feat: 移植 lwprintf
feat: 创建 can 发送接口 feat: 添加编码器读数接口
This commit is contained in:
@@ -68,6 +68,9 @@
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{
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{
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"path": "project/src/at32f413_wk_config.c"
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"path": "project/src/at32f413_wk_config.c"
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},
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},
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{
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"path": "project/src/by_debug.c"
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},
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{
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{
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"path": "project/src/main.c"
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"path": "project/src/main.c"
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}
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}
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@@ -129,7 +132,8 @@
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".eide/deps",
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".eide/deps",
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"3rd-part/dwt_delay",
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"3rd-part/dwt_delay",
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"3rd-part/PID-Library",
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"3rd-part/PID-Library",
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"app"
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"app",
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"3rd-part/lwprintf"
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],
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],
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"libList": [],
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"libList": [],
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"sourceDirList": [],
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"sourceDirList": [],
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400
3rd-part/lwprintf/.gitignore
vendored
Normal file
400
3rd-part/lwprintf/.gitignore
vendored
Normal file
@@ -0,0 +1,400 @@
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|||||||
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#Build Keil files
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*.rar
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*.o
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!CMakeLists.txt
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RTE/
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*debug
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||||||
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# IAR Settings
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||||||
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**/settings/*.crun
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||||||
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**/settings/*.dbgdt
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||||||
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**/settings/*.cspy
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||||||
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**/settings/*.cspy.*
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**/settings/*.xcl
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**/settings/*.dni
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||||||
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**/settings/*.wsdt
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||||||
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**/settings/*.wspos
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||||||
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||||||
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# IAR Debug Exe
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||||||
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**/Exe/*.sim
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||||||
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||||||
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# IAR Debug Obj
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||||||
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**/Obj/*.pbd
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||||||
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**/Obj/*.pbd.*
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||||||
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**/Obj/*.pbi
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||||||
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# Uncomment if you have tasks that create the project's static files in wwwroot
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# NUNIT
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|
# Build Results of an ATL Project
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|
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|
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_Chutzpah*
|
||||||
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|
||||||
|
# Visual C++ cache files
|
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# TFS 2012 Local Workspace
|
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$tf/
|
||||||
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||||||
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# Guidance Automation Toolkit
|
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*.gpState
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|
||||||
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# ReSharper is a .NET coding add-in
|
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_ReSharper*/
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*.[Rr]e[Ss]harper
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||||||
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||||||
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# JustCode is a .NET coding add-in
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# TeamCity is a build add-in
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_TeamCity*
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# AxoCover is a Code Coverage Tool
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# Visual Studio code coverage results
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_NCrunch_*
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.*crunch*.local.xml
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||||||
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nCrunchTemp_*
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||||||
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# MightyMoose
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*.mm.*
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AutoTest.Net/
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# Web workbench (sass)
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# Installshield output folder
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# but database connection strings (with potential passwords) will be unencrypted
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# Microsoft Azure Web App publish settings. Comment the next line if you want to
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# checkin your Azure Web App publish settings, but sensitive information contained
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# in these scripts will be unencrypted
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PublishScripts/
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||||||
|
# NuGet Packages
|
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*.nupkg
|
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# The packages folder can be ignored because of Package Restore
|
||||||
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**/[Pp]ackages/*
|
||||||
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# except build/, which is used as an MSBuild target.
|
||||||
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|
||||||
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# Uncomment if necessary however generally it will be regenerated when needed
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#!**/[Pp]ackages/repositories.config
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# NuGet v3's project.json files produces more ignorable files
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# Microsoft Azure Build Output
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~$*
|
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*~
|
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|
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|
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|
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# (https://github.com/github/gitignore/pull/2483#issue-259490424)
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# Since there are multiple workflows, uncomment next line to ignore bower_components
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# (https://github.com/github/gitignore/pull/1529#issuecomment-104372622)
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|
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|
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Backup*/
|
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UpgradeLog*.XML
|
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UpgradeLog*.htm
|
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|
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|
# SQL Server files
|
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|
*.mdf
|
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|
*.ldf
|
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*.ndf
|
||||||
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|
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|
# Business Intelligence projects
|
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|
*.rdl.data
|
||||||
|
*.bim.layout
|
||||||
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*.bim_*.settings
|
||||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||||
|
# Visual Studio 6 auto-generated workspace file (contains which files were open etc.)
|
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|
*.vbw
|
||||||
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|
||||||
|
# Visual Studio LightSwitch build output
|
||||||
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**/*.HTMLClient/GeneratedArtifacts
|
||||||
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**/*.DesktopClient/GeneratedArtifacts
|
||||||
|
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|
||||||
|
**/*.Server/GeneratedArtifacts
|
||||||
|
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|
||||||
|
_Pvt_Extensions
|
||||||
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|
||||||
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# Paket dependency manager
|
||||||
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|
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paket-files/
|
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|
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# FAKE - F# Make
|
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.fake/
|
||||||
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|
||||||
|
# JetBrains Rider
|
||||||
|
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*.sln.iml
|
||||||
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# CodeRush
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||||||
|
# Python Tools for Visual Studio (PTVS)
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||||||
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__pycache__/
|
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*.pyc
|
||||||
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|
||||||
|
# Cake - Uncomment if you are using it
|
||||||
|
# tools/**
|
||||||
|
# !tools/packages.config
|
||||||
|
|
||||||
|
# Tabs Studio
|
||||||
|
*.tss
|
||||||
|
|
||||||
|
# Telerik's JustMock configuration file
|
||||||
|
*.jmconfig
|
||||||
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|
||||||
|
# BizTalk build output
|
||||||
|
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|
||||||
|
*.btm.cs
|
||||||
|
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|
||||||
|
*.xsd.cs
|
||||||
|
|
||||||
|
# OpenCover UI analysis results
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||||||
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|
||||||
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|
||||||
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# Azure Stream Analytics local run output
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|
||||||
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|
||||||
|
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|
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|
||||||
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|
||||||
|
log_file.txt
|
||||||
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|
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||||||
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|
||||||
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||||||
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mx.scratch
|
||||||
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*.tilen majerle
|
||||||
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|
||||||
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|
||||||
|
# Altium
|
||||||
|
Project outputs*
|
||||||
|
History/
|
||||||
|
*.SchDocPreview
|
||||||
|
*.$$$Preview
|
||||||
|
|
||||||
|
# VSCode projects
|
||||||
|
project_vscode_compiled.exe
|
||||||
6
3rd-part/lwprintf/AUTHORS
Normal file
6
3rd-part/lwprintf/AUTHORS
Normal file
@@ -0,0 +1,6 @@
|
|||||||
|
Tilen Majerle <tilen.majerle@gmail.com>
|
||||||
|
Tilen Majerle <tilen@majerle.eu>
|
||||||
|
Okarss <104319900+Okarss@users.noreply.github.com>
|
||||||
|
Dmitry Karasev <karasevsdmitry@yandex.ru>
|
||||||
|
Brian <bayuan@purdue.edu>
|
||||||
|
Peter Maxwell Warasila <madmaxwell@soundcomesout.com>
|
||||||
41
3rd-part/lwprintf/CHANGELOG.md
Normal file
41
3rd-part/lwprintf/CHANGELOG.md
Normal file
@@ -0,0 +1,41 @@
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|||||||
|
# Changelog
|
||||||
|
|
||||||
|
## Develop
|
||||||
|
|
||||||
|
- Add `lwprintf_debug` and `lwprintf_debug_cond` functions
|
||||||
|
|
||||||
|
## v1.0.5
|
||||||
|
|
||||||
|
- Fix building the library with `LWPRINTF_CFG_OS=1` and `LWPRINTF_CFG_OS_MANUAL_PROTECT=0` options
|
||||||
|
|
||||||
|
## v1.0.4
|
||||||
|
|
||||||
|
- Fix calculation for NULL terminated string and precision with 0 as an input
|
||||||
|
- Split CMakeLists.txt files between library and executable
|
||||||
|
- Fix missing break in switch statement
|
||||||
|
- Add support for manual mutual-exclusion setup in OS mode
|
||||||
|
- Change license year to 2022
|
||||||
|
- Update code style with astyle
|
||||||
|
- Add `.clang-format` draft
|
||||||
|
- Fix protection functions for when print mode is not used
|
||||||
|
|
||||||
|
## v1.0.3
|
||||||
|
|
||||||
|
- CMSIS-OS improvements for Kernel aware debuggers
|
||||||
|
|
||||||
|
## v1.0.2
|
||||||
|
|
||||||
|
- Fixed `float` output when engineering mode is disabled
|
||||||
|
|
||||||
|
## v1.0.1
|
||||||
|
|
||||||
|
- Fixed compiler error when engineering mode disabled but float enabled
|
||||||
|
- Properly handled `zero` float inputs
|
||||||
|
|
||||||
|
## v1.0.0
|
||||||
|
|
||||||
|
- First stable release
|
||||||
|
- Embedded systems optimized library
|
||||||
|
- Apply all modifiers except `%a`
|
||||||
|
- Extensive docs available
|
||||||
|
- Operating system ready with CMSIS-OS template
|
||||||
21
3rd-part/lwprintf/LICENSE
Normal file
21
3rd-part/lwprintf/LICENSE
Normal file
@@ -0,0 +1,21 @@
|
|||||||
|
MIT License
|
||||||
|
|
||||||
|
Copyright (c) 2024 Tilen MAJERLE
|
||||||
|
|
||||||
|
Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||||
|
of this software and associated documentation files (the "Software"), to deal
|
||||||
|
in the Software without restriction, including without limitation the rights
|
||||||
|
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||||
|
copies of the Software, and to permit persons to whom the Software is
|
||||||
|
furnished to do so, subject to the following conditions:
|
||||||
|
|
||||||
|
The above copyright notice and this permission notice shall be included in all
|
||||||
|
copies or substantial portions of the Software.
