON_PORT B /**< GPIO port (port B on maple mini) */
#define BUTTON_PIN 8 /**< GPIO pin (pin PB8 on maple mini) */
#define BUTTON_PRESSED 1 /**< pin is high when button is pressed */
#elif defined(CORE_BOARD)
/* on core board user button is on PA8 */
#define BUTTON_PORT A /**< GPIO port (port A) */
#define BUTTON_PIN 8 /**< GPIO pin (pin PA8) */
#define BUTTON_PRESSED 0 /**< pin is low when button is pressed */
#endif
/** @} */
@ -341,17 +346,17 @@
/* use button */
#define DFU_FORCE_PORT BUTTON_PORT /**< button port */
#define DFU_FORCE_PIN BUTTON_PIN /**< button pin */
#define DFU_FORCE_VALUE true /**< button is pulled low unpressed, high pressed to force DFU mode */
#define DFU_FORCE_VALUE 1 /**< button is pulled low unpressed, high pressed to force DFU mode */
#elif defined(CORE_BOARD)
/* use button */
#define DFU_FORCE_PORT BUTTON_PORT /**< button port */
#define DFU_FORCE_PIN BUTTON_PIN /**< button pin */
#define DFU_FORCE_VALUE false /**< button floating unpressed, connected to ground pressed to force DFU mode */
#define DFU_FORCE_VALUE 0 /**< button floating unpressed, connected to ground pressed to force DFU mode */
#else
/* use the JNTRST pin as JPIO (this will disable the SWJ function, but we are not using it) */
/* use the JNTRST pin as GPIO (this will disable the SWJ function, but we are not using it) */
#define DFU_FORCE_PORT B /**< JNTRST port (needs to be remapped to become PB4) */
#define DFU_FORCE_PIN 4 /**< JNTRST pin (needs to be remapped to become PB4) */
#define DFU_FORCE_VALUE false /**< must be high to force DFU mode, since it's low after reset */
#define DFU_FORCE_VALUE 1 /**< must be high to force DFU mode, since it's low after reset */
#endif
/** @} */

