mirror of
https://github.com/eddyem/stm32samples.git
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add first approx to 3steppersLB
This commit is contained in:
Edward Emelianov
627
F0-nolib/3steppersLB/strfunct.c
Normal file
627
F0-nolib/3steppersLB/strfunct.c
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@@ -0,0 +1,627 @@
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/*
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* This file is part of the 3steppers project.
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* Copyright 2021 Edward V. Emelianov <edward.emelianoff@gmail.com>.
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "adc.h"
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#include "buttons.h"
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#include "can.h"
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#include "commonproto.h"
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#include "flash.h"
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#include "hardware.h"
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#include "strfunct.h"
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#include "usb.h"
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#include <string.h> // strlen
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extern volatile uint8_t canerror;
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uint8_t ShowMsgs = 0;
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uint16_t Ignore_IDs[IGN_SIZE];
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uint8_t IgnSz = 0;
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static char buff[BUFSZ+1], *bptr = buff;
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static uint8_t blen = 0;
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void sendbuf(){
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IWDG->KR = IWDG_REFRESH;
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if(blen == 0) return;
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*bptr = 0;
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USB_sendstr(buff);
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bptr = buff;
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blen = 0;
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}
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void bufputchar(char ch){
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if(blen > BUFSZ-1){
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sendbuf();
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}
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*bptr++ = ch;
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++blen;
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}
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void addtobuf(const char *txt){
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IWDG->KR = IWDG_REFRESH;
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while(*txt) bufputchar(*txt++);
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}
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/**
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* @brief cmpstr - the same as strncmp
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* @param s1,s2 - strings to compare
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* @return 0 if strings equal or 1/-1
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*/
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int cmpstr(const char *s1, const char *s2){
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int ret = 0;
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do{
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ret = *s1 - *s2;
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if(ret == 0 && *s1 && *s2){
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++s1; ++s2;
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continue;
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}
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break;
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}while(1);
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return ret;
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}
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/**
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* @brief getchr - analog of strchr
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* @param str - string to search
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* @param symbol - searching symbol
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* @return pointer to symbol found or NULL
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*/
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char *getchr(const char *str, char symbol){
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do{
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if(*str == symbol) return (char*)str;
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}while(*(++str));
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return NULL;
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}
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// parse `txt` to CAN_message
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static CAN_message *parseCANmsg(char *txt){
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static CAN_message canmsg;
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//SEND("CAN command with arguments:\n");
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int32_t N;
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char *n;
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int ctr = -1;
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canmsg.ID = 0xffff;
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do{
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txt = omit_spaces(txt);
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n = getnum(txt, &N);
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if(txt == n) break;
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txt = n;
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if(ctr == -1){
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if(N > 0x7ff){
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SEND("ID should be 11-bit number!\n");
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return NULL;
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}
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canmsg.ID = (uint16_t)(N&0x7ff);
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//SEND("ID="); printuhex(canmsg.ID); newline();
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ctr = 0;
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continue;
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}
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if(ctr > 7){
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SEND("ONLY 8 data bytes allowed!\n");
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return NULL;
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}
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if(N > 0xff){
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SEND("Every data portion is a byte!\n");
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return NULL;
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}
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canmsg.data[ctr++] = (uint8_t)(N&0xff);
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}while(1);
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if(canmsg.ID == 0xffff){
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SEND("NO ID given, send nothing!\n");
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return NULL;
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}
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SEND("Message parsed OK\n");
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sendbuf();
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canmsg.length = (uint8_t) ctr;
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return &canmsg;
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}
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// send command, format: ID (hex/bin/dec) data bytes (up to 8 bytes, space-delimeted)
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static void sendCANcommand(char *txt){
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CAN_message *msg = parseCANmsg(txt);
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if(!msg) return;
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uint32_t N = 1000;
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while(CAN_BUSY == can_send(msg->data, msg->length, msg->ID)){
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if(--N == 0) break;
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}
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}
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static void CANini(char *txt){
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txt = omit_spaces(txt);
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int32_t N;
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char *n = getnum(txt, &N);
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if(txt == n){
