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stm32samples/F1-nolib/chronometer/str.c
eddyem 20011c92df fix problem with LIDAR
2019-09-20 18:02:32 +03:00

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/*
* This file is part of the chronometer project.
* Copyright 2019 Edward V. Emelianov <edward.emelianoff@gmail.com>.
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "adc.h"
#include "GPS.h"
#include "lidar.h"
#include "str.h"
#include "time.h"
#include "usart.h"
#include "usb.h"
// flag to show new GPS message over USB
uint8_t showGPSstr = 0;
/**
* @brief cmpstr - the same as strncmp
* @param s1,s2 - strings to compare
* @param n - max symbols amount
* @return 0 if strings equal or 1/-1
*/
int cmpstr(const char *s1, const char *s2, int n){
int ret = 0;
while(--n){
ret = *s1 - *s2;
if(ret == 0 && *s1 && *s2){
++s1; ++s2;
continue;
}
break;
}
return ret;
}
/**
* @brief getchr - analog of strchr
* @param str - string to search
* @param symbol - searching symbol
* @return pointer to symbol found or NULL
*/
char *getchr(const char *str, char symbol){
do{
if(*str == symbol) return (char*)str;
}while(*(++str));
return NULL;
}
#define sendu(x) do{USB_send(u2str(x));}while(0)
static void sendi(int32_t I){
if(I < 0){
USB_send("-");
I = -I;
}
USB_send(u2str((uint32_t)I));
}
/**
* @brief showuserconf - show configuration over USB
*/
static void showuserconf(){
USB_send("DISTMIN="); sendu(the_conf.dist_min);
USB_send("\nDISTMAX="); sendu(the_conf.dist_max);
USB_send("\nADCMIN="); sendi(the_conf.ADC_min);
USB_send("\nADCMAX="); sendi(the_conf.ADC_max);
USB_send("\nTRIGLVL="); sendu(the_conf.trigstate);
USB_send("\nTRIGPAUSE={");
for(int i = 0; i < TRIGGERS_AMOUNT; ++i){
if(i) USB_send(", ");
sendu(the_conf.trigpause[i]);
}
USB_send("}");
USB_send("\nUSART1SPD="); sendu(the_conf.USART_speed);
USB_send("\nSTREND=");
if(the_conf.defflags & FLAG_STRENDRN) USB_send("RN");
else USB_send("N");
uint8_t f = the_conf.defflags;
USB_send("\nSAVE_EVENTS=");
if(f & FLAG_SAVE_EVENTS) USB_send("1");
else USB_send("0");
USB_send("\nGPSPROXY=");
if(f & FLAG_GPSPROXY) USB_send("1");
else USB_send("0");
USB_send("\nNFREE=");
sendu(the_conf.NLfreeWarn);
USB_send("\n");
}
/**
* @brief parse_USBCMD - parsing of string buffer got by USB
* @param cmd - buffer with commands
* @return 0 if got command, 1 if command not recognized
*/
int parse_USBCMD(char *cmd){
#define CMP(a,b) cmpstr(a, b, sizeof(b))
#define GETNUM(x) if(getnum(cmd+sizeof(x)-1, &N)) goto bad_number;
static uint8_t conf_modified = 0;
uint8_t succeed = 0;
int32_t N;
if(!cmd || !*cmd) return 0;
IWDG->KR = IWDG_REFRESH;
if(*cmd == '?'){ // help
USB_send("Commands:\n"
CMD_ADCMAX " - max ADC value treshold for trigger\n"
