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New printf implementation

This commit is contained in:
Benjamin Vedder 2014-08-15 22:17:06 +02:00
parent 2c7017c3a3
commit eeff8543ea
4 changed files with 43 additions and 45 deletions
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22
comm.c
View File

@ -36,6 +36,8 @@
#include <math.h>
#include <string.h>
#include <stdarg.h>
#include <stdio.h>
// Settings
#define PACKET_BUFFER_LEN 30
@ -51,6 +53,7 @@ static WORKING_AREA(serial_read_thread_wa, 1024);
static WORKING_AREA(serial_process_thread_wa, 2048);
static Mutex send_mutex;
static Thread *process_tp;
static char print_buffer[255];
// Private functions
static void handle_res_packet(unsigned char *data, unsigned char len);
@ -231,7 +234,6 @@ static void handle_nores_packet(unsigned char *data, unsigned char len) {
}
void comm_print(char* str) {
static char print_buffer[255];
int i;
print_buffer[0] = COMM_PRINT;
@ -246,6 +248,22 @@ void comm_print(char* str) {
return;
}
void comm_printf(char* format, ...) {
va_list arg;
va_start (arg, format);
int len;
print_buffer[0] = COMM_PRINT;
len = vsnprintf(print_buffer+1, 254, format, arg);
va_end (arg);
if(len>0) {
packet_send_packet((unsigned char*)print_buffer, (len<254)? len+1: 255, 0);
}
return;
}
void comm_send_samples(uint8_t *data, int len) {
uint8_t buffer[len + 1];
int index = 0;
@ -272,7 +290,7 @@ void comm_send_rotor_pos(float rotor_pos) {
void comm_print_fault_code(mc_fault_code fault_code) {
switch (fault_code) {
case FAULT_CODE_NONE:
comm_print("FAULT_CODE_NONE\n");
comm_printf("FAULT_CODE_NONE\n");
break;
case FAULT_CODE_OVER_VOLTAGE:

1
comm.h
View File

@ -49,6 +49,7 @@ typedef enum {
// Functions
void comm_init(void);
void comm_print(char* str);
void comm_printf(char* format, ...);
void comm_send_samples(uint8_t *data, int len);
void comm_send_rotor_pos(float rotor_pos);
void comm_print_fault_code(mc_fault_code fault_code);

4
conf_general.h
View File

@ -35,8 +35,8 @@
* Select only one hardware version
*/
//#define HW_VERSION_BW
//#define HW_VERSION_40
#define HW_VERSION_R2
#define HW_VERSION_40
//#define HW_VERSION_R2
/*
* Select only one motor configuration