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SEND("No speed given");
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return;
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}
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if(N < 50){
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SEND("Lowest speed is 50kbps");
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return;
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}else if(N > 3000){
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SEND("Highest speed is 3000kbps");
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return;
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}
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CAN_reinit((uint16_t)N);
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SEND("Reinit CAN bus with speed ");
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printu(N); SEND("kbps");
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}
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static void addIGN(char *txt){
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if(IgnSz == IGN_SIZE){
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DBG("Ignore buffer is full");
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return;
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}
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txt = omit_spaces(txt);
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int32_t N;
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char *n = getnum(txt, &N);
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if(txt == n){
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SEND("No ID given");
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return;
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}
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if(N == the_conf.CANID){
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SEND("You can't ignore self ID!");
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return;
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}
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if(N > 0x7ff){
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SEND("ID should be 11-bit number!");
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return;
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}
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Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff);
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SEND("Added ID "); printu(N);
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SEND("\nIgn buffer size: "); printu(IgnSz);
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}
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static void print_ign_buf(_U_ char *txt){
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if(IgnSz == 0){
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SEND("Ignore buffer is empty");
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return;
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}
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SEND("Ignored IDs:\n");
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for(int i = 0; i < IgnSz; ++i){
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if(i) newline();
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printu(i);
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SEND(": ");
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printuhex(Ignore_IDs[i]);
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}
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}
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// print ID/mask of CAN->sFilterRegister[x] half
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static void printID(uint16_t FRn){
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if(FRn & 0x1f) return; // trash
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printuhex(FRn >> 5);
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}
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/*
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Can filtering: FSCx=0 (CAN->FS1R) -> 16-bit identifiers
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CAN->FMR = (sb)<<8 | FINIT - init filter in starting bank sb
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CAN->FFA1R FFAx = 1 -> FIFO1, 0 -> FIFO0
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CAN->FA1R FACTx=1 - filter active
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MASK: FBMx=0 (CAN->FM1R), two filters (n in FR1 and n+1 in FR2)
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ID: CAN->sFilterRegister[x].FRn[0..15]
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MASK: CAN->sFilterRegister[x].FRn[16..31]
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FR bits: STID[10:0] RTR IDE EXID[17:15]
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LIST: FBMx=1, four filters (n&n+1 in FR1, n+2&n+3 in FR2)
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IDn: CAN->sFilterRegister[x].FRn[0..15]
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IDn+1: CAN->sFilterRegister[x].FRn[16..31]
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*/
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static void list_filters(_U_ char *txt){
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uint32_t fa = CAN->FA1R, ctr = 0, mask = 1;
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while(fa){
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if(fa & 1){
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SEND("Filter "); printu(ctr); SEND(", FIFO");
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if(CAN->FFA1R & mask) SEND("1");
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else SEND("0");
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SEND(" in ");
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if(CAN->FM1R & mask){ // up to 4 filters in LIST mode
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SEND("LIST mode, IDs: ");
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printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
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SEND(" ");
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printID(CAN->sFilterRegister[ctr].FR1 >> 16);
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SEND(" ");
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printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
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SEND(" ");
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printID(CAN->sFilterRegister[ctr].FR2 >> 16);
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}else{ // up to 2 filters in MASK mode
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SEND("MASK mode: ");
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if(!(CAN->sFilterRegister[ctr].FR1&0x1f)){
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SEND("ID="); printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
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SEND(", MASK="); printID(CAN->sFilterRegister[ctr].FR1 >> 16);
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SEND(" ");
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}
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if(!(CAN->sFilterRegister[ctr].FR2&0x1f)){
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SEND("ID="); printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
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SEND(", MASK="); printID(CAN->sFilterRegister[ctr].FR2 >> 16);
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}
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}
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newline();
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}
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fa >>= 1;
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++ctr;
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mask <<= 1;
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}
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}
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/**
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* @brief add_filter - add/modify filter
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* @param str - string in format "bank# FIFO# mode num0 .. num3"
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* where bank# - 0..27
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* if there's nothing after bank# - delete filter
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* FIFO# - 0,1
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* mode - 'I' for ID, 'M' for mask
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* num0..num3 - IDs in ID mode, ID/MASK for mask mode
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*/
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static void add_filter(char *str){
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int32_t N;
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str = omit_spaces(str);
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char *n = getnum(str, &N);
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if(n == str){
