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stm32samples/F0-nolib/3steppersLB/strfunct.c

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/*
* This file is part of the 3steppers project.
* Copyright 2021 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 "buttons.h"
#include "can.h"
#include "commonproto.h"
#include "flash.h"
#include "hardware.h"
#include "strfunct.h"
#include "usb.h"
#include "version.inc"
#include <string.h> // strlen
extern volatile uint8_t canerror;
uint8_t ShowMsgs = 0;
uint16_t Ignore_IDs[IGN_SIZE];
uint8_t IgnSz = 0;
static char buff[BUFSZ+1], *bptr = buff;
static uint8_t blen = 0;
void sendbuf(){
if(blen == 0) return;
*bptr = 0;
USB_sendstr(buff);
bptr = buff;
blen = 0;
}
void bufputchar(char ch){
if(blen > BUFSZ-1){
sendbuf();
}
*bptr++ = ch;
++blen;
}
void addtobuf(const char *txt){
while(*txt) bufputchar(*txt++);
}
/**
* @brief cmpstr - the same as strncmp
* @param s1,s2 - strings to compare
* @return 0 if strings equal or 1/-1
*/
int cmpstr(const char *s1, const char *s2){
int ret = 0;
do{
ret = *s1 - *s2;
if(ret == 0 && *s1 && *s2){
++s1; ++s2;
continue;
}
break;
}while(1);
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;
}
// parse `txt` to CAN_message
static CAN_message *parseCANmsg(char *txt){
static CAN_message canmsg;
//SEND("CAN command with arguments:\n");
int32_t N;
char *n;
int ctr = -1;
canmsg.ID = 0xffff;
do{
txt = omit_spaces(txt);
n = getnum(txt, &N);
if(txt == n) break;
txt = n;
if(ctr == -1){
if(N > 0x7ff){
SEND("ID should be 11-bit number!\n");
return NULL;
}
canmsg.ID = (uint16_t)(N&0x7ff);
//SEND("ID="); printuhex(canmsg.ID); newline();
ctr = 0;
continue;
}
if(ctr > 7){
SEND("ONLY 8 data bytes allowed!\n");
return NULL;
}
if(N > 0xff){
SEND("Every data portion is a byte!\n");
return NULL;
}
canmsg.data[ctr++] = (uint8_t)(N&0xff);
}while(1);
if(canmsg.ID == 0xffff){
SEND("NO ID given, send nothing!\n");
return NULL;
}
SEND("Message parsed OK\n");
sendbuf();
canmsg.length = (uint8_t) ctr;
return &canmsg;
}
// send command, format: ID (hex/bin/dec) data bytes (up to 8 bytes, space-delimeted)
static void sendCANcommand(char *txt){
CAN_message *msg = parseCANmsg(txt);
if(!msg) return;
uint32_t N = 1000;
while(CAN_BUSY == can_send(msg->data, msg->length, msg->ID)){
if(--N == 0) break;
}
}
static void CANini(char *txt){
txt = omit_spaces(txt);
int32_t N;
if(!txt) goto eofunc;
char *n = getnum(txt, &N);
if(txt == n) goto eofunc;
if(N < 50){
SEND("Lowest speed is 50kbps");
return;
}else if(N > 3000){
SEND("Highest speed is 3000kbps");
return;
}
the_conf.CANspeed = (uint16_t)N;
CAN_reinit((uint16_t)N);
eofunc:
SEND("canspeed="); printu(the_conf.CANspeed); NL();
}
static void addIGN(char *txt){
if(IgnSz == IGN_SIZE){
DBG("Ignore buffer is full");
return;
}
txt = omit_spaces(txt);
int32_t N;
char *n = getnum(txt, &N);
if(txt == n){
SEND("No ID given");
return;
}
if(N == the_conf.CANID){
SEND("You can't ignore self ID!");
return;
}
if(N > 0x7ff){
SEND("ID should be 11-bit number!");