CMD_ADCMIN " - min -//- (triggered when ADval>min & <max)\n"
CMD_GETADCVAL " - get ADC value\n"
CMD_BUZZER "S - turn buzzer ON/OFF\n"
CMD_DELLOGS " - delete logs from flash memory\n"
CMD_DISTMIN " - min distance threshold (cm)\n"
CMD_DISTMAX " - max distance threshold (cm)\n"
CMD_DUMP "N - dump 20 last stored events (no x), all (x<1) or x\n"
CMD_FLASH " - FLASH info\n"
CMD_GPSPROXY "S - GPS proxy over USART1 on/off\n"
CMD_GPSRESTART " - send Full Cold Restart to GPS\n"
CMD_GPSSTAT " - get GPS status\n"
CMD_GPSSTR " - current GPS data string\n"
CMD_LEDS "S - turn leds on/off (1/0)\n"
CMD_GETMCUTEMP " - MCU temperature\n"
CMD_NFREE " - warn when free logs space less than this number (0 - not warn)"
CMD_PRINTTIME " - print time\n"
CMD_RESET " - reset MCU\n"
CMD_SAVEEVTS "S - save/don't save (1/0) trigger events into flash\n"
CMD_SHOWCONF " - show current configuration\n"
CMD_STORECONF " - store new configuration in flash\n"
CMD_STREND "C - string ends with \\n (C=n) or \\r\\n (C=r)\n"
CMD_TRIGLVL "NS - working trigger N level S\n"
CMD_TRGPAUSE "NP - pause (P, ms) after trigger N shots\n"
CMD_TRGTIME "N - show last trigger N time\n"
CMD_USARTSPD "N - set USART1 speed to N\n"
CMD_GETVDD " - Vdd value\n"
);
}else if(CMP(cmd, CMD_PRINTTIME) == 0){
USB_send(get_time(&current_time, get_millis()));
USB_send("\n");
}else if(CMP(cmd, CMD_DISTMIN) == 0){ // set low limit
DBG("CMD_DISTMIN");
GETNUM(CMD_DISTMIN);
if(N < 0 || N > 0xffff) goto bad_number;
if(the_conf.dist_min != (uint16_t)N){
conf_modified = 1;
the_conf.dist_min = (uint16_t) N;
}
succeed = 1;
}else if(CMP(cmd, CMD_DISTMAX) == 0){ // set low limit
DBG("CMD_DISTMAX");
GETNUM(CMD_DISTMAX);
if(N < 0 || N > 0xffff) goto bad_number;
if(the_conf.dist_max != (uint16_t)N){
conf_modified = 1;
the_conf.dist_max = (uint16_t) N;
}
succeed = 1;
}else if(CMP(cmd, CMD_STORECONF) == 0){ // store everything
DBG("Store");
if(conf_modified){
if(store_userconf()){
USB_send("Error: can't save data!\n");
}else{
conf_modified = 0;
succeed = 1;
}
}
}else if(CMP(cmd, CMD_GPSSTR) == 0){ // show GPS status string
showGPSstr = 1;
}else if(CMP(cmd, CMD_TRIGLVL) == 0){
DBG("Trig levels");
cmd += sizeof(CMD_TRIGLVL) - 1;
uint8_t Nt = *cmd++ - '0';
if(Nt > TRIGGERS_AMOUNT - 1) goto bad_number;
uint8_t state = *cmd -'0';
if(state > 1) goto bad_number;
uint8_t oldval = the_conf.trigstate;
if(!state) the_conf.trigstate = oldval & ~(1<<Nt);
else the_conf.trigstate = oldval | (1<<Nt);
if(oldval != the_conf.trigstate) conf_modified = 1;
succeed = 1;
}else if(CMP(cmd, CMD_SHOWCONF) == 0){
showuserconf();
}else if(CMP(cmd, CMD_TRGPAUSE) == 0){
DBG("Trigger pause");
cmd += sizeof(CMD_TRGPAUSE) - 1;
uint8_t Nt = *cmd++ - '0';
if(Nt > TRIGGERS_AMOUNT - 1) goto bad_number;
if(getnum(cmd, &N)) goto bad_number;
