Browse Source
added printf() support via SpareTimeLabs printf lib. this cleaned up some mess inside cli.c
added printf() support via SpareTimeLabs printf lib. this cleaned up some mess inside cli.c
example of usage: http://bcas.tv/paste/results/xToE9w26.html hover-tested quadx loaded as custom mix, works. git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@207 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61master
timecop@gmail.com
12 years ago
10 changed files with 3543 additions and 2840 deletions
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1Makefile
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5666obj/baseflight.hex
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1src/board.h
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317src/cli.c
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2src/config.c
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7src/main.c
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19src/mixer.c
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1src/mw.h
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248src/printf.c
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121src/printf.h
5666
obj/baseflight.hex
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@ -0,0 +1,248 @@ |
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/* |
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* Copyright (c) 2004,2012 Kustaa Nyholm / SpareTimeLabs |
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* |
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* All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without modification, |
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* are permitted provided that the following conditions are met: |
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* |
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* Redistributions of source code must retain the above copyright notice, this list |
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* of conditions and the following disclaimer. |
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* |
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* Redistributions in binary form must reproduce the above copyright notice, this |
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* list of conditions and the following disclaimer in the documentation and/or other |
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* materials provided with the distribution. |
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* |
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* Neither the name of the Kustaa Nyholm or SpareTimeLabs nor the names of its |
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* contributors may be used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. |
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* IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, |
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* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT |
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* NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, |
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* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, |
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY |
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* OF SUCH DAMAGE. |
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*/ |
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|
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#include "board.h" |
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#include "printf.h" |
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|
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#define PRINTF_LONG_SUPPORT |
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|
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typedef void (*putcf) (void *, char); |
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static putcf stdout_putf; |
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static void *stdout_putp; |
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|
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#ifdef PRINTF_LONG_SUPPORT |
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|
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static void uli2a(unsigned long int num, unsigned int base, int uc, char *bf) |
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{ |
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int n = 0; |
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unsigned int d = 1; |
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while (num / d >= base) |
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d *= base; |
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while (d != 0) { |
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int dgt = num / d; |
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num %= d; |
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d /= base; |
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if (n || dgt > 0 || d == 0) { |
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*bf++ = dgt + (dgt < 10 ? '0' : (uc ? 'A' : 'a') - 10); |
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++n; |
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} |
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} |
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*bf = 0; |
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} |
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|
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static void li2a(long num, char *bf) |
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{ |
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if (num < 0) { |
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num = -num; |
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*bf++ = '-'; |
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} |
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uli2a(num, 10, 0, bf); |
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} |
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|
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#endif |
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|
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static void ui2a(unsigned int num, unsigned int base, int uc, char *bf) |
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{ |
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int n = 0; |
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unsigned int d = 1; |
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while (num / d >= base) |
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d *= base; |
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while (d != 0) { |
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int dgt = num / d; |
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num %= d; |
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d /= base; |
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if (n || dgt > 0 || d == 0) { |
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*bf++ = dgt + (dgt < 10 ? '0' : (uc ? 'A' : 'a') - 10); |
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++n; |
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} |
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} |
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*bf = 0; |
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} |
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|
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static void i2a(int num, char *bf) |
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{ |
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if (num < 0) { |
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num = -num; |
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*bf++ = '-'; |
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} |
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ui2a(num, 10, 0, bf); |
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} |
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|
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static int a2d(char ch) |
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{ |
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if (ch >= '0' && ch <= '9') |
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return ch - '0'; |
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else if (ch >= 'a' && ch <= 'f') |
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return ch - 'a' + 10; |
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else if (ch >= 'A' && ch <= 'F') |
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return ch - 'A' + 10; |
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else |
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return -1; |
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} |
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|
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static char a2i(char ch, char **src, int base, int *nump) |
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{ |
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char *p = *src; |
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int num = 0; |
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int digit; |
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while ((digit = a2d(ch)) >= 0) { |
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if (digit > base) |
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break; |
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num = num * base + digit; |
