Michael Shimniok / Mbed 2 deprecated DataBus

Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.

Dependencies:   mbed Watchdog SDFileSystem DigoleSerialDisp

print.c@25:bb5356402687, 2018-11-30 (annotated)

Committer:
shimniok
Date:
Fri Nov 30 16:11:53 2018 +0000
Revision:
25:bb5356402687
Parent:
13:14f56b76aa23 
Initial publish of revised version.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
shimniok 13:14f56b76aa23 1 /*
shimniok 13:14f56b76aa23 2 * print.c
shimniok 13:14f56b76aa23 3 *
shimniok 13:14f56b76aa23 4 * Created on: Jan 6, 2014
shimniok 13:14f56b76aa23 5 * Author: mes
shimniok 13:14f56b76aa23 6 */
shimniok 13:14f56b76aa23 7
shimniok 13:14f56b76aa23 8 #include <stdio.h>
shimniok 13:14f56b76aa23 9 #include <stdint.h>
shimniok 13:14f56b76aa23 10 #include <math.h>
shimniok 13:14f56b76aa23 11
shimniok 13:14f56b76aa23 12 // from Arduino source
shimniok 13:14f56b76aa23 13 size_t printNumber(FILE *f, unsigned long n)
shimniok 13:14f56b76aa23 14 {
shimniok 13:14f56b76aa23 15 char buf[8 * sizeof(long) + 1]; // Assumes 8-bit chars plus zero byte.
shimniok 13:14f56b76aa23 16 char *str = &buf[sizeof(buf) - 1];
shimniok 13:14f56b76aa23 17
shimniok 13:14f56b76aa23 18 *str = '\0';
shimniok 13:14f56b76aa23 19
shimniok 13:14f56b76aa23 20 do {
shimniok 13:14f56b76aa23 21 unsigned long m = n;
shimniok 13:14f56b76aa23 22 n /= 10;
shimniok 13:14f56b76aa23 23 char c = m - 10 * n;
shimniok 13:14f56b76aa23 24 *--str = c + '0';
shimniok 13:14f56b76aa23 25 } while(n);
shimniok 13:14f56b76aa23 26
shimniok 13:14f56b76aa23 27 return fputs(str, f);
shimniok 13:14f56b76aa23 28 }
shimniok 13:14f56b76aa23 29
shimniok 13:14f56b76aa23 30 // from Arduino source
shimniok 13:14f56b76aa23 31 size_t printInt(FILE *f, long n)
shimniok 13:14f56b76aa23 32 {
shimniok 13:14f56b76aa23 33 int t = 0;
shimniok 13:14f56b76aa23 34 if (n < 0) {
shimniok 13:14f56b76aa23 35 t = fputc('-', f);
shimniok 13:14f56b76aa23 36 n = -n;
shimniok 13:14f56b76aa23 37 }
shimniok 13:14f56b76aa23 38 return printNumber(f, n) + t;
shimniok 13:14f56b76aa23 39 }
shimniok 13:14f56b76aa23 40
shimniok 13:14f56b76aa23 41 // from Arduino source
shimniok 13:14f56b76aa23 42 size_t printFloat(FILE *f, double number, uint8_t digits)
shimniok 13:14f56b76aa23 43 {
shimniok 13:14f56b76aa23 44 size_t n=0;
shimniok 13:14f56b76aa23 45
shimniok 13:14f56b76aa23 46 if (isnan(number)) return fputs("nan", f);
shimniok 13:14f56b76aa23 47 if (isinf(number)) return fputs("inf", f);
shimniok 13:14f56b76aa23 48 if (number > 4294967040.0) return fputs("ovf", f); // constant determined empirically
shimniok 13:14f56b76aa23 49 if (number <-4294967040.0) return fputs("ovf", f); // constant determined empirically
shimniok 13:14f56b76aa23 50
shimniok 13:14f56b76aa23 51 // Handle negative numbers
shimniok 13:14f56b76aa23 52 if (number < 0.0) {
shimniok 13:14f56b76aa23 53 n += fputc('-', f);
