STM32 firmware for a remotely-controlled stepper motor demo with a mobile interface.
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2.9 KiB

#include <stdint.h>
#include <stdbool.h>
#include <string.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdarg.h>
#include "com_iface.h"
#include "utils/timebase.h"
// ---- accessor methods ----------------------
bool com_rx_rdy(ComIface *iface)
{
return iface->rx_rdy(iface);
}
bool com_tx_rdy(ComIface *iface)
{
return iface->tx_rdy(iface);
}
bool com_tx_done(ComIface *iface)
{
return iface->tx_done(iface);
}
bool com_tx(ComIface *iface, uint8_t b)
{
return iface->tx(iface, b);
}
bool com_rx(ComIface *iface, uint8_t *b)
{
return iface->rx(iface, (uint8_t*) b);
}
bool com_unrx(ComIface *iface, uint8_t b)
{
if (!iface->unrx) {
return false; // not all may have it implemented
}
return iface->unrx(iface, b);
}
size_t com_tx_block(ComIface *iface, const void *blob, size_t size)
{
return iface->txb(iface, blob, size);
}
size_t com_rx_block(ComIface *iface, void *buf, size_t length)
{
return iface->rxb(iface, buf, length);
}
void com_poll(ComIface *iface)
{
iface->poll(iface);
}
bool com_rx_char(ComIface *iface, char * c)
{
return iface->rx(iface, (uint8_t*) c);
}
bool com_tx_char(ComIface *iface, const char c)
{
return iface->tx(iface, (uint8_t)c);
}
/** Read string, terminate with \0. Returns real read size. */
size_t com_rx_str(ComIface *iface, char* buf, size_t buflen)
{
size_t len = iface->rxb(iface, buf, buflen);
buf[len] = 0; // zero terminator
return len;
}
size_t com_tx_str(ComIface *iface, const char * string)
{
return iface->txb(iface, string, strlen(string));
}
/** Wait for incoming byte */
bool com_rx_wait(ComIface *iface, uint16_t timeout)
{
until_timeout(timeout) {
if (iface->rx_rdy(iface)) return true;
}
return false;
}
/** Wait for tx buf ready */
bool com_tx_rdy_wait(ComIface *iface, uint16_t timeout)
{
until_timeout(timeout) {
if (iface->tx_rdy(iface)) return true;
}
return false;
}
/** Wait for tx complete */
bool com_tx_done_wait(ComIface *iface, uint16_t timeout)
{
until_timeout(timeout) {
if (iface->tx_done(iface)) return true;
}
return false;
}
void com_printf(ComIface *iface, const char *fmt, ...)
{
if (iface->file == NULL) {
com_tx_str(iface, "com_printf(), no iface file!\r\n");
return;
}
// use the file descriptor attached
va_list va;
va_start(va, fmt);
vfprintf(iface->file, fmt, va);
va_end(va);
}
void com_vprintf(ComIface *iface, const char *fmt, va_list va)
{
if (iface->file == NULL) {
com_tx_str(iface, "com_vprintf(), no iface file!\r\n");
com_tx_str(iface, fmt); // poor mans fallback
return;
}
// use the file descriptor attached
vfprintf(iface->file, fmt, va);
}
void com_v100_attr_(ComIface *iface, uint8_t count, ...)
{
va_list va;
va_start(va, count);
com_tx_char(iface, 27);
com_tx_char(iface, '[');
for (int i = 0; i < count; i++) {
int attr = va_arg(va, int);
// comma
if (i > 0) com_tx_char(iface, ';');
// number
com_printf(iface, "%d", attr);
}
com_tx_char(iface, 'm');
va_end(va);
}