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SEND("No bank# given");
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return;
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}
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if(N == 0 || N > STM32F0FBANKNO-1){
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SEND("0 (reserved for self) < bank# < 28 (max bank# is 27)!!!");
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return;
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}
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uint8_t bankno = (uint8_t)N;
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str = omit_spaces(n);
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if(!*str){ // deactivate filter
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SEND("Deactivate filters in bank ");
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printu(bankno);
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CAN->FMR = CAN_FMR_FINIT;
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CAN->FA1R &= ~(1<<bankno);
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CAN->FMR &=~ CAN_FMR_FINIT;
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return;
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}
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uint8_t fifono = 0;
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if(*str == '1') fifono = 1;
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else if(*str != '0'){
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SEND("FIFO# is 0 or 1");
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return;
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}
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str = omit_spaces(str + 1);
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char c = *str;
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uint8_t mode = 0; // ID
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if(c == 'M' || c == 'm') mode = 1;
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else if(c != 'I' && c != 'i'){
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SEND("mode is 'M/m' for MASK and 'I/i' for IDLIST");
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return;
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}
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str = omit_spaces(str + 1);
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uint32_t filters[4];
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uint32_t nfilt;
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for(nfilt = 0; nfilt < 4; ++nfilt){
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n = getnum(str, &N);
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if(n == str) break;
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filters[nfilt] = N;
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str = omit_spaces(n);
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}
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if(nfilt == 0){
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SEND("You should add at least one filter!");
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return;
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}
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if(mode && (nfilt&1)){
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SEND("In MASK mode you should point pairs of ID/MASK");
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return;
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}
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CAN->FMR = CAN_FMR_FINIT;
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uint32_t mask = 1<<bankno;
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CAN->FA1R |= mask; // activate given filter
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if(fifono) CAN->FFA1R |= mask; // set FIFO number
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else CAN->FFA1R &= ~mask;
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if(mode) CAN->FM1R &= ~mask; // MASK
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else CAN->FM1R |= mask; // LIST
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uint32_t F1 = (0x8f<<16);
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uint32_t F2 = (0x8f<<16);
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// reset filter registers to wrong value
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CAN->sFilterRegister[bankno].FR1 = (0x8f<<16) | 0x8f;
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CAN->sFilterRegister[bankno].FR2 = (0x8f<<16) | 0x8f;
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switch(nfilt){
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case 4:
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F2 = filters[3] << 21;
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// fallthrough
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case 3:
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CAN->sFilterRegister[bankno].FR2 = (F2 & 0xffff0000) | (filters[2] << 5);
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// fallthrough
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case 2:
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F1 = filters[1] << 21;
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// fallthrough
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case 1:
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CAN->sFilterRegister[bankno].FR1 = (F1 & 0xffff0000) | (filters[0] << 5);
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}
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CAN->FMR &=~ CAN_FMR_FINIT;
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SEND("Added filter with ");
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printu(nfilt); SEND(" parameters");
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}
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void getcanid(_U_ char *txt){
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SEND("canid="); printuhex(the_conf.CANID);
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}
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void inpause(_U_ char *txt){
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ShowMsgs = FALSE;
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}
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void inresume(_U_ char *txt){
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ShowMsgs = TRUE;
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}
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void delignlist(_U_ char *txt){
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IgnSz = 0;
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}
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|
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void bootldr(_U_ char *txt){
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SEND("Go into DFU mode\n");
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sendbuf();
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Jump2Boot();
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}
|
||||
|
||||
typedef void(*specfpointer)(char *arg);
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||||
|
||||
typedef struct{
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||||
const char *command;
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||||
specfpointer function;
|
||||
const char *help;
|
||||
} speccommands;
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||||
|
||||
const speccommands scmdlist[] = {
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{"ignore", addIGN, "add ID to ignore list (max 10 IDs)"},
|
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{"delignlist", delignlist, "delete ignore list"},
|
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{"dfu", bootldr, "activate DFU mode"},
|
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{"filter", add_filter, "add/modify filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]"},
|
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{"canspeed", CANini, "CAN bus speed"},
|
||||
{"canid", getcanid, "read CAN ID"},
|
||||
{"listfilters", list_filters, "list all active filters"},
|
||||
{"ignbuf", print_ign_buf, "print ignore buffer"},
|
||||
{"pause", inpause, "pause IN packets displaying"},
|
||||
{"resume", inresume, "resume IN packets displaying"},
|
||||
{"send", sendCANcommand, "send data over CAN: send ID byte0 .. byteN"},
|
||||
{NULL, NULL, NULL}
|
||||
};
|
||||
|
||||
static void showHelp(){
|
||||
SEND("USAGE. Common commands format is cmd[ N[ = val]]\n\twhere N is command argument (0..127), val is its value\n");
|
||||
SEND("Common commands:\n");
|
||||
for(int i = 0; i < CMD_AMOUNT; ++i){
|
||||
bufputchar('\t'); SEND(cmdlist[i].command); SEND(" - ");
|
||||
SEND(cmdlist[i].help); newline();
|
||||
}
|
||||
SEND("USB-only commands:\n");
|
||||
const speccommands *cmd = scmdlist;
|
||||
while(cmd->command){
|
||||
bufputchar('\t'); SEND(cmd->command); SEND(" - ");
|
||||
SEND(cmd->help); newline();
|
||||
++cmd;
|
||||
}
|
||||
NL();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief cmd_parser - command parsing
|
||||
* @param txt - buffer with commands & data (will be broken by this function!)
