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Update UWBAdapter_ApplicationSTD_serialPacket 10/29
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@Hom-Wang
Hom-Wang committed Oct 28, 2016
1 parent e7f24c4 commit 817d51f
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Showing 26 changed files with 1,173 additions and 632 deletions.
54 changes: 42 additions & 12 deletions Software/UWBAdapter_ApplicationSTD_serialPacket/Program/algorithms/mathUnit.h
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Original file line number Diff line number Diff line change
@@ -1,22 +1,52 @@
/* #include "algorithms\mathUnit.h" */
/**
* __ ____
* / /__ _ __ / __/ __
* / //_/(_)/ /_ / / ___ ____ ___ __ __ / /_
* / ,< / // __/_\ \ / _ \ / __// _ \/ // // __/
* /_/|_|/_/ \__//___// .__//_/ \___/\_,_/ \__/
* /_/ github.com/KitSprout
*
* @file mathUnit.h
* @author KitSprout
* @date 6-Oct-2016
* @brief
*
*/

/* Define to prevent recursive inclusion ---------------------------------------------------*/
#ifndef __MATHUNIT_H
#define __MATHUNIT_H

#ifdef __cplusplus
extern "C" {
#endif

/* Includes --------------------------------------------------------------------------------*/
#include "stm32f4xx.h"
#include "arm_math.h"
/*====================================================================================================*/
/*====================================================================================================*/
#define invSqrtf( iSq ) (1.0f / sqrtf((float)(iSq)))
#define squa( Sq ) (((float)Sq) * ((float)(Sq)))

/* Exported types --------------------------------------------------------------------------*/

/**
* @brief euler angle structure definition
*/
typedef struct {
float32_t pitch;
float32_t roll;
float32_t yaw;
} __attribute__((aligned(4))) eulerAngle_t;

/* Exported constants ----------------------------------------------------------------------*/
/* Exported macro --------------------------------------------------------------------------*/
#define invSqrtf( iSq ) (1.0f / sqrtf((float32_t)(iSq)))
#define squa( Sq ) (((float32_t)Sq) * ((float32_t)(Sq)))
#define toRad( _mathD ) ((_mathD) * 0.0174532925f)
#define toDeg( _mathR ) ((_mathR) * 57.2957795f)

typedef struct {
float pitch;
float roll;
float yaw;
} eulerAngle_t;
/*====================================================================================================*/
/*====================================================================================================*/
/* Exported functions ----------------------------------------------------------------------*/

#ifdef __cplusplus
}
#endif

#endif
98 changes: 60 additions & 38 deletions Software/UWBAdapter_ApplicationSTD_serialPacket/Program/algorithms/string.c
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@@ -1,85 +1,107 @@
/*====================================================================================================*/
/*====================================================================================================*/
/**
* __ ____
* / /__ _ __ / __/ __
* / //_/(_)/ /_ / / ___ ____ ___ __ __ / /_
* / ,< / // __/_\ \ / _ \ / __// _ \/ // // __/
* /_/|_|/_/ \__//___// .__//_/ \___/\_,_/ \__/
* /_/ github.com/KitSprout
*
* @file string.c
* @author KitSprout
* @date 6-Oct-2016
* @brief
*
*/

/* Includes --------------------------------------------------------------------------------*/
#include "drivers\stm32f4_system.h"
#include "algorithms\string.h"
/*====================================================================================================*/
/*====================================================================================================*
**函數 : num2Char
**功能 : Number to string
**輸入 : type, lens, *pChar, number
**輸出 : None
**使用 : num2Str(type, lens, pChar, number);
**====================================================================================================*/
/*====================================================================================================*/
void num2Str( StringType type, uint8_t lens, char *pStr, int32_t number )

/** @addtogroup STM32_Algorithm
* @{
*/

/* Private typedef -------------------------------------------------------------------------*/
/* Private define --------------------------------------------------------------------------*/
/* Private macro ---------------------------------------------------------------------------*/
/* Private variables -----------------------------------------------------------------------*/
/* Private function prototypes -------------------------------------------------------------*/
/* Private functions -----------------------------------------------------------------------*/

