cherry-pick from busvoodoo branch, part 3

bootloader.c

@@ -37,7 +37,7 @@ void main(void)
 	// check of DFU mode is forced
 	bool dfu_force = false; // to remember if DFU mode is forced
 	// check if a soft boot has been used
-	if (0==(RCC_CSR&0xfc000000)) { // no reset flag present -> this was a soft reset using csr_reset_core(), very probably to start the DFU mode
+	if (0==(RCC_CSR&0xfc000000)) { // no reset flag present -> this was a soft reset using scb_reset_core() after clearing the flags using RCC_CSR_RMVF, very probably to start the DFU mode
 		dfu_force = true;
 	} else { // check if the force DFU mode input is set
 		// disable SWJ pin to use as GPIO

global.c

@@ -35,6 +35,11 @@
 
 volatile bool button_flag = false;
 volatile uint32_t sleep_duration = 0; /**< sleep duration count down (in SysTick interrupts) */
+volatile bool user_input_available = false;
+
+static volatile uint8_t user_input_buffer[64] = {0}; /**< ring buffer for received data */
+static volatile uint8_t user_input_i = 0; /**< current position of read received data */
+static volatile uint8_t user_input_used = 0; /**< how much data has been received and not red */
 
 char* b2s(uint64_t binary, uint8_t rjust)
 {
@@ -122,6 +127,30 @@ void sys_tick_handler(void)
 	}
 }
 
+char user_input_get(void)
+{
+	while (!user_input_available) { // wait for user input
+		__WFI(); // go to sleep
+	}
+	volatile char to_return = user_input_buffer[user_input_i]; // get the next available character
+	user_input_i = (user_input_i+1)%LENGTH(user_input_buffer); // update used buffer
+	user_input_used--; // update used buffer
+	user_input_available = (user_input_used!=0); // update available data
+	return to_return;
+}
+
+void user_input_store(char c)
+{
+	// only save data if there is space in the buffer
+	if (user_input_used>=LENGTH(user_input_buffer)) { // if buffer is full
+		user_input_i = (user_input_i+1)%LENGTH(user_input_buffer); // drop oldest data
+		user_input_used--; // update used buffer information
+	}
+	user_input_buffer[(user_input_i+user_input_used)%LENGTH(user_input_buffer)] = c; // put character in buffer
+	user_input_used++; // update used buffer
+	user_input_available = true; // update available data
+}
+
 void board_setup(void)
 {
 	// setup LED
@@ -145,6 +174,11 @@ void board_setup(void)
 	exti_enable_request(EXTI(BUTTON_PIN)); // enable external interrupt
 	nvic_enable_irq(NVIC_EXTI_IRQ(BUTTON_PIN)); // enable interrupt
 #endif
+
+	// reset user input buffer
+	user_input_available = false;
+	user_input_i = 0;
+	user_input_used = 0;
 }
 
 #if defined(BUTTON_PIN)

global.h

@@ -368,8 +368,10 @@ extern uint32_t __application_beginning;
  *  @note this symbol will be provided by the linker script
  */
 extern uint32_t __application_end;
-
-extern volatile bool button_flag; /**< flag set when board user button has been pressed/released */
+/** flag set when board user button has been pressed/released */
+extern volatile bool button_flag;
+/** flag set when user input is available */
+extern volatile bool user_input_available;
 
 /** get binary representation of a number
  *  @param[in] binary number to represent in binary
@@ -377,13 +379,10 @@ extern volatile bool button_flag; /**< flag set when board user button has been
  *  @return string with binary representation of the number
  */
 char* b2s(uint64_t binary, uint8_t rjust);
-
 /** switch on board LED */
 void led_on(void);
-
 /** switch off board LED */
 void led_off(void);
-
 /** toggle board LED */
 void led_toggle(void);
 