|
||||
* @param isUSB - == 1 if data got from USB
|
||||
* Common commands format: command [[N]=I], where
|
||||
* command - one of `command` from `cmdlist`
|
||||
* N - optional parameter (0..255)
|
||||
* I - value (int32_t), need for setter
|
||||
* Special commands format: s_command [text], where
|
||||
* s_command - one of `spec_cmdlist`
|
||||
* text - optional list of arguments
|
||||
* The space after command name is mandatory (it will be substituted by \0)
|
||||
*/
|
||||
void cmd_parser(char *txt){
|
||||
char cmd[32], *pcmd = cmd;
|
||||
int i = 0;
|
||||
// first try to find command in `cmdlist`
|
||||
char *eptr = omit_spaces(txt);
|
||||
if(!*eptr) return;
|
||||
while(*eptr && i < 30){
|
||||
if(*eptr < 'a' || *eptr > 'z') break;
|
||||
*pcmd++ = *eptr++;
|
||||
++i;
|
||||
}
|
||||
*pcmd = 0;
|
||||
if(eptr && *eptr){
|
||||
eptr = omit_spaces(eptr);
|
||||
}
|
||||
// find command
|
||||
int idx = 0;
|
||||
do{
|
||||
if(0 == cmpstr(cmdlist[idx].command, cmd)) break;
|
||||
}while(++idx < CMD_AMOUNT);
|
||||
if(idx < CMD_AMOUNT){
|
||||
#ifdef EBUG
|
||||
SEND("Find known command: "); SEND(cmd);
|
||||
if(eptr && *eptr) SEND(", args: "); SEND(eptr);
|
||||
NL();
|
||||
#endif
|
||||
uint8_t par = CANMESG_NOPAR;
|
||||
int32_t val = 0;
|
||||
if(eptr && *eptr){
|
||||
char *nxt = getnum(eptr, &val);
|
||||
if(nxt && nxt != eptr){ // command has parameter?
|
||||
if(val < 0 || val >= CANMESG_NOPAR){
|
||||
SEND("Command parameter should be 0..126!"); NL();
|
||||
return;
|
||||
}
|
||||
par = (uint8_t)val;
|
||||
}else nxt = eptr;
|
||||
eptr = getchr(nxt, '=');
|
||||
if(eptr){ // command has value?
|
||||
eptr = omit_spaces(eptr + 1);
|
||||
nxt = getnum(eptr, &val);
|
||||
if(nxt != eptr){
|
||||
par |= 0x80; // setter
|
||||
}
|
||||
}
|
||||
}
|
||||
// here we got command & ppar/pval -> call CMD
|
||||
errcodes retcode = cmdlist[idx].function(&par, &val);
|
||||
SEND(cmd);
|
||||
if(par != CANMESG_NOPAR) printu(par & 0x7f);
|
||||
bufputchar('='); printi(val);
|
||||
if(ERR_OK != retcode){
|
||||
SEND("\nERRCODE=");
|
||||
printu(retcode);
|
||||
}
|
||||
NL();
|
||||
return;
|
||||
}
|
||||
/*-> find USB-only commands here and show help if not found <-*/
|
||||
const speccommands *c = scmdlist;
|
||||
while(c->command){
|
||||
if(0 == cmpstr(c->command, cmd)){
|
||||
c->function(eptr);
|
||||
NL();
|
||||
return;
|
||||
}
|
||||
++c;
|
||||
}
|
||||
showHelp();
|
||||
}
|
||||
|
||||
// print 32bit unsigned int
|
||||
void printu(uint32_t val){
|
||||
char buf[11], *bufptr = &buf[10];
|
||||
*bufptr = 0;
|
||||
if(!val){
|
||||
*(--bufptr) = '0';
|
||||
}else{
|
||||
while(val){
|
||||
register uint32_t o = val;
|
||||
val /= 10;
|
||||
*(--bufptr) = (o - 10*val) + '0';
|
||||
}
|
||||
}
|
||||
addtobuf(bufptr);
|
||||
}
|
||||
void printi(int32_t val){
|
||||
if(val < 0){
|
||||
val = -val;
|
||||
bufputchar('-');
|
||||
}
|
||||
printu((uint32_t)val);
|
