mirror of
https://github.com/eddyem/stm32samples.git
synced 2026-02-28 11:54:30 +03:00
add CANBUS_SSI
This commit is contained in:
502
F0:F030,F042,F072/CANBUS_SSI/proto.c
Normal file
502
F0:F030,F042,F072/CANBUS_SSI/proto.c
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@@ -0,0 +1,502 @@
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/*
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* geany_encoding=koi8-r
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* proto.c
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*
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* Copyright 2018 Edward V. Emelianov <eddy@sao.ru, 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 2 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, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301, USA.
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*
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*/
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#include "adc.h"
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#include "can.h"
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#include "flash.h"
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#include "hardware.h"
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#include "proto.h"
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#include "spi.h"
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#include "usart.h"
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#include "usb.h"
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#include <string.h> // strlen, strcpy(
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extern volatile uint8_t canerror;
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uint8_t monitCAN = 0; // ==1 to show CAN messages
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#define BUFSZ UARTBUFSZ
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static char buff[BUFSZ+1], *bptr = buff;
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static uint8_t blen = 0, // length of data in `buff`
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USBcmd = 0; // ==1 if buffer prepared for USB
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char *omit_spaces(char *buf){
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while(*buf){
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if(*buf > ' ') break;
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++buf;
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}
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return buf;
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}
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void buftgt(uint8_t isUSB){
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USBcmd = isUSB;
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}
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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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if(USBcmd){
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*bptr = 0;
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USB_sendstr(buff);
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}else usart_send_blocking(buff, blen);
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bptr = buff;
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blen = 0;
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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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int l = strlen(txt);
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if(l > BUFSZ){
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sendbuf();
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if(USBcmd) USB_sendstr(txt);
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else usart_send_blocking(txt, l);
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}else{
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if(blen+l > BUFSZ){
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sendbuf();
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}
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strcpy(bptr, txt);
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bptr += l;
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}
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blen += l;
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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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// show all ADC values
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static inline void showADCvals(){
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char msg[] = "ADCn=";
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for(int n = 0; n < NUMBER_OF_ADC_CHANNELS; ++n){
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msg[3] = n + '0';
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addtobuf(msg);
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printu(getADCval(n));
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newline();
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}
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}
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static inline void printmcut(){
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SEND("MCUT=");
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int32_t T = getMCUtemp();
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if(T < 0){
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bufputchar('-');
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T = -T;
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}
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printu(T);
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newline();
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}
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static inline void showUIvals(){
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uint16_t *vals = getUval();
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SEND("V12="); printu(vals[0]);
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SEND("\nV5="); printu(vals[1]);
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SEND("\nV33="); printu(getVdd());
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newline();
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}
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// check address & return 0 if wrong or roll to next non-digit
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static char *chk485addr(char *txt){
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uint32_t N;
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char *nxt = getnum(txt, &N);
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if(nxt == txt) return NULL;
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if(N == getBRDaddr()){
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return nxt;
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}
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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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uint32_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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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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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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TRUE_INLINE 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 = 1000000;
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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 uint8_t userconf_changed = 0; // ==1 if user_conf was changed
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TRUE_INLINE void userconf_manip(char *txt){
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txt = omit_spaces(txt);
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switch(*txt){
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case 'd': // dump
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dump_userconf();
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break;
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case 's': // store
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if(userconf_changed){
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if(!store_userconf()){
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userconf_changed = 0;
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SEND("Stored!");
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}else SEND("Error when storing!");
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}
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break;
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default:
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SEND("\nUserconf commands:\n"
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"d - userconf dump\n"
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"s - userconf store\n"
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);
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}
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}
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// Change CAN IDs
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static void chID(uint32_t new, uint16_t *id){
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uint16_t I = (uint16_t)new;
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if(I < 1 || I > 0x7FF){
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SEND("ID should be from 1 to 0x7FF");
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return;
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}
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if(*id != I){
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*id = I;
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SEND("ID changed to "); printu(I);
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userconf_changed = 1;
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}
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}
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// change CAN send flags