@@ -391,12 +390,21 @@ void led_toggle(void);
  *  @param[in] duration sleep duration in us
  */
 void sleep_us(uint32_t duration);
-
 /** go to sleep for some milliseconds
  *  @param[in] duration sleep duration in ms
  */
 void sleep_ms(uint32_t duration);
-
+/** get user input
+ *  @note verify availability using user_input_available
+ *  @warning blocks and sleeps until user input is available
+ *  @return user input character
+ */
+char user_input_get(void);
+/** store user input
+ *  @param[in] c user input character to store
+ *  @note old data will be overwritten when buffer is full
+ */
+void user_input_store(char c);
 /** setup board peripherals */
 void board_setup(void);
 

lib/menu.c

@@ -0,0 +1,118 @@
+/* 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/>.
+ *
+ */
+/** definitions to build menus (code)
+ *  @file menu.h
+ *  @author King Kévin <kingkevin@cuvoodoo.info>
+ *  @date 2018
+ */
+/* standard libraries */
+#include <stdint.h> // standard integer types
+#include <stdbool.h> // boolean types
+#include <stdlib.h> // standard utilities
+#include <string.h> // string utilities
+
+/* own libraries */
+#include "menu.h" // definitions for the menu
+#include "print.h" // print utilities
+
+bool menu_handle_command(const char* line, const struct menu_command_t* command_list, size_t command_list_length)
+{
+	// ensure line is not empty
+	if (!line || 0==strlen(line)) {
+		return false;
+	}
+	// ensure command are available
+	if (NULL==command_list || 0==command_list_length) {
+		return false;
+	}
+
+	// get command
+	char* dup = malloc(strlen(line)+1); // buffer to copy the line
+	strncpy(dup, line, strlen(line)+1); // make a copy of the line since strtok can modify it
+	const char* delimiter = " "; // words are separated by spaces
+	char* word = strtok(dup, delimiter); // get first word
+	if (!word) {
+		return false;
+	}
+
+	// find corresponding command
+	bool command_found = false; // remember if we found the corresponding command
+	for (size_t i=0; i<command_list_length; i++) { // go through available command list
+		struct menu_command_t command = command_list[i]; // get current command
+		if ((1==strlen(word) && command.shortcut==word[0]) || 0==strcmp(word, command.name)) { // check if shortcut or name match
+			command_found = true; // remember we found the command
+			if (command.command_handler) { // ensure there is an command handler
+				if (MENU_ARGUMENT_NONE==command.argument) { // check if argument can be passed
+					(*command.command_handler)(NULL); // call without argument
+				} else { // argument can be passed
+					word = strtok(NULL, delimiter); // get next word
+					if (!word) { // no argument provided
+						(*command.command_handler)(NULL); // call without argument
+					} else if (MENU_ARGUMENT_SIGNED==command.argument) { // next argument should be a signed integer
+						int32_t argument = atoi(word); // get signed integer
+						(*command.command_handler)(&argument); // call with argument
+					} else if (MENU_ARGUMENT_UNSIGNED==command.argument) { // next argument should be an unsigned integer
+						uint32_t argument = atoi(word); // get unsigned integer
+						(*command.command_handler)(&argument); // call with argument
+					} else if (MENU_ARGUMENT_FLOAT==command.argument) { // next argument should be a floating point number
+						double argument = atof(word); // get floating point number
+						(*command.command_handler)(&argument); // call with argument
+					} else if (MENU_ARGUMENT_STRING==command.argument) { // next argument should be a string
+						(*command.command_handler)(word); // call with argument
+					}
+				}
+			}
+			break; // stop searching for the command
+		}
+	}
+
+	// find default command
+	if (!command_found) { // we didn't find the corresponding command
+		for (size_t i=0; i<command_list_length; i++) { // go through available command list
+			struct menu_command_t command = command_list[i]; // get current command
+			if (0==command.shortcut && NULL==command.name) { // check if there is a default command
+				command_found = true; // remember we found the command
+				if (command.command_handler) { // ensure there is an command handler
+					(*command.command_handler)(word); // call with current word
+				}
+				break; // stop searching for the command
+			}
+		}
+	}
+
+	free(dup); // free line copy
+	return command_found;
+}
+
+void menu_print_commands(const struct menu_command_t* command_list, size_t command_list_length)
+{
+	for (size_t i=0; i<command_list_length; i++) {
+		struct menu_command_t command = command_list[i];
+		if (command.name) {
+			if (command.shortcut) {
+				printf("%c|", command.shortcut);
+			}
+			printf("%s", command.name);
+			if (MENU_ARGUMENT_NONE!=command.argument && command.argument_description) {
+				printf(" %s", command.argument_description);
+			}
+			if (command.command_description) {
+				printf("\t%s", command.command_description);
+			}
+			printf("\n");
+		}
+	}
+}
+

