diff --git a/include/comm_manager.h b/include/comm_manager.h index 5474fa56..6ee5a17d 100644 --- a/include/comm_manager.h +++ b/include/comm_manager.h @@ -35,8 +35,8 @@ #include "interface/comm_link.h" #include "interface/param_listener.h" -#include "nanoprintf.h" - +#include +#include #include #include diff --git a/include/nanoprintf.h b/include/nanoprintf.h deleted file mode 100644 index 01dd25fa..00000000 --- a/include/nanoprintf.h +++ /dev/null @@ -1,127 +0,0 @@ -/* -File: printf.h - -Copyright (c) 2004,2012 Kustaa Nyholm / SpareTimeLabs - -All rights reserved. - -Redistribution and use in source and binary forms, with or without modification, -are permitted provided that the following conditions are met: - -Redistributions of source code must retain the above copyright notice, this list -of conditions and the following disclaimer. - -Redistributions in binary form must reproduce the above copyright notice, this -list of conditions and the following disclaimer in the documentation and/or other -materials provided with the distribution. - -Neither the name of the Kustaa Nyholm or SpareTimeLabs nor the names of its -contributors may be used to endorse or promote products derived from this software -without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. -IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, -INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT -NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, -OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, -WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) -ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY -OF SUCH DAMAGE. - ----------------------------------------------------------------------- - -This library is realy just two files: 'printf.h' and 'printf.c'. - -They provide a simple and small (+200 loc) printf functionality to -be used in embedded systems. - -I've found them so usefull in debugging that I do not bother with a -debugger at all. - -They are distributed in source form, so to use them, just compile them -into your project. - -Two printf variants are provided: printf and sprintf. - -The formats supported by this implementation are: 'd' 'u' 'c' 's' 'x' 'X'. - -Zero padding and field width are also supported. - -If the library is compiled with 'PRINTF_SUPPORT_LONG' defined then the -long specifier is also -supported. Note that this will pull in some long math routines (pun intended!) -and thus make your executable noticably longer. - -The memory foot print of course depends on the target cpu, compiler and -compiler options, but a rough guestimate (based on a H8S target) is about -1.4 kB for code and some twenty 'int's and 'char's, say 60 bytes of stack space. -Not too bad. Your milage may vary. By hacking the source code you can -get rid of some hunred bytes, I'm sure, but personally I feel the balance of -functionality and flexibility versus code size is close to optimal for -many embedded systems. - -To use the printf you need to supply your own character output function, -something like : - -void putc ( void* p, char c) - { - while (!SERIAL_PORT_EMPTY) ; - SERIAL_PORT_TX_REGISTER = c; - } - -Before you can call printf you need to initialize it to use your -character output function with something like: - -init_printf(NULL,putc); - -Notice the 'NULL' in 'init_printf' and the parameter 'void* p' in 'putc', -the NULL (or any pointer) you pass into the 'init_printf' will eventually be -passed to your 'putc' routine. This allows you to pass some storage space (or -anything realy) to the character output function, if necessary. -This is not often needed but it was implemented like that because it made -implementing the sprintf function so neat (look at the source code). - -The code is re-entrant, except for the 'init_printf' function, so it -is safe to call it from interupts