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static void chCAN(char val, uint8_t *ch){
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if(val != '0' && val != '1'){
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SEND("Point 0 or 1");
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return;
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}
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val -= '0';
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if(*ch != val){
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*ch = val;
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if(val) SEND("ON");
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else SEND("OFF");
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userconf_changed = 1;
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}
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}
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// a set of setters for user_conf
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TRUE_INLINE void setters(char *txt){
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uint32_t U;
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txt = omit_spaces(txt);
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if(!*txt){
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SEND("Setters need more arguments");
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return;
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}
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char *nxt = getnum(txt + 1, &U);
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switch(*txt){
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case 'c': // set CAN speed
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if(nxt == txt + 1){
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SEND("No CAN speed given");
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return;
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}
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if(U < 50){
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SEND("Speed should be not less than 50kbps");
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return;
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}
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if(U > 3000){
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SEND("Speed should be not greater than 3000kbps");
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return;
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}
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if(the_conf.CANspeed != (uint16_t)U){
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the_conf.CANspeed = (uint16_t)U;
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SEND("Set CAN speed to "); printu(U);
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userconf_changed = 1;
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}
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break;
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case 'e':
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if(nxt == txt + 1){
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SEND("No ID given");
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return;
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}
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chID(U, &the_conf.encoderID);
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break;
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case 'E':
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txt = omit_spaces(txt + 1);
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chCAN(*txt, &the_conf.sendenc);
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break;
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case 'l':
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if(nxt == txt + 1){
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SEND("No ID given");
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return;
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}
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chID(U, &the_conf.limitsID);
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break;
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case 'L':
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txt = omit_spaces(txt + 1);
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chCAN(*txt, &the_conf.sendsw);
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break;
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default:
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SEND("\nSetters commands:\n"
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"c - set default CAN speed\n"
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"e - set encoderID\n"
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"Ex - autosend (1) or not (0) encoders val to CAN\n"
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"l - set limitsID\n"
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"Lx - autosend/not limit switches values to CAN\n"
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);
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}
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}
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/**
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* @brief cmd_parser - command parsing
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* @param txt - buffer with commands & data
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* @param isUSB - == 1 if data got from USB
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*/
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void cmd_parser(char *txt, uint8_t isUSB){
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sendbuf();
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USBcmd = isUSB;
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// we can't simple use &txt[p] as variable: it can be non-aligned by 4!!!
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if(isUSB == TARGET_USART){ // check address and roll message to nearest non-space
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txt = chk485addr(txt);
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if(!txt) return;
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}
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txt = omit_spaces(txt);
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// long commands, commands with arguments
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switch(*txt){
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case 's':
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sendCANcommand(txt + 1);
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goto eof;
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break;
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case 'S': // setters
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setters(txt + 1);
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goto eof;
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break;
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case 'U':
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userconf_manip(txt + 1);
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goto eof;
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break;
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}
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if(txt[1] != '\n') *txt = '?'; // help for wrong message length
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switch(*txt){
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case '0':
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can_accept_one();
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SEND("Accept only my ID @CAN");
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break;
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case '@':
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can_accept_any();
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SEND("Accept any ID @CAN");
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break;
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case 'a':
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showADCvals();
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break;
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case 'b':
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SEND("Jump to bootloader.\n");
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sendbuf();
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Jump2Boot();
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break;
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case 'g':
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SEND("Board address: ");
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printuhex(refreshBRDaddr());
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SEND("\nCAN IN address (OUT=IN+1): ");
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printuhex(getCANID());
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break;
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case 'I':
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spi_setup();
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SEND("SPI reinited, status="); printu(SPI_status);
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break;
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case 'j':
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printmcut();
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break;
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case 'k':
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showUIvals();
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break;
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case 'm':
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monitCAN = !monitCAN;
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SEND("CAN monitoring ");
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if(monitCAN) SEND("ON");
