![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
LP Long Distance IR Vision Robot
Dependencies: max77650_charger_sample BufferedSerial SX1276GenericLib Adafruit-MotorShield NEO-6m-GPS MAX17055_EZconfig Adafruit_GFX USBDeviceHT Adafruit-PWM-Servo-Driver
utils.cpp
- Committer:
- Helmut64
- Date:
- 2018-02-23
- Revision:
- 17:98f2528e8399
- Child:
- 19:9f035b9e65ec
File content as of revision 17:98f2528e8399:
/* * Copyright (c) 2018 Helmut Tschemernjak * 30826 Garbsen (Hannover) Germany */ #include "main.h" time_t cvt_date(char const *date, char const *time); BufferedSerial *ser; #ifdef FEATURE_USBSERIAL USBSerialBuffered *usb; #endif bool _useDprintf; void InitSerial(int timeout, DigitalOut *led) { _useDprintf = true; bool uartActive; { { // need to turn rx low to avoid floating signal DigitalOut rx(USBRX); rx = 0; } DigitalIn uartRX(USBRX); uartActive = uartRX.read(); } #ifdef FEATURE_USBSERIAL if (!uartActive) { usb = new USBSerialBuffered(); Timer t; t.start(); while(!usb->connected()) { if (led) *led = !*led; wait_ms(100); if (timeout) { if (t.read_ms() >= timeout) return; } } return; } else { #else { #endif ser = new BufferedSerial(USBTX, USBRX); ser->baud(230400); ser->format(8); } time_t t = cvt_date(__DATE__, __TIME__); if (t > time(NULL)) { set_time(t); } } void printTimeStamp() { static LowPowerTimer *timer; if (!timer) { timer = new LowPowerTimer(); timer->start(); } time_t seconds = time(NULL); struct tm *tm = localtime(&seconds); int usecs = timer->read_us(); if (usecs < 0) { usecs = 0; timer->stop(); timer->reset(); timer->start(); } int msecs = usecs % 1000000; rprintf("%02d:%02d:%02d.%06d ", tm->tm_hour, tm->tm_min, tm->tm_sec, msecs); } void dprintf(const char *format, ...) { std::va_list arg; va_start(arg, format); VAprintf(true, true, _useDprintf, format, arg); va_end(arg); } void rprintf(const char *format, ...) { std::va_list arg; va_start(arg, format); VAprintf(false, false, _useDprintf, format, arg); va_end(arg); } void VAprintf(bool timstamp, bool newline, bool printEnabled, const char *format, va_list arg) { if (!printEnabled) return; if (timstamp) printTimeStamp(); #ifdef FEATURE_USBSERIAL if (usb) { usb->vprintf_irqsafe(format, arg); if (newline) usb->printf_irqsafe("\r\n"); #else if (0) { #endif } else if (ser) { // serial jas int r = 0; r = vsnprintf(NULL, 0, format, arg); if (r < 82) { char buffer[82+1]; vsnprintf(buffer, sizeof(buffer), format, arg); r = ser->write(buffer, r); } else { char *buffer = new char[r+1]; if (buffer) { vsnprintf(buffer, r+1, format, arg); r = ser->write(buffer, r); delete[] buffer; } else { error("%s %d cannot alloc memory (%d bytes)!\r\n", __FILE__, __LINE__, r+1); r = 0; } } if (newline) ser->write("\r\n", 2); } } void dump(const char *title, const void *data, int len, bool dwords) { dprintf("dump(\"%s\", 0x%x, %d bytes)", title, data, len); int i, j, cnt; unsigned char *u; const int width = 16; const int seppos = 7; cnt = 0; u = (unsigned char *)data; while (len > 0) { rprintf("%08x: ", (unsigned int)data + cnt); if (dwords) { unsigned int *ip = ( unsigned int *)u; rprintf(" 0x%08x\r\n", *ip); u+= 4; len -= 4; cnt += 4; continue; } cnt += width; j = len < width ? len : width; for (i = 0; i < j; i++) { rprintf("%2.2x ", *(u + i)); if (i == seppos) rprintf(" "); } rprintf(" "); if (j < width) { i = width - j; if (i > seppos + 1) rprintf(" "); while (i--) { rprintf("%s", " "); } } for (i = 0; i < j; i++) { int c = *(u + i); if (c >= ' ' && c <= '~') rprintf("%c", c); else rprintf("."); if (i == seppos) rprintf(" "); } len -= width; u += width; rprintf("\r\n"); } rprintf("--\r\n"); } /* * Convert compile time to system time */ time_t cvt_date(char const *date, char const *time) { char s_month[5]; int year; struct tm t; static const char month_names[] = "JanFebMarAprMayJunJulAugSepOctNovDec"; sscanf(date, "%s %d %d", s_month, &t.tm_mday, &year); sscanf(time, "%2d %*c %2d %*c %2d", &t.tm_hour, &t.tm_min, &t.tm_sec); // Find where is s_month in month_names. Deduce month value. t.tm_mon = (strstr(month_names, s_month) - month_names) / 3; t.tm_year = year - 1900; return (int)mktime(&t); }