|
||||||
|
|
||||||
|
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||||
|
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||||
|
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||||
|
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||||
|
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||||
|
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||||
|
SOFTWARE.
|
||||||
29
3rd-part/lwprintf/README.md
Normal file
29
3rd-part/lwprintf/README.md
Normal file
@@ -0,0 +1,29 @@
|
|||||||
|
# Lightweight printf stdio manager
|
||||||
|
|
||||||
|
<h3>Read first: <a href="http://docs.majerle.eu/projects/lwprintf/">Documentation</a></h3>
|
||||||
|
|
||||||
|
## Features
|
||||||
|
|
||||||
|
* Written in C (C11), compatible with ``size_t`` and ``uintmax_t`` types for some specifiers
|
||||||
|
* Implements output functions compatible with ``printf``, ``vprintf``, ``snprintf``, ``sprintf`` and ``vsnprintf``
|
||||||
|
* Low-memory footprint, suitable for embedded systems
|
||||||
|
* Reentrant access to all API functions
|
||||||
|
* Operating-system ready
|
||||||
|
* Requires single output function to be implemented by user for ``printf``-like API calls
|
||||||
|
* With optional functions for operating systems to protect multiple threads printing to the same output stream
|
||||||
|
* Allows multiple output stream functions (unlike standard ``printf`` which supports only one) to separate parts of application
|
||||||
|
* Added additional specifiers vs original features
|
||||||
|
* User friendly MIT license
|
||||||
|
|
||||||
|
## Contribute
|
||||||
|
|
||||||
|
Fresh contributions are always welcome. Simple instructions to proceed:
|
||||||
|
|
||||||
|
1. Fork Github repository
|
||||||
|
2. Follow [C style & coding rules](https://github.com/MaJerle/c-code-style) already used in the project
|
||||||
|
3. Create a pull request to develop branch with new features or bug fixes
|
||||||
|
|
||||||
|
Alternatively you may:
|
||||||
|
|
||||||
|
1. Report a bug
|
||||||
|
2. Ask for a feature request
|
||||||
1274
3rd-part/lwprintf/lwprintf.c
Normal file
1274
3rd-part/lwprintf/lwprintf.c
Normal file
File diff suppressed because it is too large
Load Diff
313
3rd-part/lwprintf/lwprintf.h
Normal file
313
3rd-part/lwprintf/lwprintf.h
Normal file
@@ -0,0 +1,313 @@
|
|||||||
|
/**
|
||||||
|
* \file lwprintf.h
|
||||||
|
* \brief Lightweight stdio manager
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2024 Tilen MAJERLE
|
||||||
|
*
|
||||||
|
* Permission is hereby granted, free of charge, to any person
|
||||||
|
* obtaining a copy of this software and associated documentation
|
||||||
|
* files (the "Software"), to deal in the Software without restriction,
|
||||||
|
* including without limitation the rights to use, copy, modify, merge,
|
||||||
|
* publish, distribute, sublicense, and/or sell copies of the Software,
|
||||||
|
* and to permit persons to whom the Software is furnished to do so,
|
||||||
|
* subject to the following conditions:
|
||||||
|
*
|
||||||
|
* The above copyright notice and this permission notice shall be
|
||||||
|
* included in all copies or substantial portions of the Software.
|
||||||
|
*
|
||||||
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||||
|
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||||||
|
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
|
||||||
|
* AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||||||
|
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||||||
|
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||||||
|
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||||||
|
* OTHER DEALINGS IN THE SOFTWARE.
|
||||||
|
*
|
||||||
|
* This file is part of LwPRINTF - Lightweight stdio manager library.
|
||||||
|
*
|
||||||
|
* Author: Tilen MAJERLE <tilen@majerle.eu>
|
||||||
|
* Version: v1.0.5
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_HDR_H
|
||||||
|
#define LWPRINTF_HDR_H
|
||||||
|
|
||||||
|
#include <limits.h>
|
||||||
|
#include <stdarg.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include "lwprintf_opt.h"
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif /* __cplusplus */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \defgroup LWPRINTF Lightweight stdio manager
|
||||||
|
* \brief Lightweight stdio manager
|
||||||
|
* \{
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Unused variable macro
|
||||||
|
* \param[in] x: Unused variable
|
||||||
|
*/
|
||||||
|
#define LWPRINTF_UNUSED(x) ((void)(x))
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Calculate size of statically allocated array
|
||||||
|
* \param[in] x: Input array
|
||||||
|
* \return Number of array elements
|
||||||
|
*/
|
||||||
|
#define LWPRINTF_ARRAYSIZE(x) (sizeof(x) / sizeof((x)[0]))
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Forward declaration for LwPRINTF instance
|
||||||
|
*/
|
||||||
|
struct lwprintf;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Callback function for character output
|
||||||
|
* \param[in] ch: Character to print
|
||||||
|
* \param[in] lwobj: LwPRINTF instance
|
||||||
|
* \return `ch` on success, `0` to terminate further string processing
|
||||||
|
*/
|
||||||
|
typedef int (*lwprintf_output_fn)(int ch, struct lwprintf* lwobj);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief LwPRINTF instance
|
||||||
|
*/
|
||||||
|
typedef struct lwprintf {
|
||||||
|
lwprintf_output_fn out_fn; /*!< Output function for direct print operations */
|
||||||
|
#if LWPRINTF_CFG_OS || __DOXYGEN__
|
||||||
|
LWPRINTF_CFG_OS_MUTEX_HANDLE mutex; /*!< OS mutex handle */
|
||||||
|
#endif /* LWPRINTF_CFG_OS || __DOXYGEN__ */
|
||||||
|
} lwprintf_t;
|
||||||
|
|
||||||
|
uint8_t lwprintf_init_ex(lwprintf_t* lwobj, lwprintf_output_fn out_fn);
|
||||||
|
int lwprintf_vprintf_ex(lwprintf_t* const lwobj, const char* format, va_list arg);
|
||||||
|
int lwprintf_printf_ex(lwprintf_t* const lwobj, const char* format, ...);
|
||||||
|
int lwprintf_vsnprintf_ex(lwprintf_t* const lwobj, char* s, size_t n, const char* format, va_list arg);
|
||||||
|
int lwprintf_snprintf_ex(lwprintf_t* const lwobj, char* s, size_t n, const char* format, ...);
|
||||||
|
uint8_t lwprintf_protect_ex(lwprintf_t* const lwobj);
|
||||||
|
uint8_t lwprintf_unprotect_ex(lwprintf_t* const lwobj);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Write formatted data from variable argument list to sized buffer
|
||||||
|
* \param[in,out] lwobj: LwPRINTF instance. Set to `NULL` to use default instance
|
||||||
|
* \param[in] s: Pointer to a buffer where the resulting C-string is stored.
