Hi everyone,
I'm porting a TinyOS 1.x code to TinyOS 2.0 and I've some problem with it.
I used a particular library :"PrintfUART.h" in order to print debug
messages to my PC. It worked
very well in TinyOS 1.x but not in TinyOS 2.0 and I encountered a
serie of compile errors :
PrintfUART.h: In function `printfUART_init_private':
PrintfUART.h:141: warning: implicit declaration of function `outp'
PrintfUART.h:145: warning: implicit declaration of function `inp'
PrintfUART.h: In function `UARTPutChar':
PrintfUART.h:231: warning: implicit declaration of function `outb'
PrintfUART.h:256: warning: shadowing built-in function 'sprintf'
PrintfUART.h: In function `printfUART_init_private':
PrintfUART.h:141: warning: implicit declaration of function `outp'
PrintfUART.h:145: warning: implicit declaration of function `inp'
PrintfUART.h: In function `UARTPutChar':
PrintfUART.h:231: warning: implicit declaration of function `outb'
/tmp/ccPOpDj3.o(.text+0x1a0e): In function `UARTPutChar':
: undefined reference to `outb'
/tmp/ccPOpDj3.o(.text+0x294e): In function `main':
: undefined reference to `outp'
/tmp/ccPOpDj3.o(.text+0x295c): In function `main':
: undefined reference to `outp'
/tmp/ccPOpDj3.o(.text+0x296a): In function `main':
: undefined reference to `outp'
/tmp/ccPOpDj3.o(.text+0x297a): In function `main':
: undefined reference to `outp'
/tmp/ccPOpDj3.o(.text+0x2982): In function `main':
: undefined reference to `inp'
/tmp/ccPOpDj3.o(.text+0x2990): In function `main':
: undefined reference to `outp'
make: *** [exe0] Error 1
And I don't understand these errors in 2.0 ...
I know TinyOS 2.0 has a Printf library but "PrintfUART.h" is lighter
and was perfect for my application.
You'll find the code of "PrintfUART.h" included in my application at
the end of this email.
Thank you very much for your help.
Regards,
Jeremy
/* PrintfUART.h */
/*
* Copyright (c) 2005
* The President and Fellows of Harvard College.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. 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.
* 3. Neither the name of the University 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 UNIVERSITY 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 UNIVERSITY 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.
*/
/*
* Writes printf like output to the UART.
* This works only on the AVR and MSP430 Microcontrollers!
* <p>
* Note: For AVR we explicitly place the print statements in ROM; for
* MSP430 this is done by default! For AVR, if we don't place it
* explicitely in ROM, the statements will go in RAM, which will
* quickly cause a descent size program to run out of RAM. By default
* it doesn't disable the interupts; disabling the interupts when
* writing to the UART, slows down/makes the mote quite unresponsive,
* and can lead to problems! If you wish to disable all printfs to
* the UART, then comment the flag: <code>PRINTFUART_ENABLED</code>.
* <p> <pre>
* How to use:
* // (1) Call printfUART_init() from your initialization function
* // to initialize the UART
* printfUART_init();
* // (2) Set your UART client to the correct baud rate. Look at
* // the comments in printfUART_init(), to figure out what
* // baud to use for your particular mote
*
* // (3) Send printf statements like this:
* printfUART("Hello World, we are in year= %i\n", 2004);
*
* Examples and caveats:
* // (1) - If no parameters are passed, then the second quotes
* are required because of how the macro is defined
* printfUART("Timer fired\n", "");
* // (2) - Must use curly braces in single section statements
* if (x < 3)
* {printfUART("The value of x is %i\n", x);}
* // (3) - Otherwise it more or less works like regular printf
* printfUART("\nThe value of x=%i, and y=%i\n", x, y);
* </pre>
* <pre>URL: http://www.eecs.harvard.edu/~konrad/projects/motetrack</pre>
* @author Konrad Lorincz
* @version 2.0, January 5, 2005
*/
#ifndef PRINTFUART_H
#define PRINTFUART_H
#include <stdarg.h>
#include <stdlib.h>
//#include <stdio.h>
// Comment out the line below to DISABLE printf statements.
//#define PRINTFUART_ENABLED
// -------------------------------------------------------------------
#ifdef PRINTFUART_ENABLED
#define DEBUGBUF_SIZE 256
char debugbuf[DEBUGBUF_SIZE];
char debugbufROMtoRAM[DEBUGBUF_SIZE];
#if defined(PLATFORM_MICAZ) || defined(PLATFORM_MICA2) ||
defined(PLATFORM_MICA2DOT)
#define printfUART(__format, __args...) { \
static const char strROM[] PROGMEM = __format; \
strcpy_P((char*) &debugbufROMtoRAM, (PGM_P) &strROM); \
sprintf(debugbuf, debugbufROMtoRAM, __args); \
writedebug(); \
}
#else // assume MSP430 architecture (e.g. TelosA, TelosB, etc.)
#define printfUART(__format, __args...) { \
sprintf(debugbuf, __format, __args); \
writedebug(); \
}
#endif
#else
#define printfUART(__format, __args...)
void printfUART_init() {}
#endif
#define NOprintfUART(__format, __args...)