||||
}
|
||||
|
||||
// print 32bit unsigned int as hex
|
||||
void printuhex(uint32_t val){
|
||||
addtobuf("0x");
|
||||
uint8_t *ptr = (uint8_t*)&val + 3;
|
||||
int i, j, z = 1;
|
||||
for(i = 0; i < 4; ++i, --ptr){
|
||||
if(*ptr == 0){ // omit leading zeros
|
||||
if(i == 3) z = 0;
|
||||
if(z) continue;
|
||||
}
|
||||
else z = 0;
|
||||
for(j = 1; j > -1; --j){
|
||||
uint8_t half = (*ptr >> (4*j)) & 0x0f;
|
||||
if(half < 10) bufputchar(half + '0');
|
||||
else bufputchar(half - 10 + 'a');
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// check Ignore_IDs & return 1 if ID isn't in list
|
||||
uint8_t isgood(uint16_t ID){
|
||||
for(int i = 0; i < IgnSz; ++i)
|
||||
if(Ignore_IDs[i] == ID) return 0;
|
||||
return 1;
|
||||
}
|
||||
|
||||
char *omit_spaces(char *buf){
|
||||
while(*buf){
|
||||
if(*buf > ' ') break;
|
||||
++buf;
|
||||
}
|
||||
return buf;
|
||||
}
|
||||
|
||||
// THERE'S NO OVERFLOW PROTECTION IN NUMBER READ PROCEDURES!
|
||||
// read decimal number
|
||||
static char *getdec(const char *buf, int32_t *N){
|
||||
int32_t num = 0;
|
||||
int positive = TRUE;
|
||||
if(*buf == '-'){
|
||||
positive = FALSE;
|
||||
++buf;
|
||||
}
|
||||
while(*buf){
|
||||
char c = *buf;
|
||||
if(c < '0' || c > '9'){
|
||||
break;
|
||||
}
|
||||
num *= 10;
|
||||
num += c - '0';
|
||||
++buf;
|
||||
}
|
||||
*N = (positive) ? num : -num;
|
||||
return (char *)buf;
|
||||
}
|
||||
// read hexadecimal number (without 0x prefix!)
|
||||
static char *gethex(const char *buf, int32_t *N){
|
||||
uint32_t num = 0;
|
||||
while(*buf){
|
||||
char c = *buf;
|
||||
uint8_t M = 0;
|
||||
if(c >= '0' && c <= '9'){
|
||||
M = '0';
|
||||
}else if(c >= 'A' && c <= 'F'){
|
||||
M = 'A' - 10;
|
||||
}else if(c >= 'a' && c <= 'f'){
|
||||
M = 'a' - 10;
|
||||
}
|
||||
if(M){
|
||||
num <<= 4;
|
||||
num += c - M;
|
||||
}else{
|
||||
break;
|
||||
}
|
||||
++buf;
|
||||
}
|
||||
*N = (int32_t)num;
|
||||
return (char *)buf;
|
||||
}
|
||||
// read binary number (without 0b prefix!)
|
||||
static char *getbin(const char *buf, int32_t *N){
|
||||
uint32_t num = 0;
|
||||
while(*buf){
|
||||
char c = *buf;
|
||||
if(c < '0' || c > '1'){
|
||||
break;
|
||||
}
|
||||
num <<= 1;
|
||||
if(c == '1') num |= 1;
|
||||
++buf;
|
||||
}
|
||||
*N = (int32_t)num;
|
||||
return (char *)buf;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief getnum - read uint32_t from string (dec, hex or bin: 127, 0x7f, 0b1111111)
|
||||
* @param buf - buffer with number and so on
|
||||
* @param N - the number read
|
||||
* @return pointer to first non-number symbol in buf (if it is == buf, there's no number)
|
||||
*/
|
||||
char *getnum(char *txt, int32_t *N){
|
||||
if(*txt == '0'){
|
||||
if(txt[1] == 'x' || txt[1] == 'X') return gethex(txt+2, N);
|
||||
if(txt[1] == 'b' || txt[1] == 'B') return getbin(txt+2, N);
|
||||
}
|
||||
return getdec(txt, N);
|
||||
}
|
||||
Reference in New Issue
Block a user