|
||||||
|
* The buffer should have a size of at least `n` characters
|
||||||
|
* \param[in] format: C string that contains a format string that follows the same specifications as format in printf
|
||||||
|
* \param[in] ...: Optional arguments for format string
|
||||||
|
* \return The number of characters that would have been written,
|
||||||
|
* not counting the terminating null character.
|
||||||
|
*/
|
||||||
|
#define lwprintf_sprintf_ex(lwobj, s, format, ...) lwprintf_snprintf_ex((lwobj), (s), SIZE_MAX, (format), ##__VA_ARGS__)
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Initialize default LwPRINTF instance
|
||||||
|
* \param[in] out_fn: Output function used for print operation
|
||||||
|
* \return `1` on success, `0` otherwise
|
||||||
|
* \sa lwprintf_init_ex
|
||||||
|
*/
|
||||||
|
#define lwprintf_init(out_fn) lwprintf_init_ex(NULL, (out_fn))
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Print formatted data from variable argument list to the output with default LwPRINTF instance
|
||||||
|
* \param[in] format: C string that contains the text to be written to output
|
||||||
|
* \param[in] arg: A value identifying a variable arguments list initialized with `va_start`.
|
||||||
|
* `va_list` is a special type defined in `<cstdarg>`.
|
||||||
|
* \return The number of characters that would have been written if `n` had been sufficiently large,
|
||||||
|
* not counting the terminating null character.
|
||||||
|
*/
|
||||||
|
#define lwprintf_vprintf(format, arg) lwprintf_vprintf_ex(NULL, (format), (arg))
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Print formatted data to the output with default LwPRINTF instance
|
||||||
|
* \param[in] format: C string that contains the text to be written to output
|
||||||
|
* \param[in] ...: Optional arguments for format string
|
||||||
|
* \return The number of characters that would have been written if `n` had been sufficiently large,
|
||||||
|
* not counting the terminating null character.
|
||||||
|
*/
|
||||||
|
#define lwprintf_printf(format, ...) lwprintf_printf_ex(NULL, (format), ##__VA_ARGS__)
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Write formatted data from variable argument list to sized buffer with default LwPRINTF instance
|
||||||
|
* \param[in] s: Pointer to a buffer where the resulting C-string is stored.
|
||||||
|
* The buffer should have a size of at least `n` characters
|
||||||
|
* \param[in] n: Maximum number of bytes to be used in the buffer.
|
||||||
|
* The generated string has a length of at most `n - 1`,
|
||||||
|
* leaving space for the additional terminating null character
|
||||||
|
* \param[in] format: C string that contains a format string that follows the same specifications as format in printf
|
||||||
|
* \param[in] arg: A value identifying a variable arguments list initialized with `va_start`.
|
||||||
|
* `va_list` is a special type defined in `<cstdarg>`.
|
||||||
|
* \return The number of characters that would have been written if `n` had been sufficiently large,
|
||||||
|
* not counting the terminating null character.
|
||||||
|
*/
|
||||||
|
#define lwprintf_vsnprintf(s, n, format, arg) lwprintf_vsnprintf_ex(NULL, (s), (n), (format), (arg))
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Write formatted data from variable argument list to sized buffer with default LwPRINTF instance
|
||||||
|
* \param[in] s: Pointer to a buffer where the resulting C-string is stored.
|
||||||
|
* The buffer should have a size of at least `n` characters
|
||||||
|
* \param[in] n: Maximum number of bytes to be used in the buffer.
|
||||||
|
* The generated string has a length of at most `n - 1`,
|
||||||
|
* leaving space for the additional terminating null character
|
||||||
|
* \param[in] format: C string that contains a format string that follows the same specifications as format in printf
|
||||||
|
* \param[in] ...: Optional arguments for format string
|
||||||
|
* \return The number of characters that would have been written if `n` had been sufficiently large,
|
||||||
|
* not counting the terminating null character.
|
||||||
|
*/
|
||||||
|
#define lwprintf_snprintf(s, n, format, ...) lwprintf_snprintf_ex(NULL, (s), (n), (format), ##__VA_ARGS__)
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Write formatted data from variable argument list to sized buffer with default LwPRINTF instance
|
||||||
|
* \param[in] s: Pointer to a buffer where the resulting C-string is stored.
|
||||||
|
* The buffer should have a size of at least `n` characters
|
||||||
|
* \param[in] format: C string that contains a format string that follows the same specifications as format in printf
|
||||||
|
* \param[in] ...: Optional arguments for format string
|
||||||
|
* \return The number of characters that would have been written,
|
||||||
|
* not counting the terminating null character.
|
||||||
|
*/
|
||||||
|
#define lwprintf_sprintf(s, format, ...) lwprintf_sprintf_ex(NULL, (s), (format), ##__VA_ARGS__)
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Manually enable mutual exclusion
|
||||||
|
* \return `1` if protected, `0` otherwise
|
||||||
|
*/
|
||||||
|
#define lwprintf_protect() lwprintf_protect_ex(NULL)
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Manually disable mutual exclusion
|
||||||
|
* \return `1` if protected, `0` otherwise
|
||||||
|
*/
|
||||||
|
#define lwprintf_unprotect() lwprintf_unprotect_ex(NULL)
|
||||||
|
|
||||||
|
#if LWPRINTF_CFG_ENABLE_SHORTNAMES || __DOXYGEN__
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \copydoc lwprintf_printf
|
||||||
|
* \note This function is equivalent to \ref lwprintf_printf
|
||||||
|
* and available only if \ref LWPRINTF_CFG_ENABLE_SHORTNAMES is enabled
|
||||||
|
*/
|
||||||
|
#define lwprintf lwprintf_printf
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \copydoc lwprintf_vprintf
|
||||||
|
* \note This function is equivalent to \ref lwprintf_vprintf
|
||||||
|
* and available only if \ref LWPRINTF_CFG_ENABLE_SHORTNAMES is enabled
|
||||||
|
*/
|
||||||
|
#define lwvprintf lwprintf_vprintf
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \copydoc lwprintf_vsnprintf
|
||||||
|
* \note This function is equivalent to \ref lwprintf_vsnprintf
|
||||||
|
* and available only if \ref LWPRINTF_CFG_ENABLE_SHORTNAMES is enabled
|
||||||
|
*/
|
||||||
|
#define lwvsnprintf lwprintf_vsnprintf
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \copydoc lwprintf_snprintf
|
||||||
|
* \note This function is equivalent to \ref lwprintf_snprintf
|
||||||
|
* and available only if \ref LWPRINTF_CFG_ENABLE_SHORTNAMES is enabled
|
||||||
|
*/
|
||||||
|
#define lwsnprintf lwprintf_snprintf
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \copydoc lwprintf_sprintf
|
||||||
|
* \note This function is equivalent to \ref lwprintf_sprintf
|
||||||
|
* and available only if \ref LWPRINTF_CFG_ENABLE_SHORTNAMES is enabled
|
||||||
|
*/
|
||||||
|
#define lwsprintf lwprintf_sprintf
|
||||||
|
|
||||||
|
#endif /* LWPRINTF_CFG_ENABLE_SHORTNAMES || __DOXYGEN__ */
|
||||||
|
|
||||||
|
#if LWPRINTF_CFG_ENABLE_STD_NAMES || __DOXYGEN__
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \copydoc lwprintf_printf
|
||||||
|
* \note This function is equivalent to \ref lwprintf_printf
|
||||||
|
* and available only if \ref LWPRINTF_CFG_ENABLE_STD_NAMES is enabled
|
||||||
|
*/
|
||||||
|
#define printf lwprintf_printf
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \copydoc lwprintf_vprintf
|
||||||
|
* \note This function is equivalent to \ref lwprintf_vprintf
|
||||||
|
* and available only if \ref LWPRINTF_CFG_ENABLE_STD_NAMES is enabled
|
||||||
|
*/
|
||||||
|
#define vprintf lwprintf_vprintf
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \copydoc lwprintf_vsnprintf
|
||||||
|
* \note This function is equivalent to \ref lwprintf_vsnprintf
|
||||||
|
* and available only if \ref LWPRINTF_CFG_ENABLE_STD_NAMES is enabled
|
||||||
|
*/
|
||||||
|
#define vsnprintf lwprintf_vsnprintf
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \copydoc lwprintf_snprintf
|
||||||
|
* \note This function is equivalent to \ref lwprintf_snprintf
|
||||||
|
* and available only if \ref LWPRINTF_CFG_ENABLE_STD_NAMES is enabled
|
||||||
|
*/
|
||||||
|
#define snprintf lwprintf_snprintf
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \copydoc lwprintf_sprintf
|
||||||
|
* \note This function is equivalent to \ref lwprintf_sprintf
|
||||||
|
* and available only if \ref LWPRINTF_CFG_ENABLE_STD_NAMES is enabled
|
||||||
|
*/
|
||||||
|
#define sprintf lwprintf_sprintf
|
||||||
|
|
||||||
|
#endif /* LWPRINTF_CFG_ENABLE_STD_NAMES || __DOXYGEN__ */
|
||||||
|
|
||||||
|
/* Debug module */
|
||||||
|
#if !defined(NDEBUG)
|
||||||
|
/**
|
||||||
|
* \brief Debug output function
|
||||||
|
*
|
||||||
|
* Its purpose is to have a debug printout to the defined output,
|
||||||
|
* which will get disabled for the release build (when NDEBUG is defined).