/**
* @brief num2Str
* @param type:
* @param lens:
* @param pStr:
* @param number:
* @retval None
*/
void num2Str( StringType_t type, uint8_t lens, char *pStr, int32_t number )
{
uint8_t i = 0;
uint32_t tmpStr[48] = {0};
uint32_t tmpNum = 1;

switch(type) {
switch (type) {

case Type_B:
case Type_O:
case Type_D:
case Type_H:
for(i = 0; i < lens; i++) {
case S_BIN:
case S_OCT:
case S_DEC:
case S_HEX:
for (i = 0; i < lens; i++) {
tmpStr[i] = ((uint32_t)number) / tmpNum;
tmpNum = tmpNum * type;
}
for(i = 0; i < lens; i++) {
for (i = 0; i < lens; i++) {
pStr[lens-i-1] = tmpStr[i] - tmpStr[i+1] * type;
if(pStr[lens-i-1] > 9)
if (pStr[lens-i-1] > 9)
pStr[lens-i-1] += 55; // 65-10
else
pStr[lens-i-1] += 48;
}
pStr[lens] = '\0';
break;

case Type_I:
if(number < 0) {
case S_INT:
if (number < 0) {
pStr[0] = '-';
number = (~number) + 1;
}
else {
pStr[0] = '+';
}
for(i = 1; i < lens + 1; i++) {
for (i = 1; i < lens + 1; i++) {
tmpStr[i-1] = ((uint32_t)number) / tmpNum;
tmpNum = tmpNum * 10;
}
for(i = 1; i < lens + 1; i++) {
for (i = 1; i < lens + 1; i++) {
pStr[lens-i+1] = tmpStr[i-1] - tmpStr[i] * 10;
pStr[lens-i+1] += 48;
}
pStr[lens+1] = '\0';
break;

case Type_F:
case S_FLOAT:
break;
}
}
/*====================================================================================================*/
/*====================================================================================================*
**函數 : lenOfStr
**功能 : String Lens
**輸入 : *pStr
**輸出 : strLens
**使用 : strLens = lenOfStr("Hello World!!");
**====================================================================================================*/
/*====================================================================================================*/

/**
* @brief lenOfStr
* @param pStr:
* @retval string lengths
*/
uint16_t lenOfStr( char *pStr )
{
uint16_t strLens = 0;

if(pStr == NULL)
if (pStr == NULL)
return strLens;

while(*(pStr++))
while (*(pStr++))
strLens++;

return strLens;
}
/*====================================================================================================*/
/*====================================================================================================*/

/*************************************** END OF FILE ****************************************/
60 changes: 43 additions & 17 deletions Software/UWBAdapter_ApplicationSTD_serialPacket/Program/algorithms/string.h
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Original file line number Diff line number Diff line change
@@ -1,23 +1,49 @@
/* #include "algorithm_string.h" */
/**
* __ ____
* / /__ _ __ / __/ __
* / //_/(_)/ /_ / / ___ ____ ___ __ __ / /_
* / ,< / // __/_\ \ / _ \ / __// _ \/ // // __/
* /_/|_|/_/ \__//___// .__//_/ \___/\_,_/ \__/
* /_/ github.com/KitSprout
*
* @file string.h
* @author KitSprout
* @date 6-Oct-2016
* @brief
*
*/

#ifndef __ALGORITHM_STRING_H
#define __ALGORITHM_STRING_H
/* Define to prevent recursive inclusion ---------------------------------------------------*/
#ifndef __STRING_H
#define __STRING_H

#ifdef __cplusplus
extern "C" {
#endif

/* Includes --------------------------------------------------------------------------------*/
#include <string.h>
#include "stm32f4xx.h"
/*====================================================================================================*/
/*====================================================================================================*/