if(N < 0 || N > 10000) goto bad_number;
if(the_conf.trigpause[Nt] != N){
conf_modified = 1;
the_conf.trigpause[Nt] = N;
}
succeed = 1;
}else if(CMP(cmd, CMD_TRGTIME) == 0){
DBG("Trigger time");
cmd += sizeof(CMD_TRGTIME) - 1;
uint8_t Nt = *cmd++ - '0';
if(Nt > TRIGGERS_AMOUNT - 1) goto bad_number;
show_trigger_shot((uint8_t)1<<Nt);
}else if(CMP(cmd, CMD_GETVDD) == 0){
USB_send("VDD=");
uint32_t vdd = getVdd();
sendu(vdd/100);
vdd %= 100;
if(vdd < 10) USB_send(".0");
else USB_send(".");
sendu(vdd);
USB_send("\n");
}else if(CMP(cmd, CMD_GETMCUTEMP) == 0){
int32_t t = getMCUtemp();
USB_send("MCUTEMP=");
if(t < 0){
t = -t;
USB_send("-");
}
sendu(t/10);
USB_send(".");
sendu(t%10);
USB_send("\n");
}else if(CMP(cmd, CMD_GETADCVAL) == 0){
USB_send("ADCVAL=");
sendu(getADCval(0));
USB_send("\n");
}else if(CMP(cmd, CMD_LEDS) == 0){
uint8_t Nt = cmd[sizeof(CMD_LEDS) - 1] - '0';
if(Nt > 1) goto bad_number;
USB_send("LEDS=");
if(Nt){
LEDSon = 1;
USB_send("ON\n");
}else{
LED_off(); // turn off LEDS
LED1_off(); // by user request
LEDSon = 0;
USB_send("OFF\n");
}
}else if(CMP(cmd, CMD_ADCMAX) == 0){ // set low limit
GETNUM(CMD_ADCMAX);
if(N < -4096 || N > 4096) goto bad_number;
if(the_conf.ADC_max != (int16_t)N){
conf_modified = 1;
the_conf.ADC_max = (int16_t) N;
}
succeed = 1;
}else if(CMP(cmd, CMD_ADCMIN) == 0){ // set low limit
GETNUM(CMD_ADCMIN);
if(N < -4096 || N > 4096) goto bad_number;
if(the_conf.ADC_min != (int16_t)N){
conf_modified = 1;
the_conf.ADC_min = (int16_t) N;
}
succeed = 1;
}else if(CMP(cmd, CMD_GPSRESTART) == 0){
USB_send("Send full cold restart to GPS\n");
GPS_send_FullColdStart();
}else if(CMP(cmd, CMD_BUZZER) == 0){
uint8_t Nt = cmd[sizeof(CMD_BUZZER) - 1] - '0';
if(Nt > 1) goto bad_number;
USB_send("BUZZER=");
if(Nt){
buzzer_on = 1;
USB_send("ON\n");
}else{
buzzer_on = 0;
USB_send("OFF\n");
}
}else if(CMP(cmd, CMD_GPSSTAT) == 0){
USB_send("GPS status: ");
const char *str = "unknown";
switch(GPS_status){
case GPS_NOTFOUND:
str = "not found";
break;
case GPS_WAIT:
str = "waiting";
break;
case GPS_NOT_VALID:
str = "no satellites";
break;
case GPS_VALID:
str = "valid time";
break;
}
USB_send(str);
if(Tms - last_corr_time < 1500)
USB_send(", PPS working\n");
else
USB_send(", no PPS\n");
}else if(CMP(cmd, CMD_USARTSPD) == 0){
GETNUM(CMD_USARTSPD);
if(N < 400 || N > 3000000) goto bad_number;
if(the_conf.USART_speed != (uint32_t)N){
the_conf.USART_speed = (uint32_t)N;
conf_modified = 1;
}
succeed = 1;
}else if(CMP(cmd, CMD_RESET) == 0){
USB_send("Soft reset\n");
NVIC_SystemReset();
}else if(CMP(cmd, CMD_STREND) == 0){
char c = cmd[sizeof(CMD_STREND) - 1];
succeed = 1;
if(c == 'n' || c == 'N'){
if(the_conf.defflags & FLAG_STRENDRN){
conf_modified = 1;
the_conf.defflags &= ~FLAG_STRENDRN;
