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Code Issues Releases Activity

Finished conversion of pios_com.c

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UART shouldn't need any work now until testing on hardware.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@30 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
gussy 2009-11-30 17:01:21 +00:00 committed by gussy
parent 47c8bc5a78
commit f2120143bb
6 changed files with 244 additions and 38 deletions
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1
flight/Makefile
View File

@ -86,6 +86,7 @@ SRC += $(SYSDIR)/pios_led.c
SRC += $(SYSDIR)/pios_uart.c
SRC += $(SYSDIR)/pios_irq.c
SRC += $(SYSDIR)/pios_com.c
SRC += $(SYSDIR)/printf-stdarg.c
## CMSIS for STM32
SRC += $(CMSISDIR)/core_cm3.c

4
flight/sys/pios.h
View File

@ -30,8 +30,10 @@
/* C Lib Includes */
#include <stdlib.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
/* STM32 Std Perf Lib */
#include <stm32f10x.h>

29
flight/sys/pios_com.c
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@ -55,20 +55,6 @@ int32_t COMInit(void)
return -ret;
}
/**
* This function checks the availability of a COM port
* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
* \return 1: port available
* \return 0: port not available
* \note Deprecated since our hardware is a constant
*/
int32_t COMCheckAvailable(COMPortTypeDef port)
{
/* Deprecated since our hardware is a constant */
}
/**
* Sends a package over given port
* \param[in] port COM port (COM_GPS_UART, COM_TELEM_UART, COM_AUX_UART)
@ -165,7 +151,7 @@ int32_t COMSendChar(COMPortTypeDef port, char c)
* caller should retry until buffer is free again
* \return 0 on success
*/
int32_t COMSendString_NonBlocking(COMPortTypeDef port, char *str)
int32_t COMSendStringNonBlocking(COMPortTypeDef port, char *str)
{
return COMSendBufferNonBlocking(port, (uint8_t *)str, (uint16_t)strlen(str));
}
@ -179,9 +165,9 @@ int32_t COMSendString_NonBlocking(COMPortTypeDef port, char *str)
* \return -1 if port not available
* \return 0 on success
*/
int32_t MIOS32_COM_SendString(COMPortTypeDef port, char *str)
int32_t COMSendString(COMPortTypeDef port, char *str)
{
/* return COMSendBuffer(port, (uint8_t *)str, strlen(str)); */
return COMSendBuffer(port, (uint8_t *)str, strlen(str));
}
@ -195,16 +181,15 @@ int32_t MIOS32_COM_SendString(COMPortTypeDef port, char *str)
* caller should retry until buffer is free again
* \return 0 on success
*/
int32_t MIOS32_COM_SendFormattedStringNonBlocking(COMPortTypeDef port, char *format, ...)
int32_t COMSendFormattedStringNonBlocking(COMPortTypeDef port, char *format, ...)
{
uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
/*
va_list args;
va_start(args, format);
vsprintf((char *)buffer, format, args);
return COMSendBufferNonBlocking(port, buffer, (uint16_t)strlen((char *)buffer));
*/
}
@ -217,16 +202,14 @@ int32_t MIOS32_COM_SendFormattedStringNonBlocking(COMPortTypeDef port, char *for
* \return -1 if port not available
* \return 0 on success
*/
int32_t MIOS32_COM_SendFormattedString(COMPortTypeDef port, char *format, ...)
int32_t COMSendFormattedString(COMPortTypeDef port, char *format, ...)
{
uint8_t buffer[128]; // TODO: tmp!!! Provide a streamed COM method later!
/*
va_list args;
va_start(args, format);
vsprintf((char *)buffer, format, args);
return COMSendBuffer(port, buffer, (uint16_t)strlen((char *)buffer));
*/
}

8
flight/sys/pios_com.h
View File

@ -37,11 +37,9 @@ typedef enum {
/* Public Functions */
extern int32_t COMInit(void);
extern int32_t COMCheckAvailable(COMPortTypeDef port);
extern int32_t COMSendChar_NonBlocking(COMPortTypeDef port, char c);
extern int32_t COMSendCharNonBlocking(COMPortTypeDef port, char c);
extern int32_t COMSendChar(COMPortTypeDef port, char c);
extern int32_t COMSendBuffer_NonBlocking(COMPortTypeDef port, uint8_t *buffer, uint16_t len);
extern int32_t COMSendBufferNonBlocking(COMPortTypeDef port, uint8_t *buffer, uint16_t len);
extern int32_t COMSendBuffer(COMPortTypeDef port, uint8_t *buffer, uint16_t len);
extern int32_t COMSendStringNonBlocking(COMPortTypeDef port, char *str);
extern int32_t COMSendString(COMPortTypeDef port, char *str);
@ -49,6 +47,6 @@ extern int32_t COMSendFormattedStringNonBlocking(COMPortTypeDef port, char *form
extern int32_t COMSendFormattedString(COMPortTypeDef port, char *format, ...);
extern int32_t COMReceiveHandler(void);
extern int32_t COMReceiveCallback_Init(void *callback_receive);
extern int32_t COMReceiveCallbackInit(void *callback_receive);
#endif /* PIOS_COM_H */

