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Alvin/fix #1

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a5902f7
remove prints
thomas-skydio Nov 20, 2019
69ce453
third party printf lib added
thomas-skydio Nov 21, 2019
0c7de29
turn off all tests
thomas-skydio Nov 22, 2019
dc8a0ea
move third party prints away
thomas-skydio Nov 22, 2019
7728ec7
remove doc group for bsp print
thomas-skydio Nov 23, 2019
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8 changes: 4 additions & 4 deletions BSP/bsp_error_handler.c
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Expand Up @@ -27,9 +27,9 @@
#include "bsp_error_handler.h"

void bsp_error_handler(const char* func, int line, char* msg) {
print("[ERROR at ");
print("%s:", func);
print("%d] ", line);
print("%s\r\n", msg);
printf("[ERROR at ");
printf("%s:", func);
printf("%d] ", line);
printf("%s\r\n", msg);
return;
}
2 changes: 1 addition & 1 deletion BSP/bsp_error_handler.h
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Expand Up @@ -35,7 +35,7 @@
* @{
*/

#define BSP_DEBUG print("[DEBUG] %s:%d ", __FUNCTION__, __LINE__)
#define BSP_DEBUG printf("[DEBUG] %s:%d ", __FUNCTION__, __LINE__)

/**
* Handle error condition printf etc.
Expand Down
1 change: 0 additions & 1 deletion BSP/bsp_gpio.h
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Expand Up @@ -29,7 +29,6 @@

#include "stm32f4xx_hal.h"
#include "bsp_error_handler.h"
#include "bsp_print.h"
#include "bsp_key.h"
#include "main.h"

Expand Down
1 change: 0 additions & 1 deletion BSP/bsp_imu.h
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Expand Up @@ -30,7 +30,6 @@
#include "bsp_mpu6500_reg.h"
#include "bsp_ist8310_reg.h"
#include "bsp_error_handler.h"
#include "bsp_print.h"
#include "spi.h"
#include "main.h"

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4 changes: 3 additions & 1 deletion BSP/bsp_key.c
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Expand Up @@ -24,6 +24,8 @@
* @log 2018-05-27 nickelliang
*/

#include "bsp_print.h"

#include "bsp_key.h"

static uint32_t key_previous_tick;
Expand Down Expand Up @@ -91,6 +93,6 @@ uint16_t key_pressed_time(void) {
}

void wait_until_key_pressed(void) {
print("Please press the key to continue...\r\n");
printf("Please press the key to continue...\r\n");
while (!key_pressed_once());
}
1 change: 0 additions & 1 deletion BSP/bsp_key.h
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Expand Up @@ -29,7 +29,6 @@

#include "stm32f4xx_hal.h"
#include "main.h"
#include "bsp_print.h"

/**
* @ingroup bsp
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2 changes: 0 additions & 2 deletions BSP/bsp_oled.h
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Expand Up @@ -29,12 +29,10 @@

#include "stm32f4xx_hal.h"
#include "bsp_error_handler.h"
#include "bsp_print.h"
#include "bsp_config.h"
#include "bsp_adc.h"
#include "spi.h"
#include "math.h"
#include <stdio.h>
#include <stdarg.h>
#include <stdint.h>

Expand Down
22 changes: 7 additions & 15 deletions BSP/bsp_print.c
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Expand Up @@ -16,21 +16,13 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*************************************************************************/

#include "bsp_config.h"
#include "bsp_print.h"
#include "cmsis_os.h"
#include <stdarg.h>
#include <stdlib.h>

void print(const char *fmt, ...) {
if (PRINT_TO_UART == 1) {
char *printf_temp = pvPortMalloc(512*sizeof(char));
va_list args;
va_start(args, fmt);
vsprintf(printf_temp, fmt, args);
va_end(args);
HAL_UART_Transmit(&BSP_PRINT_PORT, (uint8_t*)printf_temp, strlen(printf_temp), 200);
vPortFree(printf_temp);
}
if (PRINT_TO_SD == 1)
return;
#include "stm32f4xx_hal.h"

// implement low level io for third party printf library
void _putchar(char ch) {
HAL_UART_Transmit(&BSP_PRINT_PORT, (uint8_t*)&ch, 1, 0xffff);
}

22 changes: 1 addition & 21 deletions BSP/bsp_print.h
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Expand Up @@ -27,26 +27,6 @@
#ifndef _BSP_PRINT_H_
#define _BSP_PRINT_H_