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ch = *p++; |
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} |
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*src = p; |
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*nump = num; |
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return ch; |
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} |
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|
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static void putchw(void *putp, putcf putf, int n, char z, char *bf) |
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{ |
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char fc = z ? '0' : ' '; |
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char ch; |
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char *p = bf; |
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while (*p++ && n > 0) |
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n--; |
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while (n-- > 0) |
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putf(putp, fc); |
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while ((ch = *bf++)) |
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putf(putp, ch); |
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} |
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|
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void tfp_format(void *putp, putcf putf, char *fmt, va_list va) |
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{ |
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char bf[12]; |
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|
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char ch; |
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|
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while ((ch = *(fmt++))) { |
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if (ch != '%') |
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putf(putp, ch); |
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else { |
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char lz = 0; |
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#ifdef PRINTF_LONG_SUPPORT |
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char lng = 0; |
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#endif |
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int w = 0; |
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ch = *(fmt++); |
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if (ch == '0') { |
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ch = *(fmt++); |
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lz = 1; |
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} |
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if (ch >= '0' && ch <= '9') { |
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ch = a2i(ch, &fmt, 10, &w); |
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} |
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#ifdef PRINTF_LONG_SUPPORT |
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if (ch == 'l') { |
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ch = *(fmt++); |
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lng = 1; |
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} |
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#endif |
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switch (ch) { |
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case 0: |
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goto abort; |
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case 'u':{ |
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#ifdef PRINTF_LONG_SUPPORT |
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if (lng) |
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uli2a(va_arg(va, unsigned long int), 10, 0, bf); |
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else |
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#endif |
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ui2a(va_arg(va, unsigned int), 10, 0, bf); |
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putchw(putp, putf, w, lz, bf); |
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break; |
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} |
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case 'd':{ |
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#ifdef PRINTF_LONG_SUPPORT |
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if (lng) |
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li2a(va_arg(va, unsigned long int), bf); |
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else |
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#endif |
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i2a(va_arg(va, int), bf); |
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putchw(putp, putf, w, lz, bf); |
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break; |
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} |
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case 'x': |
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case 'X': |
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#ifdef PRINTF_LONG_SUPPORT |
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if (lng) |
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uli2a(va_arg(va, unsigned long int), 16, (ch == 'X'), bf); |
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else |
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#endif |
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ui2a(va_arg(va, unsigned int), 16, (ch == 'X'), bf); |
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putchw(putp, putf, w, lz, bf); |
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break; |
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case 'c': |
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putf(putp, (char) (va_arg(va, int))); |
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break; |
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case 's': |
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putchw(putp, putf, w, 0, va_arg(va, char *)); |
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break; |
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case '%': |
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putf(putp, ch); |
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default: |
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break; |
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} |
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} |
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} |
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abort:; |
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} |
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|
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|
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void init_printf(void *putp, void (*putf) (void *, char)) |
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{ |
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stdout_putf = putf; |
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stdout_putp = putp; |
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} |
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|
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void tfp_printf(char *fmt, ...) |
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{ |
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va_list va; |
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va_start(va, fmt); |
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tfp_format(stdout_putp, stdout_putf, fmt, va); |
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va_end(va); |
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while (!uartTransmitEmpty()); |
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} |
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|
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static void putcp(void *p, char c) |
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{ |
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*(*((char **) p))++ = c; |
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} |
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|
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void tfp_sprintf(char *s, char *fmt, ...) |
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{ |
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va_list va; |
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va_start(va, fmt); |
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tfp_format(&s, putcp, fmt, va); |
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putcp(&s, 0); |
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va_end(va); |
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} |
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@ -0,0 +1,121 @@ |
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/* |
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File: printf.h |
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|
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Copyright (c) 2004,2012 Kustaa Nyholm / SpareTimeLabs |
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|
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All rights reserved. |
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|
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Redistribution and use in source and binary forms, with or without modification, |
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are permitted provided that the following conditions are met: |
