implemented write syscall for printf, added float-support for printf, serial tx does not need an interrupt anymore, replaced consoleLog and consoleScope with printf, changed debug output: every comment starts with "# " now, added lots of debug messages, added welcome message with gcc version and build date
larsm
5 years ago
parent
ad8c2a552a
commit
c57e1a0e4e
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/*
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* This file is part of the hoverboard-firmware-hack project.
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*
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* Copyright (C) 2017-2018 Rene Hopf <renehopf@mac.com>
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* Copyright (C) 2017-2018 Nico Stute <crinq@crinq.de>
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* Copyright (C) 2017-2018 Niklas Fauth <niklas.fauth@kit.fail>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Define to prevent recursive inclusion
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#ifndef COMMS_H
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#define COMMS_H
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#include "stm32f1xx_hal.h"
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void setScopeChannel(uint8_t ch, int16_t val);
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void consoleScope(void);
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void consoleLog(char *message);
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#endif
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#include <stdio.h>
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#include <string.h>
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#include "stm32f1xx_hal.h"
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#include "defines.h"
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#include "setup.h"
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#include "config.h"
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#include "comms.h"
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extern UART_HandleTypeDef huart2;
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extern UART_HandleTypeDef huart3;
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static volatile uint8_t uart_buf[100];
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static volatile int16_t ch_buf[8];
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//volatile char char_buf[300];
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void setScopeChannel(uint8_t ch, int16_t val) {
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ch_buf[ch] = val;
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}
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void consoleScope(void) {
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#if defined DEBUG_SERIAL_SERVOTERM && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
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uart_buf[0] = 0xff;
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uart_buf[1] = CLAMP(ch_buf[0]+127, 0, 255);
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uart_buf[2] = CLAMP(ch_buf[1]+127, 0, 255);
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uart_buf[3] = CLAMP(ch_buf[2]+127, 0, 255);
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uart_buf[4] = CLAMP(ch_buf[3]+127, 0, 255);
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uart_buf[5] = CLAMP(ch_buf[4]+127, 0, 255);
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uart_buf[6] = CLAMP(ch_buf[5]+127, 0, 255);
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uart_buf[7] = CLAMP(ch_buf[6]+127, 0, 255);
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uart_buf[8] = CLAMP(ch_buf[7]+127, 0, 255);
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uart_buf[9] = '\n';
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#ifdef DEBUG_SERIAL_USART2
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if(__HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) {
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HAL_UART_Transmit_DMA(&huart2, (uint8_t *)uart_buf, strLength);
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}
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#endif
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#ifdef DEBUG_SERIAL_USART3
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if(__HAL_DMA_GET_COUNTER(huart3.hdmatx) == 0) {
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HAL_UART_Transmit_DMA(&huart3, (uint8_t *)uart_buf, strLength);
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}
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#endif
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#endif
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#if defined DEBUG_SERIAL_ASCII && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
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// memset((void *)(uintptr_t)uart_buf, 0, sizeof(uart_buf));
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int strLength;
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strLength = sprintf((char *)(uintptr_t)uart_buf,
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"1:%i 2:%i 3:%i 4:%i 5:%i 6:%i 7:%i 8:%i\r\n",
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ch_buf[0], ch_buf[1], ch_buf[2], ch_buf[3], ch_buf[4], ch_buf[5], ch_buf[6], ch_buf[7]);
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#ifdef DEBUG_SERIAL_USART2
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if(__HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) {
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HAL_UART_Transmit_DMA(&huart2, (uint8_t *)uart_buf, strLength);
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}
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#endif
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#ifdef DEBUG_SERIAL_USART3
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if(__HAL_DMA_GET_COUNTER(huart3.hdmatx) == 0) {
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HAL_UART_Transmit_DMA(&huart3, (uint8_t *)uart_buf, strLength);
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}
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#endif
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#endif
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}
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void consoleLog(char *message)
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{
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#if defined DEBUG_SERIAL_ASCII && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
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#ifdef DEBUG_SERIAL_USART2
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if(__HAL_DMA_GET_COUNTER(huart2.hdmatx) == 0) {
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HAL_UART_Transmit_DMA(&huart2, (uint8_t *)message, strlen((char *)(uintptr_t)message));
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}
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#endif
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#ifdef DEBUG_SERIAL_USART3
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if(__HAL_DMA_GET_COUNTER(huart3.hdmatx) == 0) {
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HAL_UART_Transmit_DMA(&huart3, (uint8_t *)message, strlen((char *)(uintptr_t)message));
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}
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#endif
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#endif
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}
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@ -0,0 +1,36 @@
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#include <reent.h>
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#include <stdlib.h>
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#include <stdio.h>
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#include <errno.h>
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#include <sys/stat.h>
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#include <sys/time.h>
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#include <string.h>
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#include "stm32f1xx_hal.h"
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#include "config.h"
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extern volatile uint8_t uart_buf[200];
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/*
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* printf sends its output to this function, this function sends it to the uart dma output buffer
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*/
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__attribute__((__used__)) int _write(int fd, const char *ptr, int len){
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#if defined DEBUG_SERIAL_ASCII && (defined DEBUG_SERIAL_USART2 || defined DEBUG_SERIAL_USART3)
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#ifdef DEBUG_SERIAL_USART2
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while(DMA1_Channel7->CNDTR != 0); // wait
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memcpy(uart_buf,ptr,len); // copy to buffer
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DMA1_Channel7->CCR &= ~DMA_CCR_EN;
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DMA1_Channel7->CNDTR = len; // set number of bytes to read
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DMA1_Channel7->CMAR = (uint32_t)uart_buf; // set buffer to read from
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DMA1_Channel7->CCR |= DMA_CCR_EN;
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#endif
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#ifdef DEBUG_SERIAL_USART3
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while(DMA1_Channel2->CNDTR != 0); // wait
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memcpy(uart_buf,ptr,len); // copy to buffer
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DMA1_Channel2->CCR &= ~DMA_CCR_EN;
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DMA1_Channel2->CNDTR = len; // set number of bytes to read
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DMA1_Channel2->CMAR = (uint32_t)uart_buf; // set buffer to read from
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DMA1_Channel2->CCR |= DMA_CCR_EN;
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#endif
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#endif
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return len;
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}
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