|
||||||
|
*
|
||||||
|
* \note It calls \ref lwprintf_printf to execute the print
|
||||||
|
* \note Defined as empty when \ref NDEBUG is enabled
|
||||||
|
* \param[in] fmt: Format text
|
||||||
|
* \param[in] ...: Optional formatting parameters
|
||||||
|
*/
|
||||||
|
#define lwprintf_debug(fmt, ...) lwprintf_printf((fmt), ##__VA_ARGS__)
|
||||||
|
/**
|
||||||
|
* \brief Conditional debug output
|
||||||
|
*
|
||||||
|
* It prints the formatted text only if condition is true
|
||||||
|
*
|
||||||
|
* Its purpose is to have a debug printout to the defined output,
|
||||||
|
* which will get disabled for the release build (when NDEBUG is defined).
|
||||||
|
*
|
||||||
|
* \note It calls \ref lwprintf_debug to execute the print
|
||||||
|
* \note Defined as empty when \ref NDEBUG is enabled
|
||||||
|
* \param[in] cond: Condition to check before outputing the message
|
||||||
|
* \param[in] fmt: Format text
|
||||||
|
* \param[in] ...: Optional formatting parameters
|
||||||
|
*/
|
||||||
|
#define lwprintf_debug_cond(cond, fmt, ...) \
|
||||||
|
do { \
|
||||||
|
if ((cond)) { \
|
||||||
|
lwprintf_debug((fmt), ##__VA_ARGS__) \
|
||||||
|
} \
|
||||||
|
} while (0)
|
||||||
|
#else
|
||||||
|
#define lwprintf_debug(fmt, ...) ((void)0)
|
||||||
|
#define lwprintf_debug_cond(cond, fmt, ...) ((void)0)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \}
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif /* __cplusplus */
|
||||||
|
|
||||||
|
#endif /* LWPRINTF_HDR_H */
|
||||||
191
3rd-part/lwprintf/lwprintf_opt.h
Normal file
191
3rd-part/lwprintf/lwprintf_opt.h
Normal file
@@ -0,0 +1,191 @@
|
|||||||
|
/**
|
||||||
|
* \file lwprintf_opt.h
|
||||||
|
* \brief LwPRINTF options
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2024 Tilen MAJERLE
|
||||||
|
*
|
||||||
|
* Permission is hereby granted, free of charge, to any person
|
||||||
|
* obtaining a copy of this software and associated documentation
|
||||||
|
* files (the "Software"), to deal in the Software without restriction,
|
||||||
|
* including without limitation the rights to use, copy, modify, merge,
|
||||||
|
* publish, distribute, sublicense, and/or sell copies of the Software,
|
||||||
|
* and to permit persons to whom the Software is furnished to do so,
|
||||||
|
* subject to the following conditions:
|
||||||
|
*
|
||||||
|
* The above copyright notice and this permission notice shall be
|
||||||
|
* included in all copies or substantial portions of the Software.
|
||||||
|
*
|
||||||
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||||
|
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||||||
|
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
|
||||||
|
* AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||||||
|
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||||||
|
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||||||
|
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||||||
|
* OTHER DEALINGS IN THE SOFTWARE.
|
||||||
|
*
|
||||||
|
* This file is part of LwPRINTF - Lightweight stdio manager library.
|
||||||
|
*
|
||||||
|
* Author: Tilen MAJERLE <tilen@majerle.eu>
|
||||||
|
* Version: v1.0.5
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_OPT_HDR_H
|
||||||
|
#define LWPRINTF_OPT_HDR_H
|
||||||
|
|
||||||
|
/* Uncomment to ignore user options (or set macro in compiler flags) */
|
||||||
|
/* #define LWPRINTF_IGNORE_USER_OPTS */
|
||||||
|
|
||||||
|
/* Include application options */
|
||||||
|
#ifndef LWPRINTF_IGNORE_USER_OPTS
|
||||||
|
#include "lwprintf_opts.h"
|
||||||
|
#endif /* LWPRINTF_IGNORE_USER_OPTS */
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
extern "C" {
|
||||||
|
#endif /* __cplusplus */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \defgroup LWPRINTF_OPT Configuration
|
||||||
|
* \brief LwPRINTF options
|
||||||
|
* \{
|
||||||
|
*/
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Enables `1` or disables `0` operating system support in the library
|
||||||
|
*
|
||||||
|
* \note When `LWPRINTF_CFG_OS` is enabled, user must implement functions in \ref LWPRINTF_SYS group.
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_CFG_OS
|
||||||
|
#define LWPRINTF_CFG_OS 0
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Mutex handle type
|
||||||
|
*
|
||||||
|
* \note This value must be set in case \ref LWPRINTF_CFG_OS is set to `1`.
|
||||||
|
* If data type is not known to compiler, include header file with
|
||||||
|
* definition before you define handle type
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_CFG_OS_MUTEX_HANDLE
|
||||||
|
#define LWPRINTF_CFG_OS_MUTEX_HANDLE void*
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Enables `1` or disables `0` manual mutex lock.
|
||||||
|
*
|
||||||
|
* When this feature is enabled, together with \ref LWPRINTF_CFG_OS, behavior is as following:
|
||||||
|
* - System mutex is kept created during init phase
|
||||||
|
* - Calls to direct printing functions are not thread-safe by default anymore
|
||||||
|
* - Calls to sprintf (buffer functions) are kept thread-safe
|
||||||
|
* - User must manually call \ref lwprintf_protect or \ref lwprintf_protect_ex functions to protect direct printing operation
|
||||||
|
* - User must manually call \ref lwprintf_unprotect or \ref lwprintf_unprotect_ex functions to exit protected area
|
||||||
|
*
|
||||||
|
* \note If you prefer to completely disable locking mechanism with this library,
|
||||||
|
* turn off \ref LWPRINTF_CFG_OS and fully manually handle mutual exclusion for non-reentrant functions
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_CFG_OS_MANUAL_PROTECT
|
||||||
|
#define LWPRINTF_CFG_OS_MANUAL_PROTECT 0
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Enables `1` or disables `0` support for `long long int` type, signed or unsigned.