return;
}
Ignore_IDs[IgnSz++] = (uint16_t)(N & 0x7ff);
SEND("Added ID "); printu(N);
SEND("\nIgn buffer size: "); printu(IgnSz);
}
static void print_ign_buf(_U_ char *txt){
if(IgnSz == 0){
SEND("Ignore buffer is empty");
return;
}
SEND("Ignored IDs:\n");
for(int i = 0; i < IgnSz; ++i){
if(i) newline();
printu(i);
SEND(": ");
printuhex(Ignore_IDs[i]);
}
}
// print ID/mask of CAN->sFilterRegister[x] half
static void printID(uint16_t FRn){
if(FRn & 0x1f) return; // trash
printuhex(FRn >> 5);
}
/*
Can filtering: FSCx=0 (CAN->FS1R) -> 16-bit identifiers
CAN->FMR = (sb)<<8 | FINIT - init filter in starting bank sb
CAN->FFA1R FFAx = 1 -> FIFO1, 0 -> FIFO0
CAN->FA1R FACTx=1 - filter active
MASK: FBMx=0 (CAN->FM1R), two filters (n in FR1 and n+1 in FR2)
ID: CAN->sFilterRegister[x].FRn[0..15]
MASK: CAN->sFilterRegister[x].FRn[16..31]
FR bits: STID[10:0] RTR IDE EXID[17:15]
LIST: FBMx=1, four filters (n&n+1 in FR1, n+2&n+3 in FR2)
IDn: CAN->sFilterRegister[x].FRn[0..15]
IDn+1: CAN->sFilterRegister[x].FRn[16..31]
*/
static void list_filters(_U_ char *txt){
uint32_t fa = CAN->FA1R, ctr = 0, mask = 1;
while(fa){
if(fa & 1){
SEND("Filter "); printu(ctr); SEND(", FIFO");
if(CAN->FFA1R & mask) SEND("1");
else SEND("0");
SEND(" in ");
if(CAN->FM1R & mask){ // up to 4 filters in LIST mode
SEND("LIST mode, IDs: ");
printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
SEND(" ");
printID(CAN->sFilterRegister[ctr].FR1 >> 16);
SEND(" ");
printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
SEND(" ");
printID(CAN->sFilterRegister[ctr].FR2 >> 16);
}else{ // up to 2 filters in MASK mode
SEND("MASK mode: ");
if(!(CAN->sFilterRegister[ctr].FR1&0x1f)){
SEND("ID="); printID(CAN->sFilterRegister[ctr].FR1 & 0xffff);
SEND(", MASK="); printID(CAN->sFilterRegister[ctr].FR1 >> 16);
SEND(" ");
}
if(!(CAN->sFilterRegister[ctr].FR2&0x1f)){
SEND("ID="); printID(CAN->sFilterRegister[ctr].FR2 & 0xffff);
SEND(", MASK="); printID(CAN->sFilterRegister[ctr].FR2 >> 16);
}
}
newline();
}
fa >>= 1;
++ctr;
mask <<= 1;
}
}
/**
* @brief add_filter - add/modify filter
* @param str - string in format "bank# FIFO# mode num0 .. num3"
* where bank# - 0..27
* if there's nothing after bank# - delete filter
* FIFO# - 0,1
* mode - 'I' for ID, 'M' for mask
* num0..num3 - IDs in ID mode, ID/MASK for mask mode
*/
static void add_filter(char *str){
int32_t N;
str = omit_spaces(str);
char *n = getnum(str, &N);
if(n == str){
SEND("No bank# given");
return;
}
if(N == 0 || N > STM32F0FBANKNO-1){
SEND("0 (reserved for self) < bank# < 28 (max bank# is 27)!!!");
return;
}
uint8_t bankno = (uint8_t)N;
str = omit_spaces(n);
if(!*str){ // deactivate filter
SEND("Deactivate filters in bank ");
printu(bankno);
CAN->FMR = CAN_FMR_FINIT;
CAN->FA1R &= ~(1<<bankno);
CAN->FMR &=~ CAN_FMR_FINIT;
return;
}
uint8_t fifono = 0;
if(*str == '1') fifono = 1;
else if(*str != '0'){
SEND("FIFO# is 0 or 1");
return;
}
str = omit_spaces(str + 1);
char c = *str;
uint8_t mode = 0; // ID
if(c == 'M' || c == 'm') mode = 1;
