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Aquatic-Robotic-Courier
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usb talking

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Release_v1
penguin 4 years ago
parent a6936e53e7
commit 3e291c1791
23 changed files with 73206 additions and 72129 deletions
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122312
electrical/ARC-Boat0/fp-info-cache
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software/ARC-FW/arc.h
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@ -0,0 +1,8 @@
#ifndef _ARC_H_
#define _ARC_H_
#include "atmel_start.h"
#endif

72
software/ARC-FW/gcc/.gdb_history
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@ -145,3 +145,75 @@ r
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software/ARC-FW/gcc/ARC-FW.hex
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software/ARC-FW/gcc/ARC-FW.lss
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software/ARC-FW/gcc/ARC-FW.map
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23
software/ARC-FW/gcc/Makefile
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@ -45,7 +45,8 @@ examples \
hpl/gclk \
usb \
hpl/core \
usb/device
usb/device \
util
# List the object files
OBJS += \
@ -79,7 +80,8 @@ hal/src/hal_sleep.o \
hpl/dmac/hpl_dmac.o \
atmel_start.o \
usb/device/usbdc.o \
hal/src/hal_atomic.o
hal/src/hal_atomic.o \
util/serial.o
OBJS_AS_ARGS += \
"hal/src/hal_io.o" \
@ -112,7 +114,8 @@ OBJS_AS_ARGS += \
"hpl/dmac/hpl_dmac.o" \
"atmel_start.o" \
"usb/device/usbdc.o" \
"hal/src/hal_atomic.o"
"hal/src/hal_atomic.o" \
"util/serial.o"
# List the directories containing header files
DIR_INCLUDES += \
@ -139,7 +142,8 @@ DIR_INCLUDES += \
-I"../usb/device" \
-I"../" \
-I"../CMSIS/Core/Include" \
-I"../samd21a/include"
-I"../samd21a/include" \
-I"../util"
# List the dependency files
DEPS := $(OBJS:%.o=%.d)
@ -175,7 +179,8 @@ DEPS_AS_ARGS += \
"hal/src/hal_atomic.d" \
"usb/device/usbdc.d" \
"hpl/pm/hpl_pm.d" \
"atmel_start.d"
"atmel_start.d" \
"util/serial.d"
OUTPUT_FILE_NAME :=ARC-FW
QUOTE := "
@ -259,13 +264,7 @@ clean:
rm -f $(OUTPUT_FILE_NAME).a $(OUTPUT_FILE_NAME).hex $(OUTPUT_FILE_NAME).bin \
$(OUTPUT_FILE_NAME).lss $(OUTPUT_FILE_NAME).eep $(OUTPUT_FILE_NAME).map \
$(OUTPUT_FILE_NAME).srec
clean:
rm -f $(OBJS_AS_ARGS)
rm -f $(OUTPUT_FILE_PATH)
rm -f $(DEPS_AS_ARGS)
rm -f $(OUTPUT_FILE_NAME).a $(OUTPUT_FILE_NAME).hex $(OUTPUT_FILE_NAME).bin \
$(OUTPUT_FILE_NAME).lss $(OUTPUT_FILE_NAME).eep $(OUTPUT_FILE_NAME).map \
$(OUTPUT_FILE_NAME).srec
debug: $(OUTPUT_FILE_NAME).elf
@$(QUOTE)arm-none-eabi-gdb$(QUOTE) $(OUTPUT_FILE_NAME).elf -x scripts/debug.gdb

10130
software/ARC-FW/gcc/gdb.txt
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37
software/ARC-FW/gcc/main.d
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@ -83,7 +83,24 @@ main.d main.o: ../main.c ../atmel_start.h ../driver_init.h \
../hal/utils/include/utils_list.h ../usb/usb_protocol.h \
../usb/usb_includes.h ../config/usbd_config.h \
../usb/class/cdc/usb_protocol_cdc.h \
../usb/class/cdc/device/cdcdf_acm_desc.h
../usb/class/cdc/device/cdcdf_acm_desc.h ../util/serial.h \
/usr/arm-none-eabi/include/stdio.h \
