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Code Issues Wiki Activity

added printf() support via SpareTimeLabs printf lib. this cleaned up some mess inside cli.c

Browse source 
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-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2012-09-06 06:35:02 +00:00
parent 98cba890e1
commit 3cd8e4e3f6
10 changed files with 3543 additions and 2840 deletions
Download patch file Download diff file Expand all files Collapse all files

1
Makefile
View file

@ -52,6 +52,7 @@ COMMON_SRC = startup_stm32f10x_md_gcc.S \
drv_i2c_soft.c \
drv_system.c \
drv_uart.c \
printf.c \
$(CMSIS_SRC) \
$(STDPERIPH_SRC)

5666
obj/baseflight.hex
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File diff suppressed because it is too large Load diff

1
src/board.h
View file

@ -13,6 +13,7 @@
#include "stm32f10x_conf.h"
#include "core_cm3.h"
#include "printf.h"
#ifndef M_PI
#define M_PI 3.14159265358979323846f

317
src/cli.c
View file

@ -3,6 +3,7 @@
// we unset this on 'exit'
extern uint8_t cliMode;
static void cliCMix(char *cmdline);
static void cliDefaults(char *cmdline);
static void cliExit(char *cmdline);
static void cliFeature(char *cmdline);
@ -25,6 +26,9 @@ extern const char rcChannelLetters[];
static char cliBuffer[48];
static uint32_t bufferIndex = 0;
static float _atof(const char *p);
static char *ftoa(float x, char *floatString);
// sync this with MultiType enum from mw.h
const char *mixerNames[] = {
"TRI", "QUADP", "QUADX", "BI",
@ -59,6 +63,7 @@ typedef struct {
// should be sorted a..z for bsearch()
const clicmd_t cmdTable[] = {
{ "cmix", "design custom mixer", cliCMix },
{ "defaults", "reset to defaults and reboot", cliDefaults },
{ "exit", "", cliExit },
{ "feature", "list or -val or val", cliFeature },
@ -66,7 +71,7 @@ const clicmd_t cmdTable[] = {
{ "map", "mapping of rc channel order", cliMap },
{ "mixer", "mixer name or list", cliMixer },
{ "save", "save and reboot", cliSave },
{ "set", "name=value or blank for list", cliSet },
{ "set", "name=value or blank or * for list", cliSet },
{ "status", "show system status", cliStatus },
{ "version", "", cliVersion },
};
@ -205,6 +210,145 @@ char *itoa(int i, char *a, int r)
#endif
////////////////////////////////////////////////////////////////////////////////
// String to Float Conversion
///////////////////////////////////////////////////////////////////////////////
// Simple and fast atof (ascii to float) function.
//
// - Executes about 5x faster than standard MSCRT library atof().
// - An attractive alternative if the number of calls is in the millions.
// - Assumes input is a proper integer, fraction, or scientific format.
// - Matches library atof() to 15 digits (except at extreme exponents).
// - Follows atof() precedent of essentially no error checking.
//
// 09-May-2009 Tom Van Baak (tvb) www.LeapSecond.com
//
#define white_space(c) ((c) == ' ' || (c) == '\t')
#define valid_digit(c) ((c) >= '0' && (c) <= '9')
static float _atof(const char *p)
{
int frac = 0;
double sign, value, scale;
// Skip leading white space, if any.
while (white_space(*p) ) {
p += 1;
}
// Get sign, if any.
sign = 1.0;
if (*p == '-') {
sign = -1.0;
p += 1;
} else if (*p == '+') {
p += 1;
}
// Get digits before decimal point or exponent, if any.
value = 0.0;
while (valid_digit(*p)) {
value = value * 10.0 + (*p - '0');
p += 1;
}
// Get digits after decimal point, if any.
if (*p == '.') {
double pow10 = 10.0;
p += 1;
while (valid_digit(*p)) {
value += (*p - '0') / pow10;
pow10 *= 10.0;
p += 1;
}
}
// Handle exponent, if any.
scale = 1.0;
if ((*p == 'e') || (*p == 'E')) {
unsigned int expon;
p += 1;
// Get sign of exponent, if any.
frac = 0;
if (*p == '-') {
frac = 1;
p += 1;
} else if (*p == '+') {
p += 1;
}
// Get digits of exponent, if any.
expon = 0;
while (valid_digit(*p)) {
expon = expon * 10 + (*p - '0');
p += 1;
}
if (expon > 308) expon = 308;
// Calculate scaling factor.
while (expon >= 50) { scale *= 1E50; expon -= 50; }
while (expon >= 8) { scale *= 1E8; expon -= 8; }
while (expon > 0) { scale *= 10.0; expon -= 1; }
}
// Return signed and scaled floating point result.