#include "stm32f4xx_hal.h"
#include "bsp_config.h"
#include <string.h>

/**
* @ingroup bsp
* @defgroup bsp_print BSP Print
* @{
*/

/**
* Implementation of printf equivalent in embedded system
*
* @param fmt formatted string
* @param ... variable length arguments
* @author Yixiao Sun
* @date 2017-12-20
*/
void print(const char *fmt, ...);

/** @} */
#include "printf.h" // third party tiny-printf implemnetations

#endif // _BSP_PRINT_
43 changes: 23 additions & 20 deletions Libraries/data_process.c
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Expand Up @@ -24,6 +24,9 @@
* @log 2018-05-26 nickelliang
*/

#include <string.h>

#include "bsp_print.h"
#include "data_process.h"

data_process_t* data_process_init(UART_HandleTypeDef *huart, osMutexId mutex, uint32_t fifo_size, uint16_t buffer_size, uint8_t sof, dispatcher_func_t dispatcher_func, void *source_struct, osMutexId tx_mutex, packer_func_t packer_func) {
Expand All @@ -50,40 +53,40 @@ data_process_t* data_process_init(UART_HandleTypeDef *huart, osMutexId mutex, ui
source->data_fifo = fifo_s_create(fifo_size, mutex);
if (source->data_fifo == NULL) {
bsp_error_handler(__FUNCTION__, __LINE__, "Unable to allocate FIFO for data process object.");
free(source);
vPortFree(source);
return NULL;
}

source->buff[0] = (uint8_t*)pvPortMalloc(2 * source->buff_size);
if (source->buff[0] == NULL) {
bsp_error_handler(__FUNCTION__, __LINE__, "Unable to allocate DMA buffer for data process object.");
fifo_s_destory(source->data_fifo);
free(source);
vPortFree(source);
return NULL;
}
source->buff[1] = source->buff[0] + source->buff_size;
#ifdef DEBUG
BSP_DEBUG;
print("source->buff[0] 0x%08x ", source->buff[0]);
print("source->buff[1] 0x%08x \r\n", source->buff[1]);
printf("source->buff[0] 0x%08x ", source->buff[0]);
printf("source->buff[1] 0x%08x \r\n", source->buff[1]);
#endif

source->frame_packet = (uint8_t*)pvPortMalloc(fifo_size);
if (source->frame_packet == NULL) {
bsp_error_handler(__FUNCTION__, __LINE__, "Unable to allocate frame packet buffer for data process object.");
free(source->buff[0]);
vPortFree(source->buff[0]);
fifo_s_destory(source->data_fifo);
free(source);
vPortFree(source);
return NULL;
}

source->transmit_fifo = fifo_s_create(fifo_size, tx_mutex);
if (source->transmit_fifo == NULL) {
bsp_error_handler(__FUNCTION__, __LINE__, "Unable to allocate transmit FIFO for data process object.");
free(source->frame_packet);
free(source->buff[0]);
vPortFree(source->frame_packet);
vPortFree(source->buff[0]);
fifo_s_destory(source->data_fifo);
free(source);
vPortFree(source);
return NULL;
}

Expand Down Expand Up @@ -158,8 +161,8 @@ static uint8_t buffer_to_fifo(data_process_t *source) {
return 0;
}
if (write_len != fifo_s_puts(source->data_fifo, &buff[source->read_index], write_len)) {
print("write index: %d\r\n", write_index);
print("memory target: %d\r\n", dma_memory_target);
printf("write index: %d\r\n", write_index);
printf("memory target: %d\r\n", dma_memory_target);
bsp_error_handler(__FUNCTION__, __LINE__, "FIFO overflow, need to resize.");
return 0;
}
Expand All @@ -174,11 +177,11 @@ static uint8_t buffer_to_fifo(data_process_t *source) {

#ifdef DEBUG
BSP_DEBUG;
print("Total write len: %d\r\n", total_write_len);
print("Mem target: %u\r\n", dma_memory_target);
print("Mem remain: %d\r\n", dma_remain_space);
print("Write index: %d\r\n", write_index);
print("\r\n");
printf("Total write len: %d\r\n", total_write_len);
printf("Mem target: %u\r\n", dma_memory_target);
printf("Mem remain: %d\r\n", dma_remain_space);
printf("Write index: %d\r\n", write_index);
printf("\r\n");
#endif