/* Exported types --------------------------------------------------------------------------*/
typedef enum {
Type_B = 2, // 無號數二進制
Type_O = 8, // 無號數八進制
Type_D = 10, // 無號數十進制
Type_H = 16, // 無號數十六進制
Type_I = 0, // 有號數
Type_F = 1, // 浮點數
} StringType;
/*====================================================================================================*/
/*====================================================================================================*/
void num2Str( StringType type, uint8_t lens, char *pStr, int32_t number );
S_BIN = 2, /* unsigned binary */
S_OCT = 8, /* unsigned octal */
S_DEC = 10, /* unsigned decimal */
S_HEX = 16, /* unsigned hexadecimal */
S_INT = 0, /* signed decimal */
S_FLOAT = 1, /* float point */
} StringType_t;

/* Exported constants ----------------------------------------------------------------------*/
/* Exported functions ----------------------------------------------------------------------*/
void num2Str( StringType_t type, uint8_t lens, char *pStr, int32_t number );
uint16_t lenOfStr( char *pStr );
/*====================================================================================================*/
/*====================================================================================================*/

#ifdef __cplusplus
}
#endif

#endif

/*************************************** END OF FILE ****************************************/
61 changes: 42 additions & 19 deletions Software/UWBAdapter_ApplicationSTD_serialPacket/Program/drivers/stm32f4_delay.c
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Original file line number Diff line number Diff line change
@@ -1,12 +1,35 @@
/*=====================================================================================================*/
/*=====================================================================================================*/
/**
* __ ____
* / /__ _ __ / __/ __
* / //_/(_)/ /_ / / ___ ____ ___ __ __ / /_
* / ,< / // __/_\ \ / _ \ / __// _ \/ // // __/
* /_/|_|/_/ \__//___// .__//_/ \___/\_,_/ \__/
* /_/ github.com/KitSprout
*
* @file stm32f4_delay.c
* @author KitSprout
* @date 6-Oct-2016
* @brief
*
*/

/* Includes --------------------------------------------------------------------------------*/
#include "stm32f4_system.h"
#include "stm32f4_delay.h"
/*=====================================================================================================*/
/*=====================================================================================================*/

/** @addtogroup STM32_Driver
* @{
*/

/* Private typedef -------------------------------------------------------------------------*/
/* Private define --------------------------------------------------------------------------*/
/* Private macro ---------------------------------------------------------------------------*/
/* Private variables -----------------------------------------------------------------------*/
static __IO uint32_t uwTick;
/*=====================================================================================================*/
/*=====================================================================================================*/

/* Private function prototypes -------------------------------------------------------------*/
/* Private functions -----------------------------------------------------------------------*/

void HAL_InitTick( void )
{
NVIC_InitTypeDef NVIC_InitStruct;
Expand All @@ -21,36 +44,36 @@ void HAL_InitTick( void )
NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStruct);
}

void HAL_IncTick( void )
{
uwTick++;
}

uint32_t HAL_GetTick( void )
{
return uwTick;
}
void HAL_Delay( __IO uint32_t Delay )

void HAL_Delay( __IO uint32_t delay )
{
uint32_t tickstart = 0;
tickstart = HAL_GetTick();
while((HAL_GetTick() - tickstart) < Delay)
while((HAL_GetTick() - tickstart) < delay)
{
}
}
/*=====================================================================================================*/
/*=====================================================================================================*
**函數 : delay_us
**功能 : Delay us
**輸入 : vCnt_us
**輸出 : None
**使用 : delay_us(times);
**=====================================================================================================*/
/*=====================================================================================================*/

/**
* @brief delay_us
* @param vCnt_us: delay us time.
* @retval None
*/
void delay_us( __IO uint32_t vCnt_us )
{
__IO uint32_t vCnt;
while(vCnt_us--)
for(vCnt = 7; vCnt != 0; vCnt--);
}
/*=====================================================================================================*/
/*=====================================================================================================*/

/*************************************** END OF FILE ****************************************/
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