return sign * (frac ? (value / scale) : (value * scale));
}
///////////////////////////////////////////////////////////////////////////////
// FTOA
///////////////////////////////////////////////////////////////////////////////
static char *ftoa(float x, char *floatString)
{
int32_t value;
char intString1[12];
char intString2[12] = { 0, };
char *decimalPoint = ".";
uint8_t dpLocation;
if (x > 0) // Rounding for x.xxx display format
x += 0.0005f;
else
x -= 0.0005f;
value = (int32_t) (x * 1000.0f); // Convert float * 1000 to an integer
itoa(abs(value), intString1, 10); // Create string from abs of integer value
if (value >= 0)
intString2[0] = ' '; // Positive number, add a pad space
else
intString2[0] = '-'; // Negative number, add a negative sign
if (strlen(intString1) == 1) {
intString2[1] = '0';
intString2[2] = '0';
intString2[3] = '0';
strcat(intString2, intString1);
} else if (strlen(intString1) == 2) {
intString2[1] = '0';
intString2[2] = '0';
strcat(intString2, intString1);
} else if (strlen(intString1) == 3) {
intString2[1] = '0';
strcat(intString2, intString1);
} else {
strcat(intString2, intString1);
}
dpLocation = strlen(intString2) - 3;
strncpy(floatString, intString2, dpLocation);
floatString[dpLocation] = '\0';
strcat(floatString, decimalPoint);
strcat(floatString, intString2 + dpLocation);
return floatString;
}
static void cliPrompt(void)
{
uartPrint("\r\n# ");
@ -216,6 +360,92 @@ static int cliCompare(const void *a, const void *b)
return strncasecmp(ca->name, cb->name, strlen(cb->name));
}
static void cliCMix(char *cmdline)
{
int i, check = 0;
int num_motors = 0;
uint8_t len;
char buf[16];
float mixsum[3];
char *ptr;
len = strlen(cmdline);
if (len == 0) {
uartPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
for (i = 0; i < MAX_MOTORS; i++) {
if (cfg.customMixer[i].throttle == 0.0f)
break;
mixsum[i] = 0.0f;
num_motors++;
printf("#%d:\t", i + 1);
printf("%s\t", ftoa(cfg.customMixer[i].throttle, buf));
printf("%s\t", ftoa(cfg.customMixer[i].roll, buf));
printf("%s\t", ftoa(cfg.customMixer[i].pitch, buf));
printf("%s\r\n", ftoa(cfg.customMixer[i].yaw, buf));
}
for (i = 0; i < num_motors; i++) {
mixsum[0] += cfg.customMixer[i].roll;
mixsum[1] += cfg.customMixer[i].pitch;
mixsum[2] += cfg.customMixer[i].yaw;
}
uartPrint("Sanity check:\t");
for (i = 0; i < 3; i++)
uartPrint(fabs(mixsum[i]) > 0.01f ? "NG\t" : "OK\t");
uartPrint("\r\n");
return;
} else if (strncasecmp(cmdline, "load", 4) == 0) {
ptr = strchr(cmdline, ' ');
if (ptr) {
len = strlen(++ptr);
for (i = 0; ; i++) {
if (mixerNames[i] == NULL) {
uartPrint("Invalid mixer type...\r\n");
break;
}
if (strncasecmp(ptr, mixerNames[i], len) == 0) {
mixerLoadMix(i);
printf("Loaded %s mix...\r\n", mixerNames[i]);
cliCMix("");
break;
}
}
}
} else {
ptr = cmdline;
i = atoi(ptr); // get motor number
if (--i < MAX_MOTORS) {
ptr = strchr(ptr, ' ');
if (ptr) {
cfg.customMixer[i].throttle = _atof(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
cfg.customMixer[i].roll = _atof(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
cfg.customMixer[i].pitch = _atof(++ptr);
check++;
}
ptr = strchr(ptr, ' ');
if (ptr) {
cfg.customMixer[i].yaw = _atof(++ptr);
check++;
}
if (check != 4) {
uartPrint("Wrong number of arguments, needs idx thr roll pitch yaw\r\n");
} else {
cliCMix("");
}
} else {
printf("Motor number must be between 1 and %d\r\n", MAX_MOTORS);
}
}
}
static void cliDefaults(char *cmdline)
{
uartPrint("Resetting to defaults...\r\n");
@ -250,8 +480,7 @@ static void cliFeature(char *cmdline)
if (featureNames[i] == NULL)
break;
if (mask & (1 << i))
uartPrint((char *)featureNames[i]);
uartWrite(' ');
printf("%s ", featureNames[i]);
}
uartPrint("\r\n");
} else if (strncasecmp(cmdline, "list", len) == 0) {
@ -259,8 +488,7 @@ static void cliFeature(char *cmdline)
for (i = 0; ; i++) {
if (featureNames[i] == NULL)
break;
uartPrint((char *)featureNames[i]);
uartWrite(' ');
printf("%s ", featureNames[i]);
}
uartPrint("\r\n");
return;
@ -286,8 +514,7 @@ static void cliFeature(char *cmdline)
featureSet(1 << i);
uartPrint("Enabled ");
}
uartPrint((char *)featureNames[i]);