/usr/lib/gcc/arm-none-eabi/10.2.0/include/stdarg.h \
/usr/arm-none-eabi/include/sys/types.h \
/usr/arm-none-eabi/include/machine/endian.h \
/usr/arm-none-eabi/include/machine/_endian.h \
/usr/arm-none-eabi/include/sys/select.h \
/usr/arm-none-eabi/include/sys/_sigset.h \
/usr/arm-none-eabi/include/sys/_timeval.h \
/usr/arm-none-eabi/include/sys/timespec.h \
/usr/arm-none-eabi/include/sys/_timespec.h \
/usr/arm-none-eabi/include/sys/_pthreadtypes.h \
/usr/arm-none-eabi/include/sys/sched.h \
/usr/arm-none-eabi/include/machine/types.h \
/usr/arm-none-eabi/include/sys/stdio.h \
/usr/arm-none-eabi/include/stdlib.h \
/usr/arm-none-eabi/include/machine/stdlib.h \
/usr/arm-none-eabi/include/alloca.h
../atmel_start.h:
../driver_init.h:
../atmel_start_pins.h:
@ -234,3 +251,21 @@ main.d main.o: ../main.c ../atmel_start.h ../driver_init.h \
../config/usbd_config.h:
../usb/class/cdc/usb_protocol_cdc.h:
../usb/class/cdc/device/cdcdf_acm_desc.h:
../util/serial.h:
/usr/arm-none-eabi/include/stdio.h:
/usr/lib/gcc/arm-none-eabi/10.2.0/include/stdarg.h:
/usr/arm-none-eabi/include/sys/types.h:
/usr/arm-none-eabi/include/machine/endian.h:
/usr/arm-none-eabi/include/machine/_endian.h:
/usr/arm-none-eabi/include/sys/select.h:
/usr/arm-none-eabi/include/sys/_sigset.h:
/usr/arm-none-eabi/include/sys/_timeval.h:
/usr/arm-none-eabi/include/sys/timespec.h:
/usr/arm-none-eabi/include/sys/_timespec.h:
/usr/arm-none-eabi/include/sys/_pthreadtypes.h:
/usr/arm-none-eabi/include/sys/sched.h:
/usr/arm-none-eabi/include/machine/types.h:
/usr/arm-none-eabi/include/sys/stdio.h:
/usr/arm-none-eabi/include/stdlib.h:
/usr/arm-none-eabi/include/machine/stdlib.h:
/usr/arm-none-eabi/include/alloca.h:

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software/ARC-FW/gcc/util/serial.d
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@ -0,0 +1,244 @@
util/serial.d util/serial.o: ../util/serial.c ../util/serial.h \
/usr/arm-none-eabi/include/stdio.h /usr/arm-none-eabi/include/_ansi.h \
/usr/arm-none-eabi/include/newlib.h \
/usr/arm-none-eabi/include/_newlib_version.h \
/usr/arm-none-eabi/include/sys/config.h \
/usr/arm-none-eabi/include/machine/ieeefp.h \
/usr/arm-none-eabi/include/sys/features.h \
/usr/arm-none-eabi/include/sys/cdefs.h \
/usr/arm-none-eabi/include/machine/_default_types.h \
/usr/lib/gcc/arm-none-eabi/10.2.0/include/stddef.h \
/usr/lib/gcc/arm-none-eabi/10.2.0/include/stdarg.h \
/usr/arm-none-eabi/include/sys/reent.h \
/usr/arm-none-eabi/include/_ansi.h \
/usr/arm-none-eabi/include/sys/_types.h \
/usr/arm-none-eabi/include/machine/_types.h \
/usr/arm-none-eabi/include/sys/lock.h \
/usr/arm-none-eabi/include/sys/types.h \
/usr/arm-none-eabi/include/sys/_stdint.h \
/usr/arm-none-eabi/include/machine/endian.h \
/usr/arm-none-eabi/include/machine/_endian.h \
/usr/arm-none-eabi/include/sys/select.h \
/usr/arm-none-eabi/include/sys/_sigset.h \
/usr/arm-none-eabi/include/sys/_timeval.h \
/usr/arm-none-eabi/include/sys/timespec.h \
/usr/arm-none-eabi/include/sys/_timespec.h \
/usr/arm-none-eabi/include/sys/_pthreadtypes.h \
/usr/arm-none-eabi/include/sys/sched.h \
/usr/arm-none-eabi/include/machine/types.h \
/usr/arm-none-eabi/include/sys/stdio.h \
/usr/arm-none-eabi/include/stdlib.h \