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_CFG_SUPPORT_LONG_LONG
|
||||||
|
#define LWPRINTF_CFG_SUPPORT_LONG_LONG 1
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Enables `1` or disables `0` support for any specifier accepting any kind of integer types.
|
||||||
|
* This is enabling `%d, %b, %u, %o, %i, %x` specifiers
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_CFG_SUPPORT_TYPE_INT
|
||||||
|
#define LWPRINTF_CFG_SUPPORT_TYPE_INT 1
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Enables `1` or disables `0` support `%p` pointer print type
|
||||||
|
*
|
||||||
|
* When enabled, architecture must support `uintptr_t` type, normally available with C11 standard
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_CFG_SUPPORT_TYPE_POINTER
|
||||||
|
#define LWPRINTF_CFG_SUPPORT_TYPE_POINTER 1
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Enables `1` or disables `0` support `%f` float type
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_CFG_SUPPORT_TYPE_FLOAT
|
||||||
|
#define LWPRINTF_CFG_SUPPORT_TYPE_FLOAT 1
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Enables `1` or disables `0` support for `%e` engineering output type for float numbers
|
||||||
|
*
|
||||||
|
* \note \ref LWPRINTF_CFG_SUPPORT_TYPE_FLOAT has to be enabled to use this feature
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_CFG_SUPPORT_TYPE_ENGINEERING
|
||||||
|
#define LWPRINTF_CFG_SUPPORT_TYPE_ENGINEERING 1
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Enables `1` or disables `0` support for `%s` for string output
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_CFG_SUPPORT_TYPE_STRING
|
||||||
|
#define LWPRINTF_CFG_SUPPORT_TYPE_STRING 1
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Enables `1` or disables `0` support for `%k` for hex byte array output
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_CFG_SUPPORT_TYPE_BYTE_ARRAY
|
||||||
|
#define LWPRINTF_CFG_SUPPORT_TYPE_BYTE_ARRAY 1
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Specifies default number of precision for floating number
|
||||||
|
*
|
||||||
|
* Represents number of digits to be used after comma if no precision
|
||||||
|
* is set with specifier itself
|
||||||
|
*
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_CFG_FLOAT_DEFAULT_PRECISION
|
||||||
|
#define LWPRINTF_CFG_FLOAT_DEFAULT_PRECISION 6
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Enables `1` or disables `0` optional short names for LwPRINTF API functions.
|
||||||
|
*
|
||||||
|
* It adds functions for default instance: `lwprintf`, `lwsnprintf` and others
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_CFG_ENABLE_SHORTNAMES
|
||||||
|
#define LWPRINTF_CFG_ENABLE_SHORTNAMES 1
|
||||||
|
#endif /* LWPRINTF_CFG_ENABLE_SHORTNAMES */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \brief Enables `1` or disables `0` C standard API names
|
||||||
|
*
|
||||||
|
* Disabled by default not to interfere with compiler implementation.
|
||||||
|
* Application may need to remove standard C STDIO library from linkage
|
||||||
|
* to be able to properly compile LwPRINTF with this option enabled
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_CFG_ENABLE_STD_NAMES
|
||||||
|
#define LWPRINTF_CFG_ENABLE_STD_NAMES 0
|
||||||
|
#endif /* LWPRINTF_CFG_ENABLE_SHORTNAMES */
|
||||||
|
|
||||||
|
/**
|
||||||
|
* \}
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
}
|
||||||
|
#endif /* __cplusplus */
|
||||||
|
|
||||||
|
#endif /* LWPRINTF_OPT_HDR_H */
|
||||||
44
3rd-part/lwprintf/lwprintf_opts.h
Normal file
44
3rd-part/lwprintf/lwprintf_opts.h
Normal file
@@ -0,0 +1,44 @@
|
|||||||
|
/**
|
||||||
|
* \file lwprintf_opts_template.h
|
||||||
|
* \brief LwPRINTF configuration file
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Copyright (c) 2024 Tilen MAJERLE
|
||||||
|
*
|
||||||
|
* Permission is hereby granted, free of charge, to any person
|
||||||
|
* obtaining a copy of this software and associated documentation
|
||||||
|
* files (the "Software"), to deal in the Software without restriction,
|
||||||
|
* including without limitation the rights to use, copy, modify, merge,
|
||||||
|
* publish, distribute, sublicense, and/or sell copies of the Software,
|
||||||
|
* and to permit persons to whom the Software is furnished to do so,
|
||||||
|
* subject to the following conditions:
|
||||||
|
*
|
||||||
|
* The above copyright notice and this permission notice shall be
|
||||||
|
* included in all copies or substantial portions of the Software.
|
||||||
|
*
|
||||||
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
||||||
|
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
|
||||||
|
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
|
||||||
|
* AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
||||||
|
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||||||
|
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
|
||||||
|
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
|
||||||
|
* OTHER DEALINGS IN THE SOFTWARE.
|
||||||
|
*
|
||||||
|
* This file is part of LwPRINTF - Lightweight stdio manager library.
|
||||||
|
*
|
||||||
|
* Author: Tilen MAJERLE <tilen@majerle.eu>
|
||||||
|
* Version: v1.0.5
|
||||||
|
*/
|
||||||
|
#ifndef LWPRINTF_OPTS_HDR_H
|
||||||
|
#define LWPRINTF_OPTS_HDR_H
|
||||||
|
|
||||||
|
/* Rename this file to "lwprintf_opts.h" for your application */
|
||||||
|
|
||||||
|
/*
|
||||||
|
* Open "include/lwprintf/lwprintf_opt.h" and
|
||||||
|
* copy & replace here settings you want to change values
|
||||||
|
*/
|
||||||
|
|
||||||
|
#endif /* LWPRINTF_OPTS_HDR_H */
|
||||||
@@ -38,7 +38,7 @@
|
|||||||
<ModeSub name="Activated" value="TRUE"/>
|
<ModeSub name="Activated" value="TRUE"/>
|
||||||
</Mode>
|
</Mode>
|
||||||
<Parameters>
|
<Parameters>
|
||||||
<ParametersSub name="DividerValue" value="499"/>
|
<ParametersSub name="DividerValue" value="19"/>
|
||||||
<ParametersSub name="Period" value="999"/>
|
<ParametersSub name="Period" value="999"/>
|
||||||
<ParametersSub name="Overflow_Event" value="FALSE"/>
|
<ParametersSub name="Overflow_Event" value="FALSE"/>
|
||||||
<ParametersSub name="OCMode_1" value="TMR_OUTPUT_CONTROL_PWM_MODE_A"/>
|
<ParametersSub name="OCMode_1" value="TMR_OUTPUT_CONTROL_PWM_MODE_A"/>
|
||||||
@@ -67,16 +67,13 @@
|
|||||||
</Mode>
|
</Mode>
|
||||||
<Parameters>
|
<Parameters>
|
||||||
<ParametersSub name="DividerValue" value="999"/>
|
<ParametersSub name="DividerValue" value="999"/>
|
||||||
<ParametersSub name="Period" value="199"/>
|
<ParametersSub name="Period" value="1999"/>
|
||||||
</Parameters>
|
</Parameters>
|
||||||
</TMR4>