else if(c != 'I' && c != 'i'){
SEND("mode is 'M/m' for MASK and 'I/i' for IDLIST");
return;
}
str = omit_spaces(str + 1);
uint32_t filters[4];
uint32_t nfilt;
for(nfilt = 0; nfilt < 4; ++nfilt){
n = getnum(str, &N);
if(n == str) break;
filters[nfilt] = N;
str = omit_spaces(n);
}
if(nfilt == 0){
SEND("You should add at least one filter!");
return;
}
if(mode && (nfilt&1)){
SEND("In MASK mode you should point pairs of ID/MASK");
return;
}
CAN->FMR = CAN_FMR_FINIT;
uint32_t mask = 1<<bankno;
CAN->FA1R |= mask; // activate given filter
if(fifono) CAN->FFA1R |= mask; // set FIFO number
else CAN->FFA1R &= ~mask;
if(mode) CAN->FM1R &= ~mask; // MASK
else CAN->FM1R |= mask; // LIST
uint32_t F1 = (0x8f<<16);
uint32_t F2 = (0x8f<<16);
// reset filter registers to wrong value
CAN->sFilterRegister[bankno].FR1 = (0x8f<<16) | 0x8f;
CAN->sFilterRegister[bankno].FR2 = (0x8f<<16) | 0x8f;
switch(nfilt){
case 4:
F2 = filters[3] << 21;
// fallthrough
case 3:
CAN->sFilterRegister[bankno].FR2 = (F2 & 0xffff0000) | (filters[2] << 5);
// fallthrough
case 2:
F1 = filters[1] << 21;
// fallthrough
case 1:
CAN->sFilterRegister[bankno].FR1 = (F1 & 0xffff0000) | (filters[0] << 5);
}
CAN->FMR &=~ CAN_FMR_FINIT;
SEND("Added filter with ");
printu(nfilt); SEND(" parameters");
}
void canid(char *txt){
if(txt && *txt){
int good = FALSE;
char *eq = getchr(txt, '=');
if(eq){
eq = omit_spaces(eq+1);
if(eq){
int32_t N;
if(eq != getnum(eq, &N) && N > -1 && N < 0xfff){
the_conf.CANID = (uint16_t)N;
CAN_reinit(the_conf.CANspeed);
good = TRUE;
}
}
}
if(!good) SEND("CANID setter format: `canid=ID`, ID is 11bit\n");
}
SEND("canid="); printuhex(the_conf.CANID);
}
void inpause(_U_ char *txt){
ShowMsgs = FALSE;
}
void inresume(_U_ char *txt){
ShowMsgs = TRUE;
}
void delignlist(_U_ char *txt){
IgnSz = 0;
}
void bootldr(_U_ char *txt){
SEND("Go into DFU mode\n");
sendbuf();
Jump2Boot();
}
void getcounter(_U_ char *txt){
SEND("CR1="); printu(TIM1->CR1);
SEND("\nCR2="); printu(TIM2->CR1);
SEND("\nCR3="); printu(TIM3->CR1);
SEND("\nCNT1="); printu(TIM1->CNT);
SEND("\nCNT2="); printu(TIM2->CNT);
SEND("\nCNT3="); printu(TIM3->CNT);
NL();
}
void wdcheck(_U_ char *txt){
while(1){nop();}
}
typedef struct{
errcodes code;
const char *descr;
} codetext;
static const codetext errtxt[] = {
{ERR_OK, "all OK"},
{ERR_BADPAR, "wrong parameter's value"},
{ERR_BADVAL, "wrong setter of parameter"},
{ERR_WRONGLEN, "bad message length"},
{ERR_BADCMD, "unknown command"},
{ERR_CANTRUN, "temporary can't run given command"},
{-1, NULL}
};
void dumperrcodes(_U_ char *txt){
const codetext *c = errtxt;
SEND("Error codes:\n");
while(c->descr){
printu(c->code);
SEND(" - ");
SEND(c->descr);
newline();
++c;
}
sendbuf();
}
typedef void(*specfpointer)(char *arg);
enum{
SCMD_NONE, // omit zero
SCMD_IGNORE,
SCMD_DELIGNLIST,
SCMD_DFU,
SCMD_FILTER,
SCMD_CANSPEED,
SCMD_CANID,
SCMD_LISTFILTERS,
SCMD_IGNBUF,
SCMD_PAUSE,
SCMD_RESUME,
SCMD_SEND,
SCMD_DUMPCONF,
SCMD_GETCTR,
SCMD_WD,
SCMD_DUMPERR,
SCMD_DUMPCMD,
//SCMD_ST,