uartPrint("\r\n");
printf("%s\r\n", featureNames[i]);
break;
}
}
@ -299,14 +526,8 @@ static void cliHelp(char *cmdline)
uint32_t i = 0;
uartPrint("Available commands:\r\n");
for (i = 0; i < CMD_COUNT; i++) {
uartPrint(cmdTable[i].name);
uartWrite('\t');
uartPrint(cmdTable[i].param);
uartPrint("\r\n");
while (!uartTransmitEmpty());
}
for (i = 0; i < CMD_COUNT; i++)
printf("%s\t%s\r\n", cmdTable[i].name, cmdTable[i].param);
}
static void cliMap(char *cmdline)
@ -333,8 +554,7 @@ static void cliMap(char *cmdline)
for (i = 0; i < 8; i++)
out[cfg.rcmap[i]] = rcChannelLetters[i];
out[i] = '\0';
uartPrint(out);
uartPrint("\r\n");
printf("%s\r\n", out);
}
static void cliMixer(char *cmdline)
@ -345,17 +565,14 @@ static void cliMixer(char *cmdline)
len = strlen(cmdline);
if (len == 0) {
uartPrint("Current mixer: ");
uartPrint((char *)mixerNames[cfg.mixerConfiguration - 1]);
uartPrint("\r\n");
printf("Current mixer: %s\r\n", mixerNames[cfg.mixerConfiguration - 1]);
return;
} else if (strncasecmp(cmdline, "list", len) == 0) {
uartPrint("Available mixers: ");
for (i = 0; ; i++) {
if (mixerNames[i] == NULL)
break;
uartPrint((char *)mixerNames[i]);
uartWrite(' ');
printf("%s ", mixerNames[i]);
}
uartPrint("\r\n");
return;
@ -368,9 +585,7 @@ static void cliMixer(char *cmdline)
}
if (strncasecmp(cmdline, mixerNames[i], len) == 0) {
cfg.mixerConfiguration = i + 1;
uartPrint("Mixer set to ");
uartPrint((char *)mixerNames[i]);
uartPrint("\r\n");
printf("Mixer set to %s\r\n", mixerNames[i]);
break;
}
}
@ -388,7 +603,6 @@ static void cliSave(char *cmdline)
static void cliPrintVar(const clivalue_t *var, uint32_t full)
{
int32_t value = 0;
char buf[16];
switch (var->type) {
case VAR_UINT8:
@ -411,16 +625,9 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full)
value = *(uint32_t *)var->ptr;
break;
}
itoa(value, buf, 10);
uartPrint(buf);
if (full) {
uartPrint(" ");
itoa(var->min, buf, 10);
uartPrint(buf);
uartPrint(" ");
itoa(var->max, buf, 10);
uartPrint(buf);
}
printf("%d", value);
if (full)
printf(" %d %d", var->min, var->max);
}
static void cliSetVar(const clivalue_t *var, const int32_t value)
@ -456,11 +663,9 @@ static void cliSet(char *cmdline)
uartPrint("Current settings: \r\n");
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
uartPrint((char *)valueTable[i].name);
uartPrint(" = ");
printf("%s = ", valueTable[i].name);
cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
uartPrint("\r\n");
while (!uartTransmitEmpty());
}
} else if ((eqptr = strstr(cmdline, "="))) {
// has equal, set var
@ -473,8 +678,7 @@ static void cliSet(char *cmdline)
// found
if (value >= valueTable[i].min && value <= valueTable[i].max) {
cliSetVar(val, value);
uartPrint((char *)valueTable[i].name);
uartPrint(" set to ");
printf("%s set to ", valueTable[i].name);
cliPrintVar(val, 0);
} else {
uartPrint("ERR: Value assignment out of range\r\n");
@ -488,21 +692,11 @@ static void cliSet(char *cmdline)
static void cliStatus(char *cmdline)
{
char buf[16];
uint8_t i;
uint32_t mask;
uartPrint("System Uptime: ");
itoa(millis() / 1000, buf, 10);
uartPrint(buf);
uartPrint(" seconds, Voltage: ");
itoa(vbat, buf, 10);
uartPrint(buf);
uartPrint(" * 0.1V (");
itoa(batteryCellCount, buf, 10);
uartPrint(buf);
uartPrint("S battery)\r\n");
printf("System Uptime: %d seconds, Voltage: %d * 0.1V (%dS battery)\r\n",
millis() / 1000, vbat, batteryCellCount);
mask = sensorsMask();
uartPrint("Detected sensors: ");
@ -510,22 +704,13 @@ static void cliStatus(char *cmdline)
if (sensorNames[i] == NULL)
break;
if (mask & (1 << i))
uartPrint((char *)sensorNames[i]);
uartWrite(' ');
}
if (sensors(SENSOR_ACC)) {
uartPrint("ACCHW: ");
uartPrint((char *)accNames[accHardware]);
printf("%s ", sensorNames[i]);
}
if (sensors(SENSOR_ACC))
printf("ACCHW: %s", accNames[accHardware]);
uartPrint("\r\n");
uartPrint("Cycle Time: ");
itoa(cycleTime, buf, 10);
uartPrint(buf);
uartPrint(", I2C Errors: ");
itoa(i2cGetErrorCounter(), buf, 10);
uartPrint(buf);
uartPrint("\r\n");
printf("Cycle Time: %d, I2C Errors: %d\r\n", cycleTime, i2cGetErrorCounter());
}
static void cliVersion(char *cmdline)