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|
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Redistributions of source code must retain the above copyright notice, this list |
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of conditions and the following disclaimer. |
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|
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Redistributions in binary form must reproduce the above copyright notice, this |
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list of conditions and the following disclaimer in the documentation and/or other |
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materials provided with the distribution. |
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|
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Neither the name of the Kustaa Nyholm or SpareTimeLabs nor the names of its |
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contributors may be used to endorse or promote products derived from this software |
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without specific prior written permission. |
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|
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. |
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IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, |
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INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT |
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NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, |
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OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, |
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WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY |
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OF SUCH DAMAGE. |
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|
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---------------------------------------------------------------------- |
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|
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This library is realy just two files: 'printf.h' and 'printf.c'. |
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|
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They provide a simple and small (+200 loc) printf functionality to |
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be used in embedded systems. |
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|
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I've found them so usefull in debugging that I do not bother with a |
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debugger at all. |
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|
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They are distributed in source form, so to use them, just compile them |
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into your project. |
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|
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Two printf variants are provided: printf and sprintf. |
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The formats supported by this implementation are: 'd' 'u' 'c' 's' 'x' 'X'. |
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|
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Zero padding and field width are also supported. |
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|
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If the library is compiled with 'PRINTF_SUPPORT_LONG' defined then the |
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long specifier is also |
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supported. Note that this will pull in some long math routines (pun intended!) |
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and thus make your executable noticably longer. |
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|
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The memory foot print of course depends on the target cpu, compiler and |
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compiler options, but a rough guestimate (based on a H8S target) is about |
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1.4 kB for code and some twenty 'int's and 'char's, say 60 bytes of stack space. |
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Not too bad. Your milage may vary. By hacking the source code you can |
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get rid of some hunred bytes, I'm sure, but personally I feel the balance of |
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functionality and flexibility versus code size is close to optimal for |
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many embedded systems. |
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|
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To use the printf you need to supply your own character output function, |
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something like : |
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|
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void putc ( void* p, char c) |
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{ |
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while (!SERIAL_PORT_EMPTY) ; |
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SERIAL_PORT_TX_REGISTER = c; |
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} |
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|
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Before you can call printf you need to initialize it to use your |
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character output function with something like: |
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|
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init_printf(NULL,putc); |
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|
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Notice the 'NULL' in 'init_printf' and the parameter 'void* p' in 'putc', |
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the NULL (or any pointer) you pass into the 'init_printf' will eventually be |
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passed to your 'putc' routine. This allows you to pass some storage space (or |
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anything realy) to the character output function, if necessary. |
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This is not often needed but it was implemented like that because it made |
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implementing the sprintf function so neat (look at the source code). |
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|
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The code is re-entrant, except for the 'init_printf' function, so it |
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is safe to call it from interupts too, although this may result in mixed output. |
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If you rely on re-entrancy, take care that your 'putc' function is re-entrant! |
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|
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The printf and sprintf functions are actually macros that translate to |
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'tfp_printf' and 'tfp_sprintf'. This makes it possible |
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to use them along with 'stdio.h' printf's in a single source file. |
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You just need to undef the names before you include the 'stdio.h'. |
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Note that these are not function like macros, so if you have variables |
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or struct members with these names, things will explode in your face. |
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Without variadic macros this is the best we can do to wrap these |
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fucnction. If it is a problem just give up the macros and use the |
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functions directly or rename them. |
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For further details see source code. |
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|
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regs Kusti, 23.10.2004 |
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*/ |
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#ifndef __TFP_PRINTF__ |
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#define __TFP_PRINTF__ |
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#include <stdarg.h> |
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void init_printf(void *putp, void (*putf) (void *, char)); |
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void tfp_printf(char *fmt, ...); |
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void tfp_sprintf(char *s, char *fmt, ...); |
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|
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void tfp_format(void *putp, void (*putf) (void *, char), char *fmt, va_list va); |
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|
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#define printf tfp_printf |
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#define sprintf tfp_sprintf |
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#endif |
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