61
terminal.c
View File

@ -37,7 +37,6 @@ void terminal_process_string(char *str) {
enum { kMaxArgs = 64 };
int argc = 0;
char *argv[kMaxArgs];
static char buffer[256];
char *p2 = strtok(str, " ");
while (p2 && argc < kMaxArgs) {
@ -56,24 +55,17 @@ void terminal_process_string(char *str) {
mcpwm_set_duty(0);
comm_print("Motor stopped\n");
} else if (strcmp(argv[0], "last_adc_duration") == 0) {
sprintf(buffer, "Latest ADC duration: %.4f ms", (double)(mcpwm_get_last_adc_isr_duration() * 1000.0));
comm_print(buffer);
sprintf(buffer, "Latest injected ADC duration: %.4f ms", (double)(mcpwm_get_last_inj_adc_isr_duration() * 1000.0));
comm_print(buffer);
sprintf(buffer, "Latest main ADC duration: %.4f ms\n", (double)(main_get_last_adc_isr_duration() * 1000.0));
comm_print(buffer);
comm_printf("Latest ADC duration: %.4f ms", (double)(mcpwm_get_last_adc_isr_duration() * 1000.0));
comm_printf("Latest injected ADC duration: %.4f ms", (double)(mcpwm_get_last_inj_adc_isr_duration() * 1000.0));
comm_printf("Latest main ADC duration: %.4f ms\n", (double)(main_get_last_adc_isr_duration() * 1000.0));
} else if (strcmp(argv[0], "kv") == 0) {
sprintf(buffer, "Calculated KV: %.2f rpm/volt\n", (double)mcpwm_get_kv_filtered());
comm_print(buffer);
comm_printf("Calculated KV: %.2f rpm/volt\n", (double)mcpwm_get_kv_filtered());
} else if (strcmp(argv[0], "mem") == 0) {
size_t n, size;
n = chHeapStatus(NULL, &size);
sprintf(buffer, "core free memory : %u bytes", chCoreStatus());
comm_print(buffer);
sprintf(buffer, "heap fragments : %u", n);
comm_print(buffer);
sprintf(buffer, "heap free total : %u bytes\n", size);
comm_print(buffer);
comm_printf("core free memory : %u bytes", chCoreStatus());
comm_printf("heap fragments : %u", n);
comm_printf("heap free total : %u bytes\n", size);
} else if (strcmp(argv[0], "threads") == 0) {
Thread *tp;
static const char *states[] = {THD_STATE_NAMES};
@ -81,22 +73,19 @@ void terminal_process_string(char *str) {
comm_print("-------------------------------------------------------------");
tp = chRegFirstThread();
do {
sprintf(buffer, "%.8lx %.8lx %4lu %4lu %9s %14s %lu",
comm_printf("%.8lx %.8lx %4lu %4lu %9s %14s %lu",
(uint32_t)tp, (uint32_t)tp->p_ctx.r13,
(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
states[tp->p_state], tp->p_name, (uint32_t)tp->p_time);
comm_print(buffer);
tp = chRegNextThread(tp);
} while (tp != NULL);
comm_print("");
} else if (strcmp(argv[0], "fault") == 0) {
comm_print_fault_code(mcpwm_get_fault());
} else if (strcmp(argv[0], "rpm") == 0) {
sprintf(buffer, "Electrical RPM: %.2f rpm\n", (double)mcpwm_get_rpm());
comm_print(buffer);
comm_printf("Electrical RPM: %.2f rpm\n", (double)mcpwm_get_rpm());
} else if (strcmp(argv[0], "tacho") == 0) {
sprintf(buffer, "Tachometer counts: %i\n", mcpwm_get_tachometer_value(0));
comm_print(buffer);
comm_printf("Tachometer counts: %i\n", mcpwm_get_tachometer_value(0));
} else if (strcmp(argv[0], "tim") == 0) {
TIM_Cmd(TIM1, DISABLE);
int t1_cnt = TIM1->CNT;
@ -107,23 +96,15 @@ void terminal_process_string(char *str) {
int current1_samp = TIM1->CCR4;
int current2_samp = TIM8->CCR2;
TIM_Cmd(TIM1, ENABLE);
sprintf(buffer, "Tim1 CNT: %i", t1_cnt);
comm_print(buffer);
sprintf(buffer, "Tim8 CNT: %u", t8_cnt);
comm_print(buffer);
sprintf(buffer, "Duty cycle: %u", duty);
comm_print(buffer);
sprintf(buffer, "Top: %u", top);
comm_print(buffer);
sprintf(buffer, "Voltage sample: %u", voltage_samp);
comm_print(buffer);
sprintf(buffer, "Current 1 sample: %u", current1_samp);
comm_print(buffer);
sprintf(buffer, "Current 2 sample: %u\n", current2_samp);
comm_print(buffer);
comm_printf("Tim1 CNT: %i", t1_cnt);
comm_printf("Tim8 CNT: %u", t8_cnt);
comm_printf("Duty cycle: %u", duty);
comm_printf("Top: %u", top);
comm_printf("Voltage sample: %u", voltage_samp);
comm_printf("Current 1 sample: %u", current1_samp);
comm_printf("Current 2 sample: %u\n", current2_samp);
} else if (strcmp(argv[0], "volt") == 0) {
sprintf(buffer, "Input voltage: %.2f\n", GET_INPUT_VOLTAGE());
comm_print(buffer);
comm_printf("Input voltage: %.2f\n", (double)GET_INPUT_VOLTAGE());
}
// Setters
@ -138,9 +119,8 @@ void terminal_process_string(char *str) {
if (dir >= 0 && fwd_add >= 0 && rev_add >= 0) {
mcpwm_init_hall_table(dir, fwd_add, rev_add);
sprintf(buffer, "New hall sensor dir: %i fwd_add %i rev_add %i\n",
comm_printf("New hall sensor dir: %i fwd_add %i rev_add %i\n",
dir, fwd_add, rev_add);
comm_print(buffer);
} else {
comm_print("Invalid argument(s).\n");
}
@ -191,8 +171,7 @@ void terminal_process_string(char *str) {
comm_print("volt");
comm_print(" Prints different voltages\n");
} else {
sprintf(buffer, "Invalid command: %s\n"
comm_printf("Invalid command: %s\n"
"type help to list all available commands\n", argv[0]);
comm_print(buffer);
}
}