2
src/config.c
View file

@ -196,7 +196,7 @@ void checkFirstTime(bool reset)
// serial (USART1) baudrate
cfg.serial_baudrate = 115200;
// custom mixer
// custom mixer. clear by defaults.
for (i = 0; i < MAX_MOTORS; i++)
cfg.customMixer[i].throttle = 0.0f;

7
src/main.c
View file

@ -8,6 +8,12 @@ extern rcReadRawDataPtr rcReadRawFunc;
extern uint16_t pwmReadRawRC(uint8_t chan);
extern uint16_t spektrumReadRawRC(uint8_t chan);
static void _putc(void *p, char c)
{
uartWrite(c);
}
int main(void)
{
uint8_t i;
@ -35,6 +41,7 @@ int main(void)
#endif
systemInit();
init_printf(NULL, _putc);
readEEPROM();
checkFirstTime(false);

19
src/mixer.c
View file

@ -108,7 +108,7 @@ static const motorMixer_t mixerVtail4[] = {
};
// Keep this synced with MultiType struct in mw.h!
static const mixer_t mixers[] = {
const mixer_t mixers[] = {
// Mo Se Mixtable
{ 0, 0, NULL }, // entry 0
{ 3, 1, mixerTri }, // MULTITYPE_TRI
@ -160,6 +160,23 @@ void mixerInit(void)
}
}
void mixerLoadMix(int index)
{
int i;
// we're 1-based
index++;
// clear existing
for (i = 0; i < MAX_MOTORS; i++)
cfg.customMixer[i].throttle = 0.0f;
// do we have anything here to begin with?
if (mixers[index].motor != NULL) {
for (i = 0; i < mixers[index].numberMotor; i++)
cfg.customMixer[i] = mixers[index].motor[i];
}
}
void writeServos(void)
{
if (!useServo)

1
src/mw.h
View file

@ -299,6 +299,7 @@ void Sonar_update(void);
// Output
void mixerInit(void);
void mixerLoadMix(int index);
void writeServos(void);
void writeMotors(void);
void writeAllMotors(int16_t mc);