too, although this may result in mixed output. -If you rely on re-entrancy, take care that your 'putc' function is re-entrant! - -The printf and sprintf functions are actually macros that translate to -'tfp_printf' and 'tfp_sprintf'. This makes it possible -to use them along with 'stdio.h' printf's in a single source file. -You just need to undef the names before you include the 'stdio.h'. -Note that these are not function like macros, so if you have variables -or struct members with these names, things will explode in your face. -Without variadic macros this is the best we can do to wrap these -fucnction. If it is a problem just give up the macros and use the -functions directly or rename them. - -For further details see source code. - -regs Kusti, 23.10.2004 -*/ - -#ifndef ROSFLIGHT_FIRWMARE_NANO_PRINTF_H -#define ROSFLIGHT_FIRWMARE_NANO_PRINTF_H - -#include - -namespace rosflight_firmware -{ -namespace nanoprintf -{ -void init_printf(void *putp, void (*putf)(void *, char)); - -void tfp_printf(const char *fmt, ...); -void tfp_sprintf(char *s, const char *fmt, va_list va); - -void tfp_format(void *putp, void (*putf)(void *, char), const char *fmt, va_list va); - -} // namespace nanoprintf -} // namespace rosflight_firmware - -#define nano_printf rosflight_firmware::nanoprintf::tfp_printf -#define nano_sprintf rosflight_firmware::nanoprintf::tfp_sprintf - -#endif // ROSFLIGHT_FIRWMARE_NANO_PRINTF_H diff --git a/scripts/rosflight.mk b/scripts/rosflight.mk index af1a6bb1..20558379 100644 --- a/scripts/rosflight.mk +++ b/scripts/rosflight.mk @@ -38,8 +38,7 @@ ROSFLIGHT_SRC = rosflight.cpp \ comm_manager.cpp \ command_manager.cpp \ rc.cpp \ - mixer.cpp \ - nanoprintf.cpp + mixer.cpp # Math Source Files VPATH := $(VPATH):$(TURBOMATH_DIR) diff --git a/src/comm_manager.cpp b/src/comm_manager.cpp index 8f0a1267..fa365144 100644 --- a/src/comm_manager.cpp +++ b/src/comm_manager.cpp @@ -408,7 +408,7 @@ void CommManager::log(CommLinkInterface::LogSeverity severity, const char* fmt, va_list args; va_start(args, fmt); char text[LOG_MSG_SIZE]; - rosflight_firmware::nanoprintf::tfp_sprintf(text, fmt, args); + vsnprintf(text, LOG_MSG_SIZE, fmt, args); va_end(args); if (initialized_ && connected_) diff --git a/src/nanoprintf.cpp b/src/nanoprintf.cpp deleted file mode 100644 index 64034112..00000000 --- a/src/nanoprintf.cpp +++ /dev/null @@ -1,261 +0,0 @@ -/* - * Copyright (c) 2004,2012 Kustaa Nyholm / SpareTimeLabs - * - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without modification, - * are permitted provided that the following conditions are met: - * - * Redistributions of source code must retain the above copyright notice, this list - * of conditions and the following disclaimer. - * - * Redistributions in binary form must reproduce the above copyright notice, this - * list of conditions and the following disclaimer in the documentation and/or other - * materials provided with the distribution. - * - * Neither the name of the Kustaa Nyholm or SpareTimeLabs nor the names of its - * contributors may be used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. - * IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, - * INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT - * NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, - * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, - * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY - * OF SUCH DAMAGE. - */ - -#pragma GCC diagnostic ignored "-Wstrict-overflow" - -#include "nanoprintf.h" - -namespace rosflight_firmware -{ -namespace nanoprintf -{ -typedef void (*putcf)(void *, char); -static putcf stdout_putf; -static void *stdout_putp; - -#ifdef PRINTF_LONG_SUPPORT - -static void uli2a(unsigned long int num, unsigned int base, int uc, char *bf) -{ - int n = 0; - unsigned int d = 1; - while (num / d >= base) d *= base; - while (d != 0) - { - int dgt = num / d; - num %= d; - d /= base; - if (n || dgt > 0 || d == 0) - { - *bf++ = dgt + (dgt < 10 ? '0' : (uc ? 