}
}else if(c == 'r' || c == 'R'){
if(!(the_conf.defflags & FLAG_STRENDRN)){
conf_modified = 1;
the_conf.defflags |= FLAG_STRENDRN;
}
}else{
succeed = 0;
USB_send("Bad letter, should be 'n' or 'r'\n");
}
}else if(CMP(cmd, CMD_FLASH) == 0){ // show flash size
USB_send("FLASHSIZE=");
sendu(FLASH_SIZE);
USB_send("kB\nFLASH_BASE=");
USB_send(u2hex(FLASH_BASE));
USB_send("\nFlash_Data=");
USB_send(u2hex((uint32_t)Flash_Data));
USB_send("\nvarslen=");
sendu((uint32_t)&_varslen);
USB_send("\nCONFsize=");
sendu(sizeof(user_conf));
USB_send("\nNconf_records=");
sendu(maxCnum - 1);
USB_send("\nlogsstart=");
USB_send(u2hex((uint32_t)logsstart));
USB_send("\nLOGsize=");
sendu(sizeof(event_log));
USB_send("\nNlogs_records=");
sendu(maxLnum - 1);
USB_send("\n");
}else if(CMP(cmd, CMD_SAVEEVTS) == 0){
if('0' == cmd[sizeof(CMD_SAVEEVTS) - 1]){
if(the_conf.defflags & FLAG_SAVE_EVENTS){
conf_modified = 1;
the_conf.defflags &= ~FLAG_SAVE_EVENTS;
}
}else{
if(!(the_conf.defflags & FLAG_SAVE_EVENTS)){
conf_modified = 1;
the_conf.defflags |= FLAG_SAVE_EVENTS;
}
}
succeed = 1;
}else if(CMP(cmd, CMD_DUMP) == 0){
if(getnum(cmd+sizeof(CMD_DUMP)-1, &N)) N = -20; // default - without N
else N = -N;
if(N > 0) N = 0;
if(dump_log(N, -1)) USB_send("Event log empty!\n");
}else if(CMP(cmd, CMD_NFREE) == 0){
GETNUM(CMD_NFREE);
if(N < 0 || N > 0xffff) goto bad_number;
if(the_conf.NLfreeWarn != (uint16_t)N){
conf_modified = 1;
the_conf.NLfreeWarn = (uint16_t)N;
}
succeed = 1;
}else if(CMP(cmd, CMD_DELLOGS) == 0){
if(store_log(NULL)) USB_send("Error during erasing flash\n");
else USB_send("All logs erased\n");
}else if(CMP(cmd, CMD_GPSPROXY) == 0){
if(cmd[sizeof(CMD_GPSPROXY) - 1] == '0'){
if(the_conf.defflags & FLAG_GPSPROXY){
conf_modified = 1;
the_conf.defflags &= ~FLAG_GPSPROXY;
}
}else{
if(!(the_conf.defflags & FLAG_GPSPROXY)){
conf_modified = 1;
the_conf.defflags |= FLAG_GPSPROXY;
}
}
succeed = 1;
}else return 1;
/*else if(CMP(cmd, CMD_) == 0){
;
}*/
IWDG->KR = IWDG_REFRESH;
if(succeed) USB_send("Success!\n");
return 0;
bad_number:
USB_send("Error: bad number!\n");
return 0;
}
/**
* @brief get_trigger_shot - print on USB message about last trigger shot time
* @param number - number of event (if > -1)
* @param logdata - record from event log
* @return string with data
*/
char *get_trigger_shot(int number, const event_log *logdata){
static char buf[64];
char *bptr = buf;
if(number > -1){
bptr = strcp(bptr, u2str(number));
bptr = strcp(bptr, ": ");
}
if(logdata->trigno == LIDAR_TRIGGER){
bptr = strcp(bptr, "LIDAR, dist=");
bptr = strcp(bptr, u2str(logdata->lidar_dist));
bptr = strcp(bptr, ", TRIG" STR(LIDAR_TRIGGER));
}else{
bptr = strcp(bptr, "TRIG");
*bptr++ = '0' + logdata->trigno;
}
*bptr++ = '=';
IWDG->KR = IWDG_REFRESH;