/usr/arm-none-eabi/include/machine/stdlib.h \
/usr/arm-none-eabi/include/alloca.h /usr/arm-none-eabi/include/string.h \
/usr/arm-none-eabi/include/sys/_locale.h \
/usr/arm-none-eabi/include/strings.h \
/usr/arm-none-eabi/include/sys/string.h ../usb_start.h \
../usb/class/cdc/device/cdcdf_acm.h ../usb/device/usbdc.h \
../usb/usb_includes.h \
/usr/lib/gcc/arm-none-eabi/10.2.0/include/stdbool.h \
/usr/lib/gcc/arm-none-eabi/10.2.0/include/stdint.h \
/usr/arm-none-eabi/include/stdint.h \
/usr/arm-none-eabi/include/sys/_intsup.h ../hal/utils/include/utils.h \
../hal/utils/include/utils_list.h ../hal/utils/include/compiler.h \
../hal/utils/include/parts.h ../samd21a/include/samd21.h \
../samd21a/include/samd21e18a.h ../CMSIS/Core/Include/core_cm0plus.h \
../CMSIS/Core/Include/cmsis_version.h \
../CMSIS/Core/Include/cmsis_compiler.h ../CMSIS/Core/Include/cmsis_gcc.h \
../samd21a/include/system_samd21.h ../samd21a/include/component/ac.h \
../samd21a/include/component/adc.h ../samd21a/include/component/dac.h \
../samd21a/include/component/dmac.h ../samd21a/include/component/dsu.h \
../samd21a/include/component/eic.h ../samd21a/include/component/evsys.h \
../samd21a/include/component/gclk.h \
../samd21a/include/component/hmatrixb.h \
../samd21a/include/component/i2s.h ../samd21a/include/component/mtb.h \
../samd21a/include/component/nvmctrl.h \
../samd21a/include/component/pac.h ../samd21a/include/component/pm.h \
../samd21a/include/component/port.h ../samd21a/include/component/rtc.h \
../samd21a/include/component/sercom.h \
../samd21a/include/component/sysctrl.h ../samd21a/include/component/tc.h \
../samd21a/include/component/tcc.h ../samd21a/include/component/usb.h \
../samd21a/include/component/wdt.h ../samd21a/include/instance/ac.h \
../samd21a/include/instance/adc.h ../samd21a/include/instance/dac.h \
../samd21a/include/instance/dmac.h ../samd21a/include/instance/dsu.h \
../samd21a/include/instance/eic.h ../samd21a/include/instance/evsys.h \
../samd21a/include/instance/gclk.h \
../samd21a/include/instance/sbmatrix.h ../samd21a/include/instance/i2s.h \
../samd21a/include/instance/mtb.h ../samd21a/include/instance/nvmctrl.h \
../samd21a/include/instance/pac0.h ../samd21a/include/instance/pac1.h \
../samd21a/include/instance/pac2.h ../samd21a/include/instance/pm.h \
../samd21a/include/instance/port.h ../samd21a/include/instance/ptc.h \
../samd21a/include/instance/rtc.h ../samd21a/include/instance/sercom0.h \
../samd21a/include/instance/sercom1.h \
../samd21a/include/instance/sercom2.h \
../samd21a/include/instance/sercom3.h \
../samd21a/include/instance/sysctrl.h ../samd21a/include/instance/tc3.h \
../samd21a/include/instance/tc4.h ../samd21a/include/instance/tc5.h \
../samd21a/include/instance/tcc0.h ../samd21a/include/instance/tcc1.h \
../samd21a/include/instance/tcc2.h ../samd21a/include/instance/usb.h \
../samd21a/include/instance/wdt.h ../samd21a/include/pio/samd21e18a.h \
../hri/hri_d21.h ../samd21a/include/sam.h ../hri/hri_ac_d21.h \
../hal/include/hal_atomic.h ../hri/hri_adc_d21.h ../hri/hri_dac_d21.h \
../hri/hri_dmac_d21.h ../hri/hri_dsu_d21.h ../hri/hri_eic_d21.h \
../hri/hri_evsys_d21.h ../hri/hri_gclk_d21.h ../hri/hri_hmatrixb_d21.h \