12
flight/sys/pios_uart.c
View File

@ -505,9 +505,7 @@ GPS_IRQHANDLER_FUNC
if(GPS_UART->SR & (1 << 5)) {
uint8_t b = GPS_UART->DR;
int status = 0;//MIOS32_MIDI_SendByteToRxCallback(UART0, b);
if(status == 0 && UARTRxBufferPut(0, b) < 0) {
if(UARTRxBufferPut(0, b) < 0) {
/* Here we could add some error handling */
}
}
@ -536,9 +534,7 @@ TELEM_IRQHANDLER_FUNC
if(TELEM_UART->SR & (1 << 5)) {
uint8_t b = TELEM_UART->DR;
int status = 0;//MIOS32_MIDI_SendByteToRxCallback(UART1, b);
if(status == 0 && UARTRxBufferPut(1, b) < 0) {
if(UARTRxBufferPut(1, b) < 0) {
/* Here we could add some error handling */
}
}
@ -566,9 +562,7 @@ AUX_UART_IRQHANDLER_FUNC
if(AUX_UART_UART->SR & (1 << 5)) {
uint8_t b = AUX_UART_UART->DR;
int status = 0;//MIOS32_MIDI_SendByteToRxCallback(UART1, b);
if(status == 0 && UARTRxBufferPut(1, b) < 0) {
if(UARTRxBufferPut(1, b) < 0) {
/* Here we could add some error handling */
}
}

228
flight/sys/printf-stdarg.c Normal file
View File

@ -0,0 +1,228 @@
// $Id: printf-stdarg.c 398 2009-03-22 21:47:53Z tk $
/*
Copyright 2001, 2002 Georges Menie (www.menie.org)
stdarg version contributed by Christian Ettinger
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation; either version 2 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 Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
/*
putchar is the only external dependency for this file,
if you have a working putchar, leave it commented out.
If not, uncomment the define below and
replace outbyte(c) by your own function call.
#define putchar(c) outbyte(c)
*/
//#define putchar(c) COMSendChar(c)
#include <pios.h>
static void printchar(char **str, int c)
{
// extern int putchar(int c);
if (str) {
**str = c;
++(*str);
}
else COMSendChar(1, c); // (void)putchar(c);
}
#define PAD_RIGHT 1
#define PAD_ZERO 2
static int prints(char **out, const char *string, int width, int pad)
{
register int pc = 0, padchar = ' ';
if (width > 0) {
register int len = 0;
register const char *ptr;
for (ptr = string; *ptr; ++ptr) ++len;
if (len >= width) width = 0;
else width -= len;
if (pad & PAD_ZERO) padchar = '0';
}
if (!(pad & PAD_RIGHT)) {
for ( ; width > 0; --width) {
printchar (out, padchar);
++pc;
}
}
for ( ; *string ; ++string) {
printchar (out, *string);
++pc;
}
for ( ; width > 0; --width) {
printchar (out, padchar);
++pc;
}
return pc;
}
/* the following should be enough for 32 bit int */
#define PRINT_BUF_LEN 12
static int printi(char **out, int i, int b, int sg, int width, int pad, int letbase)
{
char print_buf[PRINT_BUF_LEN];
register char *s;
register int t, neg = 0, pc = 0;
register unsigned int u = i;
if (i == 0) {
print_buf[0] = '0';
print_buf[1] = '\0';
return prints (out, print_buf, width, pad);
}
if (sg && b == 10 && i < 0) {
neg = 1;
u = -i;
}
s = print_buf + PRINT_BUF_LEN-1;
*s = '\0';
while (u) {
t = u % b;
if( t >= 10 )
t += letbase - '0' - 10;
*--s = t + '0';
u /= b;
}
if (neg) {
if( width && (pad & PAD_ZERO) ) {
printchar (out, '-');
++pc;
--width;
}
else {
*--s = '-';
}
}
return pc + prints (out, s, width, pad);
}
static int print( char **out, const char *format, va_list args )
{
register int width, pad;
register int pc = 0;
char scr[2];
for (; *format != 0; ++format) {
if (*format == '%') {
++format;
width = pad = 0;
if (*format == '\0') break;
if (*format == '%') goto out;
if (*format == '-') {
++format;
pad = PAD_RIGHT;
}
while (*format == '0') {
++format;
pad |= PAD_ZERO;
}
for ( ; *format >= '0' && *format <= '9'; ++format) {
width *= 10;
width += *format - '0';
}
if( *format == 's' ) {
register char *s = (char *)va_arg( args, int );
pc += prints (out, s?s:"(null)", width, pad);
continue;
}
if( *format == 'd' ) {
pc += printi (out, va_arg( args, int ), 10, 1, width, pad, 'a');
continue;
}
if( *format == 'x' ) {
pc += printi (out, va_arg( args, int ), 16, 0, width, pad, 'a');
continue;
}
if( *format == 'X' ) {
pc += printi (out, va_arg( args, int ), 16, 0, width, pad, 'A');
continue;
}
if( *format == 'u' ) {
pc += printi (out, va_arg( args, int ), 10, 0, width, pad, 'a');
continue;
}
if( *format == 'c' ) {
/* char are converted to int then pushed on the stack */
scr[0] = (char)va_arg( args, int );
scr[1] = '\0';
pc += prints (out, scr, width, pad);
continue;
}
}
else {
out:
printchar (out, *format);
++pc;
}
}
if (out) **out = '\0';
va_end( args );
return pc;
}
int printf(const char *format, ...)
{
va_list args;
va_start( args, format );
return print( 0, format, args );
}
// TK: added for alternative parameter passing
int vprintf(const char *format, va_list args)
{
return print( 0, format, args );
}
int sprintf(char *out, const char *format, ...)
{
va_list args;
va_start( args, format );
return print( &out, format, args );
}
// TK: added for alternative parameter passing
int vsprintf(char *out, const char *format, va_list args)
{
char *_out;
_out = out;
return print( &_out, format, args );
}
int snprintf( char *buf, size_t count, const char *format, ... )
{
va_list args;
( void ) count;
va_start( args, format );
return print( &buf, format, args );
}