/* General write condition */
Expand All @@ -199,9 +202,9 @@ static uint8_t fifo_to_struct(data_process_t *source) {
while (!fifo_is_empty(source->data_fifo)) {
byte = fifo_s_peek(source->data_fifo, 0); // Peek head
#ifdef DEBUG
print("Byte: %02x\r\n", byte);
print("Used: %d\r\n", source->data_fifo->used);
print("Free: %d\r\n", source->data_fifo->free);
printf("Byte: %02x\r\n", byte);
printf("Used: %d\r\n", source->data_fifo->used);
printf("Free: %d\r\n", source->data_fifo->free);
#endif
if (byte != source->sof) {
fifo_s_get(source->data_fifo);
Expand All @@ -215,7 +218,7 @@ static uint8_t fifo_to_struct(data_process_t *source) {
}
#ifdef DEBUG
BSP_DEBUG;
print("End of loop.\r\n");
printf("End of loop.\r\n");
#endif
return flag;
}
Expand Down
26 changes: 13 additions & 13 deletions Libraries/imu_onboard.c
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Expand Up @@ -27,25 +27,25 @@ void print_mpu_data(imu_t* imu) {
return;
}
mpu6500_get_data(imu);
print("[DECODED MPU] ");
print("Acce X %f \tY %f \t", imu->acce.x, imu->acce.y);
print("Z %f \t| ", imu->acce.z);
print("Gyro X %f \tY %f \t", imu->gyro.x, imu->gyro.y);
print("Z %f \t| ", imu->gyro.z);
print("Temp %f\r\n", imu->temp);
printf("[DECODED MPU] ");
printf("Acce X %f \tY %f \t", imu->acce.x, imu->acce.y);
printf("Z %f \t| ", imu->acce.z);
printf("Gyro X %f \tY %f \t", imu->gyro.x, imu->gyro.y);
printf("Z %f \t| ", imu->gyro.z);
printf("Temp %f\r\n", imu->temp);
}

void print_imu_data(void){
print("Angle X %.2f \tY %.2f", imuBoard.angle[0], imuBoard.angle[1]);
print(" \tZ %.2f \t| ", imuBoard.angle[2]);
print("\r\n");
print("ZBias X %.2f \tY %.2f", imuBoard.angle_zero_bias[0], imuBoard.angle_zero_bias[1]);
print(" \tZ %.2f \t| ", imuBoard.angle_zero_bias[2]);
print("\r\n");
printf("Angle X %.2f \tY %.2f", imuBoard.angle[0], imuBoard.angle[1]);
printf(" \tZ %.2f \t| ", imuBoard.angle[2]);
printf("\r\n");
printf("ZBias X %.2f \tY %.2f", imuBoard.angle_zero_bias[0], imuBoard.angle_zero_bias[1]);
printf(" \tZ %.2f \t| ", imuBoard.angle_zero_bias[2]);
printf("\r\n");
}

void onboard_imu_lib_init(void){
print("Initializing and calibrating onboard imu\r\n");
printf("Initializing and calibrating onboard imu\r\n");
for(int i = 0; i < 3; ++i){
imuBoard.angle[i] = 0;
for(int j = 0; j < 2; ++j){
Expand Down
41 changes: 21 additions & 20 deletions Libraries/motor.c
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Expand Up @@ -16,6 +16,7 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*************************************************************************/

#include "bsp_print.h"
#include "motor.h"
#include "utils.h"
#include <stdlib.h>
Expand All @@ -34,12 +35,12 @@ static void get_3508_data(motor_t* motor, uint8_t buf[CAN_DATA_SIZE]) {
}

static void print_3508_data(motor_t* motor) {
print("== 3508 at CAN bus %u node %x ==\r\n", motor->as.mdjican.can_id, motor->as.mdjican.rx_id);
print("Angle %d\n", motor->as.m3508.angle);
print("Current %d\n", motor->as.m3508.current_get);
print("Speed %d\n", motor->as.m3508.speed_rpm);
print("Temperature %u\n", motor->as.m3508.temperature);
print("================================\r\n");
printf("== 3508 at CAN bus %u node %x ==\r\n", motor->as.mdjican.can_id, motor->as.mdjican.rx_id);
printf("Angle %d\n", motor->as.m3508.angle);
printf("Current %d\n", motor->as.m3508.current_get);
printf("Speed %d\n", motor->as.m3508.speed_rpm);
printf("Temperature %u\n", motor->as.m3508.temperature);
printf("================================\r\n");
}