/** Used for terminating the program from a non-nesc file. Calling
<code>exit(1)</code>
* from a non-nesc file doesn't terminate the program immeditely
*/
static int EXIT_PROGRAM = 0;
// -------------------------------------------------------------------
#ifdef PRINTFUART_ENABLED
/**
* Initialize the UART port. Call this from your startup routine.
*/
#define printfUART_init() {atomic printfUART_init_private();}
void printfUART_init_private()
{
#if defined(PLATFORM_MICAZ) || defined(PLATFORM_MICA2)
// 56K baud
outp(0,UBRR0H);
outp(15, UBRR0L); //set baud rate
outp((1<<U2X),UCSR0A); // Set UART double speed
outp(((1 << UCSZ1) | (1 << UCSZ0)) , UCSR0C); // Set frame
format: 8 data-bits, 1 stop-bit
inp(UDR0);
outp((1 << TXEN) ,UCSR0B); // Enable uart reciever and transmitter
#else
#if defined(PLATFORM_MICA2DOT)
// 19.2K baud
outp(0,UBRR0H); // Set baudrate to 19.2 KBps
outp(12, UBRR0L);
outp(0,UCSR0A); // Disable U2X and MPCM
outp(((1 << UCSZ1) | (1 << UCSZ0)) , UCSR0C);
inp(UDR0);
outp((1 << TXEN) ,UCSR0B);
#else // assume TelosA, TelosB, etc.
//9.6K baud
uint16_t l_br = 0;
uint8_t l_mctl = 0;
uint8_t l_ssel = 0;
TOSH_SEL_UTXD1_MODFUNC();
TOSH_SEL_URXD1_MODFUNC();
UCTL1 = SWRST;
UCTL1 |= CHAR; // 8-bit char, UART-mode
U1RCTL &= ~URXEIE; // even erroneous characters trigger interrupts
UCTL1 = SWRST;
UCTL1 |= CHAR; // 8-bit char, UART-mode
if (l_ssel & 0x80) {
U1TCTL &= ~(SSEL_0 | SSEL_1 | SSEL_2 | SSEL_3);
U1TCTL |= (l_ssel & 0x7F);
}
else {
U1TCTL &= ~(SSEL_0 | SSEL_1 | SSEL_2 | SSEL_3);
U1TCTL |= SSEL_ACLK; // use ACLK, assuming 32khz
}
if ((l_mctl != 0) || (l_br != 0)) {
U1BR0 = l_br & 0x0FF;
U1BR1 = (l_br >> 8) & 0x0FF;
U1MCTL = l_mctl;
}
else {
U1BR0 = 0x03; // 9600 baud
U1BR1 = 0x00;
U1MCTL = 0x4A;
}
ME2 &= ~USPIE1; // USART1 SPI module disable
ME2 |= (UTXE1 | URXE1); // USART1 UART module enable
U1CTL &= ~SWRST;
IFG2 &= ~(UTXIFG1 | URXIFG1);
IE2 &= ~(UTXIE1 | URXIE1); // interrupt disabled
#endif
#endif
}
#if defined(PLATFORM_MICAZ) || defined(PLATFORM_MICA2) ||
defined(PLATFORM_MICA2DOT)
#else // assume AVR architecture (e.g. TelosA, TelosB)
bool isTxIntrPending()
{
if (U1TCTL & TXEPT) {
return TRUE;
}
return FALSE;
}
#endif
/**
* Outputs a char to the UART.
*/
void UARTPutChar(char c)
{
if (c == '\n')
UARTPutChar('\r');
#if defined(PLATFORM_MICAZ) || defined(PLATFORM_MICA2) ||
defined(PLATFORM_MICA2DOT)
loop_until_bit_is_set(UCSR0A, UDRE);
outb(UDR0,c);
#else // assume AVR architecture (e.g. TelosA, TelosB)
U1TXBUF = c;
while( !isTxIntrPending() )
continue;
#endif
}
/**
* Outputs the entire debugbuf to the UART, or until it encounters '\0'.
*/
void writedebug()
{
uint16_t i = 0;
while (debugbuf[i] != '\0' && i < DEBUGBUF_SIZE)
UARTPutChar(debugbuf[i++]);
}
/**
* Simplified sprintf
*/
#define SCRATCH 16
int sprintf(uint8_t *buf, const uint8_t *format, ...)
{
uint8_t scratch[SCRATCH];
uint8_t format_flag;
uint16_t u_val=0, base;
uint8_t *ptr;
va_list ap;
buf[0] = '\0'; // KLDEBUG - fixes subtle bug ...
va_start (ap, format);
for (;;){
while ((format_flag = *format++) != '%'){ // Until '%' or '\0'
if (!format_flag) {va_end (ap); return (0);}
*buf = format_flag; buf++; *buf=0;
}
switch (format_flag = *format++){
case 'c':
format_flag = va_arg(ap,int);
default:
*buf = format_flag; buf++; *buf=0;
continue;
case 'S':
case 's':
ptr = va_arg(ap,char *);
strcat(buf, ptr);
continue;
case 'o':
base = 8;
*buf = '0'; buf++; *buf=0;
goto CONVERSION_