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else SEND("OFF");
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break;
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case 'R':
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if(SPI_transmit(NULL, 4)){
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SEND("SPI error, status="); printu(SPI_status);
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} else SEND("Wait data from SPI");
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break;
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case 't':
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usart_send_blocking("TEST test\n", 10);
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SEND("Sent");
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break;
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case 'T':
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SEND("Tms="); printu(Tms);
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SEND("\nCounter="); printu(TIM2->CNT); // 24 bit downcounting 2us period
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break;
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case 'z':
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flashstorage_init();
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break;
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default: // help
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SEND(
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"0 - accept only data for this device\n"
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"@ - accept any IDs\n"
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"a - get raw ADC values\n"
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"b - switch to bootloader\n"
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"g - get board address\n"
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"I - reinit SPI\n"
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"j - get MCU temperature\n"
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"k - get U values\n"
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"m - start/stop monitoring CAN bus\n"
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"R - read 32 bits from SPI\n"
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"s - send data over CAN: s ID [byte0..7]\n"
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"S? - parameter setters\n"
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"t - send test sequence over RS-485\n"
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"T - print current time\n"
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"U? - options for user configuration\n"
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"z - reinit flash storage\n"
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);
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break;
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}
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eof:
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newline();
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sendbuf();
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}
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// print 32bit unsigned int
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void printu(uint32_t val){
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char buf[11], *bufptr = &buf[10];
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*bufptr = 0;
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if(!val){
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*(--bufptr) = '0';
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}else{
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while(val){
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*(--bufptr) = val % 10 + '0';
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val /= 10;
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}
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}
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addtobuf(bufptr);
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}
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// print 32bit unsigned int as hex
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void printuhex(uint32_t val){
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addtobuf("0x");
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uint8_t *ptr = (uint8_t*)&val + 3;
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int8_t i, j;
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for(i = 0; i < 4; ++i, --ptr){
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for(j = 1; j > -1; --j){
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uint8_t half = (*ptr >> (4*j)) & 0x0f;
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if(half < 10) bufputchar(half + '0');
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else bufputchar(half - 10 + 'a');
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}
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}
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}
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// THERE'S NO OVERFLOW PROTECTION IN NUMBER READ PROCEDURES!
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// read decimal number
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static char *getdec(char *buf, uint32_t *N){
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uint32_t num = 0;
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while(*buf){
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char c = *buf;
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if(c < '0' || c > '9'){
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break;
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}
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num *= 10;
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num += c - '0';
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++buf;
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}
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*N = num;
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return buf;
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}
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// read hexadecimal number (without 0x prefix!)
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static char *gethex(char *buf, uint32_t *N){
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uint32_t num = 0;
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while(*buf){
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char c = *buf;
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uint8_t M = 0;
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if(c >= '0' && c <= '9'){
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M = '0';
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}else if(c >= 'A' && c <= 'F'){
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M = 'A' - 10;
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}else if(c >= 'a' && c <= 'f'){
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M = 'a' - 10;
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}
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if(M){
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num <<= 4;
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num += c - M;
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}else{
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break;
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}
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++buf;
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}
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*N = num;
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return buf;
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}
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// read binary number (without 0b prefix!)
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static char *getbin(char *buf, uint32_t *N){
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uint32_t num = 0;
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while(*buf){
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char c = *buf;
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if(c < '0' || c > '1'){
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break;
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}
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num <<= 1;
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if(c == '1') num |= 1;
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++buf;
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}
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*N = num;
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return buf;
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}
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/**
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* @brief getnum - read uint32_t from string (dec, hex or bin: 127, 0x7f, 0b1111111)
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* @param buf - buffer with number and so on
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* @param N - the number read
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* @return pointer to first non-number symbol in buf (if it is == buf, there's no number)
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*/
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char *getnum(char *txt, uint32_t *N){
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txt = omit_spaces(txt);
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if(*txt == '0'){
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if(txt[1] == 'x' || txt[1] == 'X') return gethex(txt+2, N);
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if(txt[1] == 'b' || txt[1] == 'B') return getbin(txt+2, N);
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}
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return getdec(txt, N);
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}
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Block a user