SCMD_AMOUNT
};
void dumpcmdcodes(_U_ char *txt);
static specfpointer speccmdlist[SCMD_AMOUNT] = {
[SCMD_IGNORE] = addIGN,
[SCMD_DELIGNLIST] = delignlist,
[SCMD_DFU] = bootldr,
[SCMD_FILTER] = add_filter,
[SCMD_CANSPEED] = CANini,
[SCMD_CANID] = canid,
[SCMD_LISTFILTERS] = list_filters,
[SCMD_IGNBUF] = print_ign_buf,
[SCMD_PAUSE] = inpause,
[SCMD_RESUME] = inresume,
[SCMD_SEND] = sendCANcommand,
[SCMD_DUMPCONF] = dump_userconf,
[SCMD_GETCTR] = getcounter,
[SCMD_WD] = wdcheck,
[SCMD_DUMPCMD] = dumpcmdcodes,
[SCMD_DUMPERR] = dumperrcodes,
//[SCMD_ST] = stp_check,
};
typedef struct{
int cmd_code; // CMD_... or <0 for usb-only commands
const char *command; // text command (up to 65536 commands)
const char *help; // help message for text protocol
} commands;
// the main commands list, index is CAN command code
static const commands textcommands[] = {
// different commands
{0, "", "Different commands:"}, // DELIMETERS
{CMD_ADC, "adc", "get ADC values"},
{CMD_BUTTONS, "button", "get buttons state"},
{CMD_BUZZER, "buzzer", "change buzzer state (1/0)"},
{CMD_ESWSTATE, "esw", "get end switches state"},
{CMD_EXT, "ext", "external outputs"},
{CMD_MCUT, "mcut", "get MCU T"},
{CMD_MCUVDD, "mcuvdd", "get MCU Vdd"},
{CMD_PING, "ping", "echo given command back"},
{CMD_PWM, "pwm", "pwm value"},
{CMD_RELAY, "relay", "change relay state (1/0)"},
{CMD_RESET, "reset", "reset MCU"},
{CMD_TIMEFROMSTART, "time", "get time from start"},
// configuration
{0, "", "Confuguration:"},
{CMD_ACCEL, "accel", "set/get accel/decel (steps/s^2)"},
{CMD_ENCREV, "encrev", "set/get max encoder's pulses per revolution"},
{CMD_ENCSTEPMAX, "encstepmax", "maximal encoder ticks per step"},
{CMD_ENCSTEPMIN, "encstepmin", "minimal encoder ticks per step"},
{CMD_ESWREACT, "eswreact", "end-switches reaction"},
{CMD_MAXSPEED, "maxspeed", "set/get max speed (steps per sec)"},
{CMD_MAXSTEPS, "maxsteps", "set/get max steps (from zero)"},
{CMD_MICROSTEPS, "microsteps", "set/get microsteps settings"},
{CMD_MINSPEED, "minspeed", "set/get min speed (steps per sec)"},
{CMD_MOTFLAGS, "motflags", "set/get motorN flags"},
{CMD_SAVECONF, "saveconf", "save current configuration"},
{CMD_SPEEDLIMIT, "speedlimit", "get limiting speed for current microsteps"},
// motors' commands
{0, "", "Motors' commands:"},
{CMD_ABSPOS, "abspos", "set/get position (in steps)"},
{CMD_EMERGSTOPALL, "emerg", "emergency stop all motors"},
{CMD_EMERGSTOP, "emstop", "emergency stop motor (right now)"},
{CMD_ENCPOS, "encpos", "set/get encoder's position"},
{CMD_GOTOZERO, "gotoz", "find zero position & refresh counters"},
{CMD_REINITMOTORS, "motreinit", "re-init motors after configuration changed"},
{CMD_RELPOS, "relpos", "set relative steps, get remaining"},
{CMD_RELSLOW, "relslow", "set relative steps @ lowest speed"},
{CMD_MOTORSTATE, "state", "get motor state"},
{CMD_STOP, "stop", "smooth motor stopping"},
// USB-only commands
{0, "", "USB-only commands:"},
{-SCMD_CANID, "canid", "get/set CAN ID"},
{-SCMD_CANSPEED, "canspeed", "CAN bus speed"},