../hri/hri_i2s_d21.h ../hri/hri_mtb_d21.h ../hri/hri_nvic_d21.h \
../hri/hri_nvmctrl_d21.h ../hri/hri_pac_d21.h ../hri/hri_pm_d21.h \
../hri/hri_port_d21.h ../hri/hri_rtc_d21.h ../hri/hri_sercom_d21.h \
../hri/hri_sysctrl_d21.h ../hri/hri_systemcontrol_d21.h \
../hri/hri_systick_d21.h ../hri/hri_tc_d21.h ../hri/hri_tcc_d21.h \
../hri/hri_usb_d21.h ../hri/hri_wdt_d21.h \
../hal/utils/include/err_codes.h ../hal/utils/include/utils_assert.h \
../usb/usb_protocol.h ../usb/usb_includes.h \
../hal/include/hal_usb_device.h ../hal/include/hpl_usb_device.h \
../hal/include/hpl_usb.h ../config/hpl_usb_config.h \
../config/usbd_config.h ../usb/class/cdc/usb_protocol_cdc.h \
../usb/class/cdc/device/cdcdf_acm_desc.h
../util/serial.h:
/usr/arm-none-eabi/include/stdio.h:
/usr/arm-none-eabi/include/_ansi.h:
/usr/arm-none-eabi/include/newlib.h:
/usr/arm-none-eabi/include/_newlib_version.h:
/usr/arm-none-eabi/include/sys/config.h:
/usr/arm-none-eabi/include/machine/ieeefp.h:
/usr/arm-none-eabi/include/sys/features.h:
/usr/arm-none-eabi/include/sys/cdefs.h:
/usr/arm-none-eabi/include/machine/_default_types.h:
/usr/lib/gcc/arm-none-eabi/10.2.0/include/stddef.h:
/usr/lib/gcc/arm-none-eabi/10.2.0/include/stdarg.h:
/usr/arm-none-eabi/include/sys/reent.h:
/usr/arm-none-eabi/include/_ansi.h:
/usr/arm-none-eabi/include/sys/_types.h:
/usr/arm-none-eabi/include/machine/_types.h:
/usr/arm-none-eabi/include/sys/lock.h:
/usr/arm-none-eabi/include/sys/types.h:
/usr/arm-none-eabi/include/sys/_stdint.h:
/usr/arm-none-eabi/include/machine/endian.h:
/usr/arm-none-eabi/include/machine/_endian.h:
/usr/arm-none-eabi/include/sys/select.h:
/usr/arm-none-eabi/include/sys/_sigset.h:
/usr/arm-none-eabi/include/sys/_timeval.h:
/usr/arm-none-eabi/include/sys/timespec.h:
/usr/arm-none-eabi/include/sys/_timespec.h:
/usr/arm-none-eabi/include/sys/_pthreadtypes.h:
/usr/arm-none-eabi/include/sys/sched.h:
/usr/arm-none-eabi/include/machine/types.h:
/usr/arm-none-eabi/include/sys/stdio.h:
/usr/arm-none-eabi/include/stdlib.h:
/usr/arm-none-eabi/include/machine/stdlib.h:
/usr/arm-none-eabi/include/alloca.h:
/usr/arm-none-eabi/include/string.h:
/usr/arm-none-eabi/include/sys/_locale.h:
/usr/arm-none-eabi/include/strings.h:
/usr/arm-none-eabi/include/sys/string.h:
../usb_start.h:
../usb/class/cdc/device/cdcdf_acm.h:
../usb/device/usbdc.h:
../usb/usb_includes.h:
/usr/lib/gcc/arm-none-eabi/10.2.0/include/stdbool.h:
/usr/lib/gcc/arm-none-eabi/10.2.0/include/stdint.h:
/usr/arm-none-eabi/include/stdint.h:
/usr/arm-none-eabi/include/sys/_intsup.h:
../hal/utils/include/utils.h:
../hal/utils/include/utils_list.h:
../hal/utils/include/compiler.h:
../hal/utils/include/parts.h:
../samd21a/include/samd21.h:
../samd21a/include/samd21e18a.h:
../CMSIS/Core/Include/core_cm0plus.h:
../CMSIS/Core/Include/cmsis_version.h:
../CMSIS/Core/Include/cmsis_compiler.h:
../CMSIS/Core/Include/cmsis_gcc.h:
../samd21a/include/system_samd21.h:
../samd21a/include/component/ac.h:
../samd21a/include/component/adc.h:
../samd21a/include/component/dac.h:
../samd21a/include/component/dmac.h:
../samd21a/include/component/dsu.h:
../samd21a/include/component/eic.h:
../samd21a/include/component/evsys.h:
../samd21a/include/component/gclk.h:
../samd21a/include/component/hmatrixb.h:
../samd21a/include/component/i2s.h:
../samd21a/include/component/mtb.h:
../samd21a/include/component/nvmctrl.h:
../samd21a/include/component/pac.h:
../samd21a/include/component/pm.h:
../samd21a/include/component/port.h:
../samd21a/include/component/rtc.h:
../samd21a/include/component/sercom.h:
../samd21a/include/component/sysctrl.h:
../samd21a/include/component/tc.h:
../samd21a/include/component/tcc.h:
../samd21a/include/component/usb.h:
../samd21a/include/component/wdt.h:
../samd21a/include/instance/ac.h:
../samd21a/include/instance/adc.h:
../samd21a/include/instance/dac.h:
../samd21a/include/instance/dmac.h:
../samd21a/include/instance/dsu.h:
../samd21a/include/instance/eic.h:
../samd21a/include/instance/evsys.h:
../samd21a/include/instance/gclk.h:
../samd21a/include/instance/sbmatrix.h:
../samd21a/include/instance/i2s.h:
../samd21a/include/instance/mtb.h:
../samd21a/include/instance/nvmctrl.h:
../samd21a/include/instance/pac0.h:
../samd21a/include/instance/pac1.h:
../samd21a/include/instance/pac2.h:
../samd21a/include/instance/pm.h:
../samd21a/include/instance/port.h:
../samd21a/include/instance/ptc.h:
../samd21a/include/instance/rtc.h:
../samd21a/include/instance/sercom0.h:
../samd21a/include/instance/sercom1.h:
../samd21a/include/instance/sercom2.h:
../samd21a/include/instance/sercom3.h:
../samd21a/include/instance/sysctrl.h:
../samd21a/include/instance/tc3.h:
../samd21a/include/instance/tc4.h:
../samd21a/include/instance/tc5.h:
../samd21a/include/instance/tcc0.h:
../samd21a/include/instance/tcc1.h:
../samd21a/include/instance/tcc2.h:
../samd21a/include/instance/usb.h:
../samd21a/include/instance/wdt.h:
../samd21a/include/pio/samd21e18a.h:
../hri/hri_d21.h:
../samd21a/include/sam.h:
../hri/hri_ac_d21.h:
../hal/include/hal_atomic.h:
../hri/hri_adc_d21.h:
../hri/hri_dac_d21.h:
../hri/hri_dmac_d21.h:
../hri/hri_dsu_d21.h:
../hri/hri_eic_d21.h:
../hri/hri_evsys_d21.h:
../hri/hri_gclk_d21.h:
../hri/hri_hmatrixb_d21.h:
../hri/hri_i2s_d21.h:
../hri/hri_mtb_d21.h:
../hri/hri_nvic_d21.h:
../hri/hri_nvmctrl_d21.h:
../hri/hri_pac_d21.h:
../hri/hri_pm_d21.h:
../hri/hri_port_d21.h:
../hri/hri_rtc_d21.h:
../hri/hri_sercom_d21.h:
../hri/hri_sysctrl_d21.h:
../hri/hri_systemcontrol_d21.h:
../hri/hri_systick_d21.h:
../hri/hri_tc_d21.h:
../hri/hri_tcc_d21.h:
../hri/hri_usb_d21.h:
../hri/hri_wdt_d21.h:
../hal/utils/include/err_codes.h:
../hal/utils/include/utils_assert.h:
../usb/usb_protocol.h:
../usb/usb_includes.h:
../hal/include/hal_usb_device.h:
../hal/include/hpl_usb_device.h:
../hal/include/hpl_usb.h:
../config/hpl_usb_config.h:
../config/usbd_config.h:
../usb/class/cdc/usb_protocol_cdc.h:
../usb/class/cdc/device/cdcdf_acm_desc.h:

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software/ARC-FW/main.c
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@ -1,17 +1,12 @@
#include <atmel_start.h>
static uint8_t buffer[64];
#include "serial.h"
int main(void)
{
/* Initializes MCU, drivers and middleware */
atmel_start_init();
arc_serial_init();
usb_init();
cdcd_acm_example();
while(!usb_ready());
delay_ms(2000);
memcpy(buffer, "Hello World\n", sizeof("Hello World\n"));