248
src/printf.c Normal file
View file

@ -0,0 +1,248 @@
/*
* Copyright (c) 2004,2012 Kustaa Nyholm / SpareTimeLabs
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
*
* Redistributions of source code must retain the above copyright notice, this list
* of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright notice, this
* list of conditions and the following disclaimer in the documentation and/or other
* materials provided with the distribution.
*
* Neither the name of the Kustaa Nyholm or SpareTimeLabs nor the names of its
* contributors may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
* IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT,
* INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
* NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
* OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
* OF SUCH DAMAGE.
*/
#include "board.h"
#include "printf.h"
#define PRINTF_LONG_SUPPORT
typedef void (*putcf) (void *, char);
static putcf stdout_putf;
static void *stdout_putp;
#ifdef PRINTF_LONG_SUPPORT
static void uli2a(unsigned long int num, unsigned int base, int uc, char *bf)
{
int n = 0;
unsigned int d = 1;
while (num / d >= base)
d *= base;
while (d != 0) {
int dgt = num / d;
num %= d;
d /= base;
if (n || dgt > 0 || d == 0) {
*bf++ = dgt + (dgt < 10 ? '0' : (uc ? 'A' : 'a') - 10);
++n;
}
}
*bf = 0;
}
static void li2a(long num, char *bf)
{
if (num < 0) {
num = -num;
*bf++ = '-';
}
uli2a(num, 10, 0, bf);
}
#endif
static void ui2a(unsigned int num, unsigned int base, int uc, char *bf)
{
int n = 0;
unsigned int d = 1;
while (num / d >= base)
d *= base;
while (d != 0) {
int dgt = num / d;
num %= d;
d /= base;
if (n || dgt > 0 || d == 0) {
*bf++ = dgt + (dgt < 10 ? '0' : (uc ? 'A' : 'a') - 10);
++n;
}
}
*bf = 0;
}
static void i2a(int num, char *bf)
{
if (num < 0) {
num = -num;
*bf++ = '-';
}
ui2a(num, 10, 0, bf);
}
static int a2d(char ch)
{
if (ch >= '0' && ch <= '9')
return ch - '0';
else if (ch >= 'a' && ch <= 'f')
return ch - 'a' + 10;
else if (ch >= 'A' && ch <= 'F')
return ch - 'A' + 10;
else
return -1;
}
static char a2i(char ch, char **src, int base, int *nump)
{
char *p = *src;
int num = 0;
int digit;
while ((digit = a2d(ch)) >= 0) {
if (digit > base)
break;
num = num * base + digit;
ch = *p++;
}
*src = p;
*nump = num;
return ch;
}
static void putchw(void *putp, putcf putf, int n, char z, char *bf)
{
char fc = z ? '0' : ' ';
char ch;
char *p = bf;
while (*p++ && n > 0)
n--;
while (n-- > 0)
putf(putp, fc);
while ((ch = *bf++))
putf(putp, ch);
}
void tfp_format(void *putp, putcf putf, char *fmt, va_list va)
{
char bf[12];
char ch;
while ((ch = *(fmt++))) {
if (ch != '%')
putf(putp, ch);
else {
char lz = 0;
#ifdef PRINTF_LONG_SUPPORT
char lng = 0;
#endif
int w = 0;
ch = *(fmt++);
if (ch == '0') {
ch = *(fmt++);
lz = 1;
}
if (ch >= '0' && ch <= '9') {
ch = a2i(ch, &fmt, 10, &w);
}
#ifdef PRINTF_LONG_SUPPORT
if (ch == 'l') {
ch = *(fmt++);
lng = 1;
}
#endif
switch (ch) {
case 0:
goto abort;
case 'u':{
#ifdef PRINTF_LONG_SUPPORT
if (lng)
uli2a(va_arg(va, unsigned long int), 10, 0, bf);
else
#endif
ui2a(va_arg(va, unsigned int), 10, 0, bf);
putchw(putp, putf, w, lz, bf);
break;
}
case 'd':{
#ifdef PRINTF_LONG_SUPPORT
if (lng)
li2a(va_arg(va, unsigned long int), bf);
else
#endif
i2a(va_arg(va, int), bf);
putchw(putp, putf, w, lz, bf);
break;
}
case 'x':
case 'X':
#ifdef PRINTF_LONG_SUPPORT
if (lng)
uli2a(va_arg(va, unsigned long int), 16, (ch == 'X'), bf);
else
#endif
ui2a(va_arg(va, unsigned int), 16, (ch == 'X'), bf);
putchw(putp, putf, w, lz, bf);
break;
case 'c':
putf(putp, (char) (va_arg(va, int)));
break;
case 's':
putchw(putp, putf, w, 0, va_arg(va, char *));
break;
case '%':
putf(putp, ch);
default:
break;
}
}
}
abort:;
}
void init_printf(void *putp, void (*putf) (void *, char))
{
stdout_putf = putf;
stdout_putp = putp;
}
void tfp_printf(char *fmt, ...)
{
va_list va;
va_start(va, fmt);
tfp_format(stdout_putp, stdout_putf, fmt, va);
va_end(va);
while (!uartTransmitEmpty());
}
static void putcp(void *p, char c)
{
*(*((char **) p))++ = c;
}
void tfp_sprintf(char *s, char *fmt, ...)
{
va_list va;
va_start(va, fmt);
tfp_format(&s, putcp, fmt, va);
putcp(&s, 0);
va_end(va);
}