{-SCMD_DELIGNLIST, "delignlist", "delete ignore list"},
{-SCMD_DFU, "dfu", "activate DFU mode"},
{-SCMD_DUMPERR, "dumperr", "dump error codes"},
{-SCMD_DUMPCMD, "dumpcmd", "dump command codes"},
{-SCMD_DUMPCONF, "dumpconf", "dump current configuration"},
{-SCMD_FILTER, "filter", "add/modify filter, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]"},
{-SCMD_GETCTR, "getctr", "get TIM1/2/3 counters"},
{-SCMD_IGNBUF, "ignbuf", "print ignore buffer"},
{-SCMD_IGNORE, "ignore", "add ID to ignore list (max 10 IDs)"},
{-SCMD_LISTFILTERS, "listfilters", "list all active filters"},
{-SCMD_PAUSE, "pause", "pause IN packets displaying"},
{-SCMD_RESUME, "resume", "resume IN packets displaying"},
{-SCMD_SEND, "send", "send data over CAN: send ID byte0 .. byteN"},
//{-SCMD_ST, "st", "check steppers"},
{-SCMD_WD, "wd", "check watchdog"},
{0, NULL, NULL}
};
void dumpcmdcodes(_U_ char *txt){
SEND("Commands list:\n");
for(uint16_t i = 0; i < CMD_AMOUNT; ++i){
printu(i);
SEND(" - ");
const commands *c = textcommands;
while(c->command){
if(c->cmd_code == i && *c->command){
SEND(c->help); break;
}
++c;
}
newline();
}
sendbuf();
}
/*
void stp_check(char *txt){
uint8_t N = *txt - '0';
if(N < 3){
MOTOR_EN(N);
MOTOR_CW(N);
mottimers[N]->ARR = 300;
mottimers[N]->CR1 |= TIM_CR1_CEN;
}else{
for(N = 0; N < 3; ++N){
MOTOR_DIS(N);
MOTOR_CCW(N);
mottimers[N]->CR1 &= ~TIM_CR1_CEN;
}
}
}*/
static void showHelp(){
SEND("https://github.com/eddyem/stm32samples/tree/master/F0-nolib/3steppersLB build#" BUILD_NUMBER " @ " BUILD_DATE "\n");
SEND("Common commands format is cmd[ N[ = val]]\n\twhere N is command argument (0..127), val is its value\n");
//SEND("Commands list:\n");
const commands *cmd = textcommands;
while(cmd->command){
if(*cmd->command){
bufputchar('\t');
SEND(cmd->command); /*SEND(" (");
if(cmd->cmd_code < 0) bufputchar('u');
else bufputchar('c');
SEND(") - ");*/
SEND(" - ");
}
SEND(cmd->help); newline();
++cmd;
}
sendbuf();
}
/**
* @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;
char *eptr = omit_spaces(txt);
if(!*eptr) return;
while(*eptr && i < 30){
if(*eptr < 'a' || *eptr > 'z') break;
*pcmd++ = *eptr++;
++i;
}
*pcmd = 0;
if(cmd[0] == 0){ // empty command
showHelp();
return;
}
if(eptr && *eptr){
eptr = omit_spaces(eptr);
}
// find command
const commands *c = textcommands;
while(c->command){
if(0 == cmpstr(c->command, cmd)){
#ifdef EBUG
SEND("Find known command: "); SEND(cmd);
if(eptr && *eptr) SEND(", args: "); SEND(eptr);
NL();
#endif
if(c->cmd_code < 0){ // USB-only command
speccmdlist[-(c->cmd_code)](eptr);
}else{ // common command
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[c->cmd_code](par, &val);
SEND(cmd);
par &= 0x7f;
if(par != CANMESG_NOPAR) printu(par);
bufputchar('='); printi(val);
SEND(" ("); printuhex((uint32_t)val); bufputchar(')');
if(ERR_OK != retcode){
SEND("\nERRCODE=");
printu(retcode);
}
}
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);
}
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