bptr = strcp(bptr, get_time(&logdata->shottime.Time, logdata->shottime.millis));
bptr = strcp(bptr, ", len=");
if(logdata->triglen < 0) bptr = strcp(bptr, ">1s");
else bptr = strcp(bptr, u2str((uint32_t) logdata->triglen));
*bptr++ = '\n'; *bptr++ = 0;
return buf;
}
/**
* @brief show_trigger_shot printout @ USB data with all triggers shot recently (+ save it in flash)
* @param tshot - each bit consists information about trigger
*/
void show_trigger_shot(uint8_t tshot){
uint8_t X = 1;
for(int i = 0; i < TRIGGERS_AMOUNT && tshot; ++i, X <<= 1){
IWDG->KR = IWDG_REFRESH;
if(tshot & X) tshot &= ~X;
else continue;
event_log l;
l.elog_sz = sizeof(event_log);
l.trigno = i;
if(i == LIDAR_TRIGGER) l.lidar_dist = lidar_triggered_dist;
l.shottime = shottime[i];
l.triglen = triglen[i];
USB_send(get_trigger_shot(-1, &l));
if(the_conf.defflags & FLAG_SAVE_EVENTS){
if(store_log(&l)) USB_send("\n\nError saving event!\n\n");
}
}
}
/**
* @brief strln == strlen
* @param s - string
* @return length
*/
int strln(const char *s){
int i = 0;
while(*s++) ++i;
return i;
}
/**
* @brief strcp - strcpy (be carefull: it doesn't checks destination length!)
* @param dst - destination
* @param src - source
* @return pointer to '\0' @ dst`s end
*/
char *strcp(char* dst, const char *src){
int l = strln(src);
if(l < 1) return dst;
while((*dst++ = *src++));
return dst - 1;
}
// read `buf` and get first integer `N` in it
// @return 0 if all OK or 1 if there's not a number; omit spaces and '='
int getnum(const char *buf, int32_t *N){
char c;
int positive = -1;
int32_t val = 0;
while((c = *buf++)){
if(c == '\t' || c == ' ' || c == '='){
if(positive < 0) continue; // beginning spaces
else break; // spaces after number
}
if(c == '-'){
if(positive < 0){
positive = 0;
continue;
}else break; // there already was `-` or number
}
if(c < '0' || c > '9') break;
if(positive < 0) positive = 1;
val = val * 10 + (int32_t)(c - '0');
}
if(positive != -1){
if(positive == 0){
if(val == 0) return 1; // single '-'
val = -val;
}
*N = val;
}else return 1;
return 0;
}
static char strbuf[11];
// return string buffer (strbuf) with val
char *u2str(uint32_t val){
char *bufptr = &strbuf[10];
*bufptr = 0;
if(!val){
*(--bufptr) = '0';
}else{
while(val){
*(--bufptr) = val % 10 + '0';
val /= 10;
}
}
return bufptr;
}
// return strbuf filled with hex
char *u2hex(uint32_t val){
char *bufptr = strbuf;
*bufptr++ = '0';
*bufptr++ = 'x';
uint8_t *ptr = (uint8_t*)&val + 3;
int i, j;
IWDG->KR = IWDG_REFRESH;
for(i = 0; i < 4; ++i, --ptr){
for(j = 1; j > -1; --j){
register uint8_t half = (*ptr >> (4*j)) & 0x0f;
if(half < 10) *bufptr++ = half + '0';
else *bufptr++ = half - 10 + 'a';
}
}
*bufptr = 0;
return strbuf;
}
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