|
</TMR4>
|
||||||
<USART2>
|
<USART2>
|
||||||
<Mode>
|
<Mode>
|
||||||
<ModeSub name="Mode" value="Asynchronous"/>
|
<ModeSub name="Mode" value="Asynchronous"/>
|
||||||
</Mode>
|
</Mode>
|
||||||
<Parameters>
|
|
||||||
<ParametersSub name="Mode" value="MODE_RX"/>
|
|
||||||
</Parameters>
|
|
||||||
</USART2>
|
</USART2>
|
||||||
<NVIC>
|
<NVIC>
|
||||||
<SysTick_Handler>0;0;0</SysTick_Handler>
|
<SysTick_Handler>0;0;0</SysTick_Handler>
|
||||||
|
|||||||
@@ -33,18 +33,5 @@
|
|||||||
"EIDE.OpenOCD.ExePath": "D:/Program Files (x86)/at32_OpenOCD_V2.0.2/bin/openocd.exe"
|
"EIDE.OpenOCD.ExePath": "D:/Program Files (x86)/at32_OpenOCD_V2.0.2/bin/openocd.exe"
|
||||||
},
|
},
|
||||||
"extensions": {
|
"extensions": {
|
||||||
"recommendations": [
|
|
||||||
"cl.eide",
|
|
||||||
"keroc.hex-fmt",
|
|
||||||
"xiaoyongdong.srecord",
|
|
||||||
"hars.cppsnippets",
|
|
||||||
"zixuanwang.linkerscript",
|
|
||||||
"redhat.vscode-yaml",
|
|
||||||
"IBM.output-colorizer",
|
|
||||||
"cschlosser.doxdocgen",
|
|
||||||
"ms-vscode.vscode-serial-monitor",
|
|
||||||
"dan-c-underwood.arm",
|
|
||||||
"marus25.cortex-debug"
|
|
||||||
]
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
31
app/by_can.c
Normal file
31
app/by_can.c
Normal file
@@ -0,0 +1,31 @@
|
|||||||
|
#include "by_can.h"
|
||||||
|
|
||||||
|
#include <string.h>
|
||||||
|
#include <assert.h>
|
||||||
|
|
||||||
|
uint8_t by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len)
|
||||||
|
{
|
||||||
|
|
||||||
|
assert(id < 0x7FF);
|
||||||
|
|
||||||
|
if (len > 8) {
|
||||||
|
len = 8;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t transmit_mailbox;
|
||||||
|
can_tx_message_type tx_message_struct;
|
||||||
|
tx_message_struct.standard_id = id; /* 设置发送数据帧的 ID=0x400 */
|
||||||
|
tx_message_struct.extended_id = 0; /* 不设置 */
|
||||||
|
tx_message_struct.id_type = CAN_ID_STANDARD; /* 发送数据帧类型（标准/扩展）：标准数据帧 */
|
||||||
|
tx_message_struct.frame_type = CAN_TFT_DATA; /* 发送帧类型（远程/数据）：数据帧 */
|
||||||
|
tx_message_struct.dlc = len; /* 发送数据长度（0~8）：8 */
|
||||||
|
memcpy(tx_message_struct.data, data, len); /* 复制发送数据 */
|
||||||
|
transmit_mailbox = can_message_transmit(CAN1, &tx_message_struct); /* 将以上待发送报文写入发送邮箱并请求发送 */
|
||||||
|
|
||||||
|
/* 等待该邮箱发送成功—对应邮箱发送成功标志置起 */
|
||||||
|
while (can_transmit_status_get(CAN1, (can_tx_mailbox_num_type)transmit_mailbox) !=
|
||||||
|
CAN_TX_STATUS_SUCCESSFUL)
|
||||||
|
;
|
||||||
|
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
8
app/by_can.h
Normal file
8
app/by_can.h
Normal file
@@ -0,0 +1,8 @@
|
|||||||
|
#ifndef _BY_CAN_H__
|
||||||
|
#define _BY_CAN_H__
|
||||||
|
|
||||||
|
#include "at32f413.h"
|
||||||
|
|
||||||
|
uint8_t by_can_send_stdd(uint32_t id, const uint8_t *data, uint8_t len);
|
||||||
|
|
||||||
|
#endif
|
||||||
@@ -6,6 +6,9 @@
|
|||||||
#define DRV_ENABLE() gpio_bits_set(GPIOB, GPIO_PINS_15)
|
#define DRV_ENABLE() gpio_bits_set(GPIOB, GPIO_PINS_15)
|
||||||
#define DRV_DISABLE() gpio_bits_reset(GPIOB, GPIO_PINS_15)
|
#define DRV_DISABLE() gpio_bits_reset(GPIOB, GPIO_PINS_15)
|
||||||
|
|
||||||
|
int16_t speed_m1;
|
||||||
|
int16_t speed_m2;
|
||||||
|
|
||||||
void by_motion_pwm_m1(int32_t pwm_duty)
|
void by_motion_pwm_m1(int32_t pwm_duty)
|
||||||
{
|
{
|
||||||
pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
|
pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
|
||||||
@@ -24,10 +27,23 @@ void by_motion_pwm_m2(int32_t pwm_duty)
|
|||||||
tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, pwm_duty);
|
tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, pwm_duty);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
int16_t by_motion_get_speed_m1(void)
|
||||||
|
{
|
||||||
|
speed_m1 = (int16_t)tmr_counter_value_get(TMR2);
|
||||||
|
tmr_counter_value_set(TMR2, 0);
|
||||||
|
return speed_m1;
|
||||||
|
}
|
||||||
|
|
||||||
|
int16_t by_motion_get_speed_m2(void)
|
||||||
|
{
|
||||||
|
speed_m2 = (int16_t)tmr_counter_value_get(TMR3);
|
||||||
|
tmr_counter_value_set(TMR3, 0);
|
||||||
|
return speed_m2;
|
||||||
|
}
|
||||||
|
|
||||||
void by_motion_init(void)
|
void by_motion_init(void)
|
||||||
{
|
{
|
||||||
DRV_ENABLE();
|
DRV_ENABLE();
|
||||||
by_motion_pwm_m1(125);
|
by_motion_pwm_m1(-125);
|
||||||
by_motion_pwm_m2(0);
|
by_motion_pwm_m2(0);
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|||||||
@@ -3,6 +3,11 @@
|
|||||||
|
|
||||||
#include "at32f413.h"
|
#include "at32f413.h"
|
||||||
|
|
||||||
void by_motion_init(void);
|
extern void by_motion_init(void);
|
||||||
|
extern int16_t by_motion_get_speed_m1(void);
|
||||||
|
extern int16_t by_motion_get_speed_m2(void);
|
||||||
|
|
||||||
|
extern int16_t speed_m1;
|
||||||
|
extern int16_t speed_m2;
|
||||||
|
|
||||||
#endif
|
#endif
|
||||||
|
|||||||
31
project/inc/by_debug.h
Normal file
31
project/inc/by_debug.h
Normal file
@@ -0,0 +1,31 @@
|
|||||||
|
#ifndef _BY_DEBUG_H__
|
||||||
|
#define _BY_DEBUG_H__
|
||||||
|
|
||||||
|
#include <stdio.h>
|
||||||
|
#include "at32f413.h"
|
||||||
|
#include "lwprintf.h"
|
||||||
|
|
||||||
|
#define BY_DEBUG_USART_INDEX (USART2)
|
||||||
|
|
||||||
|
#define BY_DEBUG_LOG_MODE (2) // 0-not log, 1-no debug log, 2-all
|
||||||
|
|
||||||
|
#if (BY_DEBUG_LOG_MODE == 2)
|
||||||
|
#define LOGI(format, ...) lwprintf("[INFO] " format "\r\n", ##__VA_ARGS__)
|
||||||
|
#define LOGW(format, ...) lwprintf("[WARN] " format "\r\n", ##__VA_ARGS__)
|
||||||
|
#define LOGE(format, ...) lwprintf("[ERR] " format "\r\n", ##__VA_ARGS__)
|
||||||
|
#define LOGD(format, ...) lwprintf("[DEBUG] " format "\r\n", ##__VA_ARGS__)
|
||||||
|
#elif (BY_DEBUG_LOG_MODE == 1)
|
||||||
|
#define LOGI(format, ...) lwprintf("[INFO] " format "\r\n", ##__VA_ARGS__)
|
||||||
|
#define LOGW(format, ...) lwprintf("[WARN] " format "\r\n", ##__VA_ARGS__)
|
||||||
|
#define LOGE(format, ...) lwprintf("[ERR] " format "\r\n", ##__VA_ARGS__)
|
||||||
|
#define LOGD(format, ...)
|
||||||
|
#elif (BY_DEBUG_LOG_MODE == 0)
|
||||||
|
#define LOGI(format, ...)
|
||||||
|
#define LOGW(format, ...)
|
||||||
|
#define LOGE(format, ...)
|
||||||
|
#define LOGD(format, ...)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
extern void by_debug_init(void);
|
||||||
|
|
||||||
|
#endif
|
||||||
@@ -1,27 +1,27 @@
|
|||||||
/* add user code begin Header */
|
/* add user code begin Header */
|
||||||
/**
|
/**
|
||||||
**************************************************************************
|
**************************************************************************
|
||||||
* @file at32f413_int.c
|
* @file at32f413_int.c
|
||||||
* @brief main interrupt service routines.
|
* @brief main interrupt service routines.