121
src/printf.h Normal file
View file

@ -0,0 +1,121 @@
/*
File: printf.h
Copyright (c) 2004,2012 Kustaa Nyholm / SpareTimeLabs
All rights reserved.
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This library is realy just two files: 'printf.h' and 'printf.c'.
They provide a simple and small (+200 loc) printf functionality to
be used in embedded systems.
I've found them so usefull in debugging that I do not bother with a
debugger at all.
They are distributed in source form, so to use them, just compile them
into your project.
Two printf variants are provided: printf and sprintf.
The formats supported by this implementation are: 'd' 'u' 'c' 's' 'x' 'X'.
Zero padding and field width are also supported.
If the library is compiled with 'PRINTF_SUPPORT_LONG' defined then the
long specifier is also
supported. Note that this will pull in some long math routines (pun intended!)
and thus make your executable noticably longer.
The memory foot print of course depends on the target cpu, compiler and
compiler options, but a rough guestimate (based on a H8S target) is about
1.4 kB for code and some twenty 'int's and 'char's, say 60 bytes of stack space.
Not too bad. Your milage may vary. By hacking the source code you can
get rid of some hunred bytes, I'm sure, but personally I feel the balance of
functionality and flexibility versus code size is close to optimal for
many embedded systems.
To use the printf you need to supply your own character output function,
something like :
void putc ( void* p, char c)
{
while (!SERIAL_PORT_EMPTY) ;
SERIAL_PORT_TX_REGISTER = c;
}
Before you can call printf you need to initialize it to use your
character output function with something like:
init_printf(NULL,putc);
Notice the 'NULL' in 'init_printf' and the parameter 'void* p' in 'putc',
the NULL (or any pointer) you pass into the 'init_printf' will eventually be
passed to your 'putc' routine. This allows you to pass some storage space (or
anything realy) to the character output function, if necessary.
This is not often needed but it was implemented like that because it made
implementing the sprintf function so neat (look at the source code).
The code is re-entrant, except for the 'init_printf' function, so it
is safe to call it from interupts too, although this may result in mixed output.
If you rely on re-entrancy, take care that your 'putc' function is re-entrant!
The printf and sprintf functions are actually macros that translate to
'tfp_printf' and 'tfp_sprintf'. This makes it possible
to use them along with 'stdio.h' printf's in a single source file.
You just need to undef the names before you include the 'stdio.h'.
Note that these are not function like macros, so if you have variables
or struct members with these names, things will explode in your face.
Without variadic macros this is the best we can do to wrap these
fucnction. If it is a problem just give up the macros and use the
functions directly or rename them.
For further details see source code.
regs Kusti, 23.10.2004
*/
#ifndef __TFP_PRINTF__
#define __TFP_PRINTF__
#include <stdarg.h>
void init_printf(void *putp, void (*putf) (void *, char));
void tfp_printf(char *fmt, ...);
void tfp_sprintf(char *s, char *fmt, ...);
void tfp_format(void *putp, void (*putf) (void *, char), char *fmt, va_list va);
#define printf tfp_printf
#define sprintf tfp_sprintf
#endif