View File

@ -22,15 +22,29 @@
#include <stdlib.h> // standard definitions
#include <stdbool.h> // boolean types
#include <stdarg.h> // variadic utilities
#include <math.h> // mathematics utilities to handle floating points
/* own libraries */
#include "print.h" // printing utilities
/** @defgroup print_crlf output \r\n (Carriage Return + Line Feed) for each \r, \n, \r\n, or \n\r for better terminal compatibility
* @{
**/
#define CRLF true /**< if CR+LN new line should be enforced */
/** @} */
uint8_t print_error;
/** add printed length to total printed length, and sets error if maximum size is exceeded
* @param[in,out] length total printed length
* @param[in] printed printed length
*/
static void print_printed(size_t* length, size_t printed)
{
if (NULL==length) { // check if total is provided
return;
}
if (*length>SIZE_MAX-printed) { // prevent integer overflow
*length = SIZE_MAX; // set to maximum
print_error |= PRINT_ERROR_MAX; // set error
} else {
*length += printed; // save printed length
}
}
/** print character
* @param[out] str string to print character on (use NULL to print on user output)
@ -45,13 +59,12 @@ static size_t print_char(char** str, size_t* size, char c)
length = 0; // remember we didn't print anything
} else if (NULL==str || NULL==*str || NULL==size) { // character should not be saved on string
length = putc(c); // print on user define output
} else if (*size>1) { // // there is enough space in the string to store the character
} else if (*size>1) { // there is enough space in the string to store the character
**str = c; // add provided character to string
*str += 1; // go to next character on string
*size -= 1; // remember we used one character on string
} else if (1==*size) { // string is reaching it's end
**str = '\0'; // add termination character to string (don't go to next character)
*size -= 1; // remember we used one character on string
} else { // string is reached its end
print_error |= PRINT_ERROR_TRUNCATED; // indicate we did not save the character
}
return length;
}
@ -66,20 +79,20 @@ static size_t print_string(char** str, size_t* size, const char* s)
{
size_t length = 0; // number of characters printed
while (*s) { // stop at end of string
length += print_char(str, size, *(s++)); // print character
print_printed(&length, print_char(str, size, *(s++))); // print character
}
return length;
}
/** print unsigned number
* @param[out] str string to print unsigned number on (use NULL to print on user output)
/** print unsigned integer
* @param[out] str string to print unsigned integer on (use NULL to print on user output)
* @param[in,out] size size of string
* @param[in] u unsigned number to be printed
* @param[in] u unsigned integer to be printed
* @param[in] padding number of 0's to pad
* @param[in] sign if sign should be printed
* @return number of characters printed
**/
static size_t print_unsigned(char** str, size_t* size, uint64_t u, uint8_t padding, bool sign) {
static size_t print_unsigned(char** str, size_t* size, uint64_t u, uint32_t padding, bool sign) {
char number[20] = {0}; // construct the number in reverse order (20 chars are required to store UINT64_MAX)
uint8_t digits = 0; // to count the number of digits
size_t length = 0; // number of characters printed
@ -87,36 +100,112 @@ static size_t print_unsigned(char** str, size_t* size, uint64_t u, uint8_t paddi
number[digits++] = '0'+(u%10); // store digit
u /= 10; // go to next digit
} while (u>0);
if (digits>sizeof(number)) { // prevent buffer underflow
return 0;
}
if (sign) { // print sign
length += print_char(str, size, '+'); // we only have positive numbers
print_printed(&length, print_char(str, size, '+')); // we only have positive numbers
}
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_char(str, size, number[digits-digit-1]); // print digit (in reverse order)
print_printed(&length, print_char(str, size, number[digits-digit-1])); // print digit (in reverse order)
}
return length; // return number of characters printed
}
/** print signed number
* @param[out] str string to print signed number on (use NULL to print on user output)
/** print signed integer
* @param[out] str string to print signed integer on (use NULL to print on user output)
* @param[in,out] size size of string
* @param[in] d signed number to be printed
* @param[in] d signed integer to be printed
* @param[in] padding number of 0's to pad
* @param[in] sign if sign should be printed
* @return number of characters printed
**/
static size_t print_signed(char** str, size_t* size, int64_t d, uint8_t padding, bool sign) {
static size_t print_signed(char** str, size_t* size, int64_t d, uint32_t padding, bool sign) {
size_t length = 0; // number of characters printed
if (d<0) {
length += print_char(str, size, '-'); // print sign
length += print_unsigned(str, size, (uint64_t)-d, padding, false); // print number (casting because there is one more negative value then positive value)
print_printed(&length, print_char(str, size, '-')); // print sign
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)
} else {
length += print_unsigned(str, size, d, padding, sign); // print number
print_printed(&length, print_unsigned(str, size, d, padding, sign)); // print number
}
return length; // return number of characters printed
}
/** print floating number
* @param[out] str string to print floating number on (use NULL to print on user output)
* @param[in,out] size size of string
* @param[in] f floating number to be printed
* @param[in] padding number of 0's to pad
* @param[in] sign if sign should be printed
* @return number of characters printed
**/
static size_t print_float(char** str, size_t* size, double f, uint32_t padding, uint32_t fractional, bool sign) {
size_t length = 0; // number of characters printed
if (isnan(f)) { // not a number
print_printed(&length, print_string(str, size, "NaN")); // print NaN
} else if (isinf(f)) { // infinite
if (-1==isinf(f)) {
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_string(str, size, "inf")); // print inf
} else if (isnormal(f)) { // it should be not 0
if (f<0) {
print_printed(&length, print_char(str, size, '-')); // print sign
} else if (sign) {
print_printed(&length, print_char(str, size, '+')); // print sign
}
double f_abs = fabs(f); // only work using the absolute value now that the sign is printed
// get the exponent
int8_t exponent = 0; // exponent min/max for double is 37
if (f_abs<1.0) {
while (f_abs<pow(10.0, exponent-1)) { // find negative exponent, base 10
exponent -= 1; // decrement in deci
}
if (padding) { // respect padding wish
exponent -= padding;
}
} else {
while (f_abs>pow(10.0, exponent)) { // find the positive exponent, base 10
exponent += 3; // increment in kilo
}
if (padding) { // respect padding wish
exponent -= padding;
} else {
exponent -= 3;
}
}
// print integer part
f_abs /= pow(10.0, exponent); // convert to scientific format
print_printed(&length, print_unsigned(str, size, f_abs, padding, false)); // print integer part as scientific number
// print fractional part
if (fractional) {
print_printed(&length, print_char(str, size, '.')); // print decimal point
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;
}

View File

@ -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

148
lib/uart.c Normal file
View File

@ -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
}
}

47
lib/uart.h Normal file
View File

@ -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);

View File

@ -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
}
}