shimniok 13:14f56b76aa23 54 number = -number;
shimniok 13:14f56b76aa23 55 }
shimniok 13:14f56b76aa23 56
shimniok 13:14f56b76aa23 57 // Round correctly so that print(1.999, 2) prints as "2.00"
shimniok 13:14f56b76aa23 58 double rounding = 0.5;
shimniok 13:14f56b76aa23 59 for (uint8_t i=0; i < digits; ++i)
shimniok 13:14f56b76aa23 60 rounding /= 10.0;
shimniok 13:14f56b76aa23 61
shimniok 13:14f56b76aa23 62 number += rounding;
shimniok 13:14f56b76aa23 63
shimniok 13:14f56b76aa23 64 // Extract the integer part of the number and print it
shimniok 13:14f56b76aa23 65 unsigned long int_part = (unsigned long)number;
shimniok 13:14f56b76aa23 66 double remainder = number - (double)int_part;
shimniok 13:14f56b76aa23 67 n += printInt(f, int_part);
shimniok 13:14f56b76aa23 68
shimniok 13:14f56b76aa23 69 // Print the decimal point, but only if there are digits beyond
shimniok 13:14f56b76aa23 70 if (digits > 0) {
shimniok 13:14f56b76aa23 71 n += fputc('.', f);
shimniok 13:14f56b76aa23 72 }
shimniok 13:14f56b76aa23 73
shimniok 13:14f56b76aa23 74 // Extract digits from the remainder one at a time
shimniok 13:14f56b76aa23 75 while (digits-- > 0) {
shimniok 13:14f56b76aa23 76 remainder *= 10.0;
shimniok 13:14f56b76aa23 77 int toPrint = (int) remainder;
shimniok 13:14f56b76aa23 78 n += fputc(toPrint+'0', f);
shimniok 13:14f56b76aa23 79 remainder -= toPrint;
shimniok 13:14f56b76aa23 80 }
shimniok 13:14f56b76aa23 81
shimniok 13:14f56b76aa23 82 return n;
shimniok 13:14f56b76aa23 83 }
shimniok 13:14f56b76aa23 84
shimniok 13:14f56b76aa23 85 size_t printHex(FILE *f, long n, uint8_t digits) {
shimniok 13:14f56b76aa23 86 unsigned char c;
shimniok 13:14f56b76aa23 87 long mask = 0xf0000000;
shimniok 13:14f56b76aa23 88
shimniok 13:14f56b76aa23 89 while (mask) {
shimniok 13:14f56b76aa23 90 c = (n & mask);
shimniok 13:14f56b76aa23 91 // TODO 3: finish this
shimniok 13:14f56b76aa23 92 switch (c) {
shimniok 13:14f56b76aa23 93 case 0:
shimniok 13:14f56b76aa23 94 case 1:
shimniok 13:14f56b76aa23 95 case 2:
shimniok 13:14f56b76aa23 96 case 3:
shimniok 13:14f56b76aa23 97 case 4:
shimniok 13:14f56b76aa23 98 case 5:
shimniok 13:14f56b76aa23 99 case 6:
shimniok 13:14f56b76aa23 100 case 7:
shimniok 13:14f56b76aa23 101 case 8:
shimniok 13:14f56b76aa23 102 case 9:
shimniok 13:14f56b76aa23 103 fputc('0'-c, f);
shimniok 13:14f56b76aa23 104 break;
shimniok 13:14f56b76aa23 105 case 10:
shimniok 13:14f56b76aa23 106 case 11:
shimniok 13:14f56b76aa23 107 case 12:
shimniok 13:14f56b76aa23 108 case 13:
shimniok 13:14f56b76aa23 109 case 14:
shimniok 13:14f56b76aa23 110 case 15:
shimniok 13:14f56b76aa23 111 fputc('a'-c, f);
shimniok 13:14f56b76aa23 112 break;
shimniok 13:14f56b76aa23 113 }
shimniok 13:14f56b76aa23 114 mask >>= 4;
shimniok 13:14f56b76aa23 115 }
shimniok 13:14f56b76aa23 116 return 1;
shimniok 13:14f56b76aa23 117 }