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HAL_PX4: use common printf implementation on UARTs

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This commit is contained in:
Andrew Tridgell 2013-09-21 14:23:52 +10:00
parent f5c0f765fc
commit 05b426c1fc
2 changed files with 15 additions and 55 deletions
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68
libraries/AP_HAL_PX4/UARTDriver.cpp
View File

@ -16,6 +16,7 @@
#include <termios.h> #include <termios.h>
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <assert.h> #include <assert.h>
#include "utility/print_vprintf.h"
using namespace PX4; using namespace PX4;
@ -138,67 +139,28 @@ void PX4UARTDriver::println_P(const prog_char_t *pstr) {
println(pstr); println(pstr);
} }
void PX4UARTDriver::printf(const char *fmt, ...) { void PX4UARTDriver::printf(const char *fmt, ...)
{
va_list ap; va_list ap;
va_start(ap, fmt); va_start(ap, fmt);
_vprintf(fmt, ap); vprintf(fmt, ap);
va_end(ap); va_end(ap);
}
void PX4UARTDriver::_printf_P(const prog_char *fmt, ...) {
va_list ap;
va_start(ap, fmt);
_vprintf(fmt, ap);
va_end(ap);
} }
void PX4UARTDriver::vprintf(const char *fmt, va_list ap) { void PX4UARTDriver::vprintf(const char *fmt, va_list ap) {
_vprintf(fmt, ap); print_vprintf((AP_HAL::Print*)this, 0, fmt, ap);
}
void PX4UARTDriver::_printf_P(const prog_char *fmt, ...)
{
va_list ap;
va_start(ap, fmt);
vprintf_P(fmt, ap);
va_end(ap);
} }
void PX4UARTDriver::vprintf_P(const prog_char *fmt, va_list ap) { void PX4UARTDriver::vprintf_P(const prog_char *fmt, va_list ap) {
_vprintf(fmt, ap); print_vprintf((AP_HAL::Print*)this, 1, fmt, ap);
}
void PX4UARTDriver::_internal_vprintf(const char *fmt, va_list ap)
{
if (hal.scheduler->in_timerprocess()) {
// not allowed from timers
return;
}
char *buf = NULL;
int n = avsprintf(&buf, fmt, ap);
if (n > 0) {
write((const uint8_t *)buf, n);
}
if (buf != NULL) {
free(buf);
}
}
// handle %S -> %s
void PX4UARTDriver::_vprintf(const char *fmt, va_list ap)
{
if (hal.scheduler->in_timerprocess()) {
// not allowed from timers
return;
}
// we don't use vdprintf() as it goes directly to the file descriptor
if (strstr(fmt, "%S")) {
char *fmt2 = strdup(fmt);
if (fmt2 != NULL) {
for (uint16_t i=0; fmt2[i]; i++) {
if (fmt2[i] == '%' && fmt2[i+1] == 'S') {
fmt2[i+1] = 's';
}
}
_internal_vprintf(fmt2, ap);
free(fmt2);
}
} else {
_internal_vprintf(fmt, ap);
}
} }

2
libraries/AP_HAL_PX4/UARTDriver.h
View File

@ -51,8 +51,6 @@ public:
private: private:
const char *_devpath; const char *_devpath;
int _fd; int _fd;
void _vprintf(const char *fmt, va_list ap);
void _internal_vprintf(const char *fmt, va_list ap);
bool _nonblocking_writes; bool _nonblocking_writes;