|
||||||
**************************************************************************
|
**************************************************************************
|
||||||
* Copyright notice & Disclaimer
|
* Copyright notice & Disclaimer
|
||||||
*
|
*
|
||||||
* The software Board Support Package (BSP) that is made available to
|
* The software Board Support Package (BSP) that is made available to
|
||||||
* download from Artery official website is the copyrighted work of Artery.
|
* download from Artery official website is the copyrighted work of Artery.
|
||||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||||
* software and its related documentation for the purpose of design and
|
* software and its related documentation for the purpose of design and
|
||||||
* development in conjunction with Artery microcontrollers. Use of the
|
* development in conjunction with Artery microcontrollers. Use of the
|
||||||
* software is governed by this copyright notice and the following disclaimer.
|
* software is governed by this copyright notice and the following disclaimer.
|
||||||
*
|
*
|
||||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||||
* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
|
* GUARANTEES OR REPRESENTATIONS OF ANY KIND. ARTERY EXPRESSLY DISCLAIMS,
|
||||||
* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
|
* TO THE FULLEST EXTENT PERMITTED BY LAW, ALL EXPRESS, IMPLIED OR
|
||||||
* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
|
* STATUTORY OR OTHER WARRANTIES, GUARANTEES OR REPRESENTATIONS,
|
||||||
* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
|
* INCLUDING BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
|
||||||
* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
|
* FITNESS FOR A PARTICULAR PURPOSE, OR NON-INFRINGEMENT.
|
||||||
*
|
*
|
||||||
**************************************************************************
|
**************************************************************************
|
||||||
*/
|
*/
|
||||||
/* add user code end Header */
|
/* add user code end Header */
|
||||||
|
|
||||||
/* includes ------------------------------------------------------------------*/
|
/* includes ------------------------------------------------------------------*/
|
||||||
@@ -29,7 +29,7 @@
|
|||||||
|
|
||||||
/* private includes ----------------------------------------------------------*/
|
/* private includes ----------------------------------------------------------*/
|
||||||
/* add user code begin private includes */
|
/* add user code begin private includes */
|
||||||
|
#include "by_motion.h"
|
||||||
/* add user code end private includes */
|
/* add user code end private includes */
|
||||||
|
|
||||||
/* private typedef -----------------------------------------------------------*/
|
/* private typedef -----------------------------------------------------------*/
|
||||||
@@ -68,10 +68,10 @@
|
|||||||
/* add user code end external variables */
|
/* add user code end external variables */
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief this function handles nmi exception.
|
* @brief this function handles nmi exception.
|
||||||
* @param none
|
* @param none
|
||||||
* @retval none
|
* @retval none
|
||||||
*/
|
*/
|
||||||
void NMI_Handler(void)
|
void NMI_Handler(void)
|
||||||
{
|
{
|
||||||
/* add user code begin NonMaskableInt_IRQ 0 */
|
/* add user code begin NonMaskableInt_IRQ 0 */
|
||||||
@@ -84,18 +84,17 @@ void NMI_Handler(void)
|
|||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief this function handles hard fault exception.
|
* @brief this function handles hard fault exception.
|
||||||
* @param none
|
* @param none
|
||||||
* @retval none
|
* @retval none
|
||||||
*/
|
*/
|
||||||
void HardFault_Handler(void)
|
void HardFault_Handler(void)
|
||||||
{
|
{
|
||||||
/* add user code begin HardFault_IRQ 0 */
|
/* add user code begin HardFault_IRQ 0 */
|
||||||
|
|
||||||
/* add user code end HardFault_IRQ 0 */
|
/* add user code end HardFault_IRQ 0 */
|
||||||
/* go to infinite loop when hard fault exception occurs */
|
/* go to infinite loop when hard fault exception occurs */
|
||||||
while (1)
|
while (1) {
|
||||||
{
|
|
||||||
/* add user code begin W1_HardFault_IRQ 0 */
|
/* add user code begin W1_HardFault_IRQ 0 */
|
||||||
|
|
||||||
/* add user code end W1_HardFault_IRQ 0 */
|
/* add user code end W1_HardFault_IRQ 0 */
|
||||||
@@ -103,18 +102,17 @@ void HardFault_Handler(void)
|
|||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief this function handles memory manage exception.
|
* @brief this function handles memory manage exception.
|
||||||
* @param none
|
* @param none
|
||||||
* @retval none
|
* @retval none
|
||||||
*/
|
*/
|
||||||
void MemManage_Handler(void)
|
void MemManage_Handler(void)
|
||||||
{
|
{
|
||||||
/* add user code begin MemoryManagement_IRQ 0 */
|
/* add user code begin MemoryManagement_IRQ 0 */
|
||||||
|
|
||||||
/* add user code end MemoryManagement_IRQ 0 */
|
/* add user code end MemoryManagement_IRQ 0 */
|
||||||
/* go to infinite loop when memory manage exception occurs */
|
/* go to infinite loop when memory manage exception occurs */
|
||||||
while (1)
|
while (1) {
|
||||||
{
|
|
||||||
/* add user code begin W1_MemoryManagement_IRQ 0 */
|
/* add user code begin W1_MemoryManagement_IRQ 0 */
|
||||||
|
|
||||||
/* add user code end W1_MemoryManagement_IRQ 0 */
|
/* add user code end W1_MemoryManagement_IRQ 0 */
|
||||||
@@ -122,18 +120,17 @@ void MemManage_Handler(void)
|
|||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief this function handles bus fault exception.
|
* @brief this function handles bus fault exception.
|
||||||
* @param none
|
* @param none
|
||||||
* @retval none
|
* @retval none
|
||||||
*/
|
*/
|
||||||
void BusFault_Handler(void)
|
void BusFault_Handler(void)
|
||||||
{
|
{
|
||||||
/* add user code begin BusFault_IRQ 0 */
|
/* add user code begin BusFault_IRQ 0 */
|
||||||
|
|
||||||
/* add user code end BusFault_IRQ 0 */
|
/* add user code end BusFault_IRQ 0 */
|
||||||
/* go to infinite loop when bus fault exception occurs */
|
/* go to infinite loop when bus fault exception occurs */
|
||||||
while (1)
|
while (1) {
|
||||||
{
|
|
||||||
/* add user code begin W1_BusFault_IRQ 0 */
|
/* add user code begin W1_BusFault_IRQ 0 */
|
||||||
|
|
||||||
/* add user code end W1_BusFault_IRQ 0 */
|
/* add user code end W1_BusFault_IRQ 0 */
|
||||||
@@ -141,18 +138,17 @@ void BusFault_Handler(void)
|
|||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief this function handles usage fault exception.
|
* @brief this function handles usage fault exception.
|
||||||
* @param none
|
* @param none
|
||||||
* @retval none
|
* @retval none
|
||||||
*/
|
*/
|
||||||
void UsageFault_Handler(void)
|
void UsageFault_Handler(void)
|
||||||
{
|
{
|
||||||
/* add user code begin UsageFault_IRQ 0 */
|
/* add user code begin UsageFault_IRQ 0 */
|
||||||
|
|
||||||
/* add user code end UsageFault_IRQ 0 */
|
/* add user code end UsageFault_IRQ 0 */
|
||||||
/* go to infinite loop when usage fault exception occurs */
|
/* go to infinite loop when usage fault exception occurs */
|
||||||
while (1)
|
while (1) {
|
||||||
{
|
|
||||||
/* add user code begin W1_UsageFault_IRQ 0 */
|
/* add user code begin W1_UsageFault_IRQ 0 */
|
||||||
|
|
||||||
/* add user code end W1_UsageFault_IRQ 0 */
|
/* add user code end W1_UsageFault_IRQ 0 */
|
||||||
@@ -160,10 +156,10 @@ void UsageFault_Handler(void)
|
|||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief this function handles svcall exception.
|
* @brief this function handles svcall exception.
|
||||||
* @param none
|
* @param none
|
||||||
* @retval none
|
* @retval none
|
||||||
*/
|
*/
|
||||||
void SVC_Handler(void)
|
void SVC_Handler(void)
|
||||||
{
|
{
|
||||||
/* add user code begin SVCall_IRQ 0 */
|
/* add user code begin SVCall_IRQ 0 */
|
||||||
@@ -175,10 +171,10 @@ void SVC_Handler(void)
|
|||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief this function handles debug monitor exception.