lib/menu.h

@@ -0,0 +1,52 @@
+/* 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/>.
+ *
+ */
+/** definitions to build menus (API)
+ *  @file menu.h
+ *  @author King Kévin <kingkevin@cuvoodoo.info>
+ *  @date 2018
+ */
+
+/** types of argument accepted by the command */
+enum menu_argument_t {
+	MENU_ARGUMENT_NONE, /**< no argument accepted */
+	MENU_ARGUMENT_SIGNED, /**< int32 argument accepted */
+	MENU_ARGUMENT_UNSIGNED, /**< uint32 argument accepted */
+	MENU_ARGUMENT_FLOAT, /**< double argument accepted */
+	MENU_ARGUMENT_STRING, /**< string argument accepted */
+};
+
+/** command menu entry */
+struct menu_command_t {
+	char shortcut; /**< short command code (0 if not available) */
+	char* name; /**< complete name of the command (space-free) */
+	char* command_description; /**< human readable description of the command purpose */
+	enum menu_argument_t argument; /**< what kind of argument it accepts */
+	char* argument_description; /**< human readable description of the argument it can accept */
+	void (*command_handler)(void* argument); /**< function to be called to handle this command */
+};
+
+/** parse command from line and call corresponding command
+ *  @param[in] line use input to parse
+ *  @param[in] command_list list of available commands
+ *  @prarm[in] command_list_length number of available commands
+ *  @return if an command corresponding to the line has been found and called
+ */
+bool menu_handle_command(const char* line, const struct menu_command_t* command_list, size_t command_list_length);
+/** print the commands from the command list
+ *  @param[in] command_list list of available commands
+ *  @prarm[in] command_list_length number of available commands
+ */
+void menu_print_commands(const struct menu_command_t* command_list, size_t command_list_length);
+

lib/print.c

@@ -167,7 +167,7 @@ static size_t print_float(char** str, size_t* size, double f, uint32_t padding,
 				exponent -= padding;
 			}
 		} else {
-			while (f_abs>pow(10.0, exponent)) { // find the positive exponent, base 10
+			while (f_abs>=pow(10.0, exponent)) { // find the positive exponent, base 10
 				exponent += 3; // increment in kilo
 			}
 			if (padding) { // respect padding wish

lib/terminal.c

@@ -295,7 +295,7 @@ static void terminal_process_escape(void)
 /** print current line and set position */
 static void terminal_print_line(void)
 {
-	printf("\r\x1b[K%s%s", terminal_prefix ? terminal_prefix : "", &terminal_buffer[terminal_line]); // erase line and display last one
+	printf("\r\x1b[K%s%s%s", terminal_prefix ? terminal_prefix : "", ": ", &terminal_buffer[terminal_line]); // erase line and display last one
 	if (terminal_pos<terminal_line+strlen(&terminal_buffer[terminal_line])) { // cursor is not at the end of the line
 		printf("\x1b[%uD", terminal_line+strlen(&terminal_buffer[terminal_line])-terminal_pos); // set position by going back
 	}

lib/uart.c

@@ -42,16 +42,11 @@
 
 #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 volatile 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 volatile uint8_t tx_buffer[UART_BUFFER] = {0}; /**< ring buffer for data to transmit */
+/* output ring buffer, indexes, and available memory */
+static volatile uint8_t tx_buffer[64] = {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 */
@@ -77,9 +72,6 @@ void uart_setup(void)
 	/* reset buffer states */
 	tx_i = 0;
 	tx_used = 0;
-	rx_i = 0;
-	rx_used = 0;
-	uart_received = false;
 }
 
 void uart_putchar_blocking(char c)
@@ -96,20 +88,6 @@ void uart_flush(void)
 	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
-	}
-	usart_disable_rx_interrupt(USART(UART_ID)); // disable receive interrupt to prevent index corruption
-	volatile char to_return = rx_buffer[rx_i]; // get the next available character
-	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
@@ -130,19 +108,12 @@ void USART_ISR(UART_ID)(void)
 			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_i = (tx_i+1)%LENGTH(tx_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
+		user_input_store(c); // store data
 	}
 }

lib/uart.h

@@ -20,11 +20,6 @@
  */
 #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 UART peripheral */
 void uart_setup(void);
 /** send character over UART (blocking)
@@ -35,11 +30,6 @@ void uart_putchar_blocking(char c);
  *  @note block until all data has been transmitted
  */
 void uart_flush(void);
-/** get character received over UART (blocking)
- *  @return character received over UART
- *  @note blocks until character is received over UART when received buffer is empty
- */
-char uart_getchar(void);
 /** send character over UART (non-blocking)
  *  @param[in] c character to send
  *  @note blocks if transmit buffer is full, else puts in buffer and returns

lib/usb_cdcacm.c

@@ -231,16 +231,11 @@ static const char *usb_strings[] = {
 	"CuVoodoo DFU bootloader (runtime mode)",
 };
 