'A' : 'a') - 10); - ++n; - } - } - *bf = 0; -} - -static void li2a(long num, char *bf) -{ - if (num < 0) - { - num = -num; - *bf++ = '-'; - } - uli2a(num, 10, 0, bf); -} - -#endif - -static void ui2a(unsigned int num, unsigned int base, int uc, char *bf) -{ - int n = 0; - unsigned int d = 1; -#pragma GCC diagnostic push -#pragma GCC diagnostic ignored "-Wstrict-overflow" - while (num / d >= base) -#pragma GCC diagnostic pop - d *= base; - while (d != 0) - { - int dgt = num / d; - num %= d; - d /= base; - if (n || dgt > 0 || d == 0) - { - *bf++ = dgt + (dgt < 10 ? '0' : (uc ? 'A' : 'a') - 10); - ++n; - } - } - *bf = 0; -} - -static void i2a(int num, char *bf) -{ - if (num < 0) - { - num = -num; - *bf++ = '-'; - } - ui2a(num, 10, 0, bf); -} - -static int a2d(char ch) -{ - if (ch >= '0' && ch <= '9') - return ch - '0'; - else if (ch >= 'a' && ch <= 'f') - return ch - 'a' + 10; - else if (ch >= 'A' && ch <= 'F') - return ch - 'A' + 10; - else - return -1; -} - -static char a2i(char ch, char **src, int base, int *nump) -{ - char *p = *src; - int num = 0; - int digit; - while ((digit = a2d(ch)) >= 0) - { - if (digit > base) - break; - num = num * base + digit; - ch = *p++; - } - *src = p; - *nump = num; - return ch; -} - -static void putchw(void *putp, putcf putf, int n, char z, char *bf) -{ - char fc = z ? '0' : ' '; - char ch; - char *p = bf; - while (*p++ && n != 0) n--; - while (n-- != 0) putf(putp, fc); - while ((ch = *bf++)) putf(putp, ch); -} - -void tfp_format(void *putp, putcf putf, const char *fmt, va_list va) -{ - char bf[12]; - - char ch; - - while ((ch = *(fmt++))) - { - if (ch != '%') - putf(putp, ch); - else - { - char lz = 0; -#ifdef PRINTF_LONG_SUPPORT - char lng = 0; -#endif - int w = 0; - ch = *(fmt++); - if (ch == '0') - { - ch = *(fmt++); - lz = 1; - } - if (ch >= '0' && ch <= '9') - { - ch = a2i(ch, const_cast(&fmt), 10, &w); - } -#ifdef PRINTF_LONG_SUPPORT - if (ch == 'l') - { - ch = *(fmt++); - lng = 1; - } -#endif - switch (ch) - { - case 0: - goto abort; - case 'u': - { -#ifdef PRINTF_LONG_SUPPORT - if (lng) - uli2a(va_arg(va, unsigned long int), 10, 0, bf); - else -#endif - ui2a(va_arg(va, unsigned int), 10, 0, bf); - putchw(putp, putf, w, lz, bf); - break; - } - case 'd': - { -#ifdef PRINTF_LONG_SUPPORT - if (lng) - li2a(va_arg(va, unsigned long int), bf); - else -#endif - i2a(va_arg(va, int), bf); - putchw(putp, putf, w, lz, bf); - break; - } - case 'x': - case 'X': -#ifdef PRINTF_LONG_SUPPORT - if (lng) - uli2a(va_arg(va, unsigned long int), 16, (ch == 'X'), bf); - else -#endif - ui2a(va_arg(va, unsigned int), 16, (ch == 'X'), bf); - putchw(putp, putf, w, lz, bf); - break; - case 'c': - putf(putp, static_cast(va_arg(va, int))); - break; - case 's': - putchw(putp, putf, w, 0, va_arg(va, char *)); - break; - case '%': - putf(putp, ch); - default: - break; - } - } - } -abort:; -} - -void init_printf(void *putp, void (*putf)(void *, char)) -{ - stdout_putf = putf; - stdout_putp = putp; -} - -void tfp_printf(const char *fmt, ...) -{ - va_list va; - va_start(va, fmt); - tfp_format(stdout_putp, stdout_putf, fmt, va); - va_end(va); -} - -static void putcp(void *p, char c) -{ - *(*(static_cast(p)))++ = c; -} - -void tfp_sprintf(char *s, const char *fmt, va_list va) -{ - tfp_format(&s, putcp, fmt, va); - putcp(&s, 0); -} - -} // namespace nanoprintf -} // namespace rosflight_firmware diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt index d85ed3e2..4e65fcb2 100644 --- a/test/CMakeLists.txt +++ b/test/CMakeLists.txt @@ -34,7 +34,6 @@ set(ROSFLIGHT_SRC ../src/sensors.cpp ../src/state_manager.cpp ../src/estimator.cpp - ../src/nanoprintf.cpp ../src/controller.cpp ../src/comm_manager.cpp ../src/command_manager.cpp