static void get_6623_data(motor_t *motor, uint8_t buf[CAN_DATA_SIZE]) {
Expand All @@ -52,11 +53,11 @@ static void get_6623_data(motor_t *motor, uint8_t buf[CAN_DATA_SIZE]) {
}

static void print_6623_data(motor_t* motor) {
print("== 6623 at CAN bus %u node %x ==\r\n", motor->as.mdjican.can_id, motor->as.mdjican.rx_id);
print("Angle %d\r\n", motor->as.m6623.angle);
print("Current %d\r\n", motor->as.m6623.current_get);
print("Set Current %d\r\n", motor->as.m6623.current_set);
print("================================\r\n");
printf("== 6623 at CAN bus %u node %x ==\r\n", motor->as.mdjican.can_id, motor->as.mdjican.rx_id);
printf("Angle %d\r\n", motor->as.m6623.angle);
printf("Current %d\r\n", motor->as.m6623.current_get);
printf("Set Current %d\r\n", motor->as.m6623.current_set);
printf("================================\r\n");
}

static void get_3510_data(motor_t *motor, uint8_t buf[CAN_DATA_SIZE]) {
Expand All @@ -67,10 +68,10 @@ static void get_3510_data(motor_t *motor, uint8_t buf[CAN_DATA_SIZE]) {
}

static void print_3510_data(motor_t* motor) {
print("== 3510 at CAN bus %u node %x ==\n", motor->as.mdjican.can_id, motor->as.mdjican.rx_id);
print("Angle %d\n", motor->as.m3510.angle);
print("Current %d\n", motor->as.m3510.current_get);
print("================================\n");
printf("== 3510 at CAN bus %u node %x ==\n", motor->as.mdjican.can_id, motor->as.mdjican.rx_id);
printf("Angle %d\n", motor->as.m3510.angle);
printf("Current %d\n", motor->as.m3510.current_get);
printf("================================\n");
}

static void get_2006_data(motor_t *motor, uint8_t buf[CAN_DATA_SIZE]) {
Expand All @@ -83,11 +84,11 @@ static void get_2006_data(motor_t *motor, uint8_t buf[CAN_DATA_SIZE]) {
}

static void print_2006_data(motor_t* motor) {
print("== 2006 at CAN bus %u node %x ==\n", motor->as.mdjican.can_id, motor->as.mdjican.rx_id);
print("Angle %d\n", motor->as.m2006.angle);
print("Current %d\n", motor->as.m2006.current_get);
print("Speed %d\n", motor->as.m2006.speed_rpm);
print("================================\n");
printf("== 2006 at CAN bus %u node %x ==\n", motor->as.mdjican.can_id, motor->as.mdjican.rx_id);
printf("Angle %d\n", motor->as.m2006.angle);
printf("Current %d\n", motor->as.m2006.current_get);
printf("Speed %d\n", motor->as.m2006.speed_rpm);
printf("================================\n");
}

static uint8_t match_id(uint16_t *old_id, uint16_t new_id) {
Expand Down
1 change: 0 additions & 1 deletion Libraries/motor.h
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Expand Up @@ -37,7 +37,6 @@
#include "bsp_can.h"
#include "bsp_pwm.h"
#include "bsp_error_handler.h"
#include "bsp_print.h"

#define CAN1_ID 1
#define CAN2_ID 2
Expand Down
4 changes: 3 additions & 1 deletion Libraries/oled_module.c
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Expand Up @@ -24,6 +24,8 @@
* @log 2018-05-30 nickelliang
*/

#include "bsp_print.h"

#include "oled_module.h"
#include "oled_module_resource.h"

Expand Down Expand Up @@ -244,7 +246,7 @@ void oled_printf(const char *fmt, ...) {
va_list ap;

va_start(ap, fmt);
vsprintf((char*)OLED_PRINT_BUF, fmt, ap);
vsnprintf((char*)OLED_PRINT_BUF, CHAR_MAX_PRINT, fmt, ap);
va_end(ap);

oled_puts(&cursor_row, &cursor_col, OLED_PRINT_BUF, OLED_ON);
Expand Down
4 changes: 3 additions & 1 deletion Libraries/oled_module.h
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Expand Up @@ -27,8 +27,10 @@
#ifndef _OLED_MODULE_H_
#define _OLED_MODULE_H_

#include "bsp_oled.h"
#include <stdlib.h>
#include <string.h>

#include "bsp_oled.h"

/* TODO: Function documentation incomplete */

Expand Down
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