volatile int32_t ret = cdcdf_acm_write(buffer, sizeof("Hello World\n"));
arc_printf("Hello World");
/* Replace with your application code */
while (1) {
}

7
software/ARC-FW/usb_start.c
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@ -7,7 +7,6 @@
*/
#include "atmel_start.h"
#include "usb_start.h"
static volatile bool b_usb_ready = false;
#if CONF_USBD_HS_SP
static uint8_t single_desc_bytes[] = {
/* Device descriptors and Configuration descriptors list. */
@ -65,7 +64,6 @@ static bool usb_device_cb_bulk_in(const uint8_t ep, const enum usb_xfer_code rc,
*/
static bool usb_device_cb_state_c(usb_cdc_control_signal_t state)
{
b_usb_ready = true;
/* if (state.rs232.DTR) { */
/* /\* Callbacks must be registered after endpoint allocation *\/ */
/* cdcdf_acm_register_callback(CDCDF_ACM_CB_READ, (FUNC_PTR)usb_device_cb_bulk_out); */
@ -126,8 +124,3 @@ void usb_init(void)
cdc_device_acm_init();
}
bool usb_ready()
{
return b_usb_ready;
}

42
software/ARC-FW/util/\
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@ -0,0 +1,42 @@
#include "serial.h"
#include "usb_start.h"
#define MAX_PRINTF_BUFFER (64)
static uint8_t printf_buffer[MAX_PRINTF_BUFFER];
static volatile bool b_usb_ready = false;
static bool usb_cb_state_c(usb_cdc_control_signal_t state)
{
if(state.rs232.DTR == 1)
{
b_usb_ready = true;
}
else
{
b_usb_ready = false;
}
return false;
}
void arc_serial_init()
{
memset(printf_buffer, '\0', MAX_PRINTF_BUFFER);
usb_init();
while(!cdcdf_acm_is_enabled()){}
cdcdf_acm_register_callback(CDCDF_ACM_CB_STATE_C, (FUNC_PTR)usb_cb_state_c);
while(!b_usb_ready);
delay_ms(2000);
}
uint8_t arc_printf(const char* fmt, ...)
{
while(!b_usb_ready){}
va_list args;
va_start(args, fmt);
vsprintf(printf_buffer, fmt, args);
va_end(args);
volatile int32_t ret = cdcdf_acm_write(printf_buffer, (uint32_t)(strlen((const char*)printf_buffer)));
return 0;
}

37
software/ARC-FW/util/serial.c
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@ -0,0 +1,37 @@
#include "serial.h"
#include "usb_start.h"
#define MAX_PRINTF_BUFFER (64)
static uint32_t printf_buffer[MAX_PRINTF_BUFFER / 4];
static volatile bool b_usb_ready = false;
static bool usb_cb_state_c(usb_cdc_control_signal_t state)
{
if(state.rs232.DTR)
{
b_usb_ready = true;
}
return false;
}
void arc_serial_init()
{
memset(printf_buffer, '\0', MAX_PRINTF_BUFFER);
usb_init();
while(!cdcdf_acm_is_enabled()){}
cdcdf_acm_register_callback(CDCDF_ACM_CB_STATE_C, (FUNC_PTR)usb_cb_state_c);
while(!b_usb_ready){}
delay_ms(100);
}
uint8_t arc_printf(const char* fmt, ...)
{
va_list args;
va_start(args, fmt);
vsprintf((uint8_t*)printf_buffer, fmt, args);
va_end(args);
volatile int32_t ret = cdcdf_acm_write((uint8_t*)printf_buffer, strlen((const char*)printf_buffer));
return 0;
}

21
software/ARC-FW/util/serial.h
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@ -0,0 +1,21 @@
#ifndef _SERIAL_H_
#define _SERIAL_H_
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
void arc_serial_init(void);
uint8_t arc_printf(const char* fmt, ...);
#ifdef DEBUG
#define printf(f_, ...) arc_printf((f_), ##__VA_ARGS__)
#else
#define printf(f_, ...) void(f_, ...)
#endif
#endif
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