-/* input and output ring buffer, indexes, and available memory */
-static uint8_t rx_buffer[CDCACM_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 */
-mutex_t rx_lock = MUTEX_UNLOCKED; /**< lock to update rx_i or rx_used */
-static uint8_t tx_buffer[CDCACM_BUFFER] = {0}; /**< ring buffer for data to transmit */
+/* output ring buffer, index, and available memory */
+static uint8_t tx_buffer[64] = {0}; /**< ring buffer for data to transmit */
 static volatile uint8_t tx_i = 0; /**< current position if transmitted data */
 static volatile uint8_t tx_used = 0; /**< how much data needs to be transmitted */
 mutex_t tx_lock = MUTEX_UNLOCKED; /**< lock to update tx_i or tx_used */
-volatile uint8_t usb_cdcacm_received = 0; // same as rx_used, but since the user can write this variable we don't rely on it
 static bool connected = false; /**< is the USB device is connected to a host */
 
 /** disconnect USB by pulling down D+ to for re-enumerate */
@@ -382,11 +377,9 @@ static void usb_cdcacm_data_rx_cb(usbd_device *usbd_dev, uint8_t ep)
 	/* receive data */
 	usb_length = usbd_ep_read_packet(usbd_dev, 0x02, usb_data, sizeof(usb_data));
 	if (usb_length) { // copy received data
-		for (uint16_t i=0; i<usb_length && rx_used<LENGTH(rx_buffer); i++) { // only until buffer is full
-			rx_buffer[(rx_i+rx_used)%LENGTH(rx_buffer)] = usb_data[i]; // put character in buffer
-			rx_used++; // update used buffer
+		for (uint16_t i=0; i<usb_length; i++) { // only until buffer is full
+			user_input_store(usb_data[i]); // store user data
 		}
-		usb_cdcacm_received = rx_used; // update available data
 	}
 }
 
@@ -444,27 +437,11 @@ void usb_cdcacm_setup(void)
 	nvic_enable_irq(NVIC_USB_LP_CAN_RX0_IRQ); // enable interrupts (to not have to poll all the time)
     
     // reset buffer states
-	rx_i = 0;
-	rx_used = 0;
-	mutex_unlock(&rx_lock);
-	usb_cdcacm_received = 0;
 	tx_i = 0;
 	tx_used = 0;
 	mutex_unlock(&tx_lock);
 }
 
-char usb_cdcacm_getchar(void)
-{
-	while (!rx_used) { // idle until data is available
-		__WFI(); // sleep until interrupt (not sure if it's a good idea here)
-	}
-	char to_return = rx_buffer[rx_i]; // get the next available character
-	rx_i = (rx_i+1)%LENGTH(rx_buffer); // update used buffer
-	rx_used--; // update used buffer
-	usb_cdcacm_received = rx_used; // update available data
-	return to_return;
-}
-
 void usb_cdcacm_putchar(char c)
 {
 	if (!usb_device || !connected) {

lib/usb_cdcacm.h

@@ -19,18 +19,8 @@
  */
 #pragma once
 
-/** transmit and receive buffer sizes */
-#define CDCACM_BUFFER 64
-/** how many bytes available in the received buffer since last read */
-extern volatile uint8_t usb_cdcacm_received;
-
 /** setup USB CDC ACM peripheral */
 void usb_cdcacm_setup(void);
-/** get character received over USB (blocking)
- *  @return character received over USB
- *  @note blocks until character is received over USB when received buffer is empty
- */
-char usb_cdcacm_getchar(void);
 /** send character over USB (non-blocking)
  *  @param[in] c character to send
  *  @note blocks if transmit buffer is full, else puts in buffer and returns