|
* @brief this function handles debug monitor exception.
|
||||||
* @param none
|
* @param none
|
||||||
* @retval none
|
* @retval none
|
||||||
*/
|
*/
|
||||||
void DebugMon_Handler(void)
|
void DebugMon_Handler(void)
|
||||||
{
|
{
|
||||||
/* add user code begin DebugMonitor_IRQ 0 */
|
/* add user code begin DebugMonitor_IRQ 0 */
|
||||||
@@ -190,10 +186,10 @@ void DebugMon_Handler(void)
|
|||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief this function handles pendsv_handler exception.
|
* @brief this function handles pendsv_handler exception.
|
||||||
* @param none
|
* @param none
|
||||||
* @retval none
|
* @retval none
|
||||||
*/
|
*/
|
||||||
void PendSV_Handler(void)
|
void PendSV_Handler(void)
|
||||||
{
|
{
|
||||||
/* add user code begin PendSV_IRQ 0 */
|
/* add user code begin PendSV_IRQ 0 */
|
||||||
@@ -205,14 +201,18 @@ void PendSV_Handler(void)
|
|||||||
}
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief this function handles TMR4 handler.
|
* @brief this function handles TMR4 handler.
|
||||||
* @param none
|
* @param none
|
||||||
* @retval none
|
* @retval none
|
||||||
*/
|
*/
|
||||||
void TMR4_GLOBAL_IRQHandler(void)
|
void TMR4_GLOBAL_IRQHandler(void)
|
||||||
{
|
{
|
||||||
/* add user code begin TMR4_GLOBAL_IRQ 0 */
|
/* add user code begin TMR4_GLOBAL_IRQ 0 */
|
||||||
|
if (SET == tmr_interrupt_flag_get(TMR4, TMR_OVF_FLAG)) {
|
||||||
|
by_motion_get_speed_m1();
|
||||||
|
by_motion_get_speed_m2();
|
||||||
|
tmr_flag_clear(TMR4, TMR_OVF_FLAG);
|
||||||
|
}
|
||||||
/* add user code end TMR4_GLOBAL_IRQ 0 */
|
/* add user code end TMR4_GLOBAL_IRQ 0 */
|
||||||
/* add user code begin TMR4_GLOBAL_IRQ 1 */
|
/* add user code begin TMR4_GLOBAL_IRQ 1 */
|
||||||
|
|
||||||
|
|||||||
@@ -282,6 +282,7 @@ void wk_usart2_init(void)
|
|||||||
|
|
||||||
/* configure param */
|
/* configure param */
|
||||||
usart_init(USART2, 115200, USART_DATA_8BITS, USART_STOP_1_BIT);
|
usart_init(USART2, 115200, USART_DATA_8BITS, USART_STOP_1_BIT);
|
||||||
|
usart_transmitter_enable(USART2, TRUE);
|
||||||
usart_receiver_enable(USART2, TRUE);
|
usart_receiver_enable(USART2, TRUE);
|
||||||
usart_parity_selection_config(USART2, USART_PARITY_NONE);
|
usart_parity_selection_config(USART2, USART_PARITY_NONE);
|
||||||
|
|
||||||
@@ -348,7 +349,7 @@ void wk_tmr1_init(void)
|
|||||||
gpio_init(GPIOA, &gpio_init_struct);
|
gpio_init(GPIOA, &gpio_init_struct);
|
||||||
|
|
||||||
/* configure counter settings */
|
/* configure counter settings */
|
||||||
tmr_base_init(TMR1, 999, 499);
|
tmr_base_init(TMR1, 999, 19);
|
||||||
tmr_cnt_dir_set(TMR1, TMR_COUNT_UP);
|
tmr_cnt_dir_set(TMR1, TMR_COUNT_UP);
|
||||||
tmr_clock_source_div_set(TMR1, TMR_CLOCK_DIV1);
|
tmr_clock_source_div_set(TMR1, TMR_CLOCK_DIV1);
|
||||||
tmr_repetition_counter_set(TMR1, 0);
|
tmr_repetition_counter_set(TMR1, 0);
|
||||||
@@ -562,7 +563,7 @@ void wk_tmr4_init(void)
|
|||||||
/* add user code end tmr4_init 1 */
|
/* add user code end tmr4_init 1 */
|
||||||
|
|
||||||
/* configure counter settings */
|
/* configure counter settings */
|
||||||
tmr_base_init(TMR4, 199, 999);
|
tmr_base_init(TMR4, 1999, 999);
|
||||||
tmr_cnt_dir_set(TMR4, TMR_COUNT_UP);
|
tmr_cnt_dir_set(TMR4, TMR_COUNT_UP);
|
||||||
tmr_clock_source_div_set(TMR4, TMR_CLOCK_DIV1);
|
tmr_clock_source_div_set(TMR4, TMR_CLOCK_DIV1);
|
||||||
tmr_period_buffer_enable(TMR4, FALSE);
|
tmr_period_buffer_enable(TMR4, FALSE);
|
||||||
@@ -582,7 +583,7 @@ void wk_tmr4_init(void)
|
|||||||
*/
|
*/
|
||||||
|
|
||||||
/* add user code begin tmr4_init 2 */
|
/* add user code begin tmr4_init 2 */
|
||||||
|
tmr_interrupt_enable(TMR4, TMR_OVF_INT, TRUE);
|
||||||
/* add user code end tmr4_init 2 */
|
/* add user code end tmr4_init 2 */
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
23
project/src/by_debug.c
Normal file
23
project/src/by_debug.c
Normal file
@@ -0,0 +1,23 @@
|
|||||||
|
#include "by_debug.h"
|
||||||
|
|
||||||
|
#include "at32f413.h"
|
||||||
|
#include "lwprintf.h"
|
||||||
|
|
||||||
|
int lwprintf_out(int ch, lwprintf_t *lwp)
|
||||||
|
{
|
||||||
|
|
||||||
|
/* May use printf to output it for test */
|
||||||
|
|
||||||
|
if (ch != '\0') {
|
||||||
|
while (usart_flag_get(BY_DEBUG_USART_INDEX, USART_TDC_FLAG) == RESET)
|
||||||
|
;
|
||||||
|
usart_data_transmit(BY_DEBUG_USART_INDEX, (char)ch);
|
||||||
|
}
|
||||||
|
|
||||||
|
return ch;
|
||||||
|
}
|
||||||
|
|
||||||
|
void by_debug_init(void)
|
||||||
|
{
|
||||||
|
lwprintf_init(lwprintf_out);
|
||||||
|
}
|
||||||
@@ -31,6 +31,8 @@
|
|||||||
/* add user code begin private includes */
|
/* add user code begin private includes */
|
||||||
#include "dwt_delay.h"
|
#include "dwt_delay.h"
|
||||||
|
|
||||||
|
#include "by_debug.h"
|
||||||
|
#include "by_can.h"
|
||||||
#include "by_motion.h"
|
#include "by_motion.h"
|
||||||
/* add user code end private includes */
|
/* add user code end private includes */
|
||||||
|
|
||||||
@@ -72,7 +74,7 @@
|
|||||||
int main(void)
|
int main(void)
|
||||||
{
|
{
|
||||||
/* add user code begin 1 */
|
/* add user code begin 1 */
|
||||||
|
by_debug_init();
|
||||||
/* add user code end 1 */
|
/* add user code end 1 */
|
||||||
|
|
||||||
/* system clock config. */
|
/* system clock config. */
|
||||||
@@ -110,8 +112,12 @@ int main(void)
|
|||||||
|
|
||||||
/* add user code begin 2 */
|
/* add user code begin 2 */
|
||||||
DWT_Init();
|
DWT_Init();
|
||||||
|
LOGD("dwt init done");
|
||||||
|
|
||||||
by_motion_init();
|
by_motion_init();
|
||||||
|
LOGD("motion init done");
|
||||||
|
|
||||||
|
LOGI("init done");
|
||||||
/* add user code end 2 */
|
/* add user code end 2 */
|
||||||
|
|
||||||
while(1)
|
while(1)
|
||||||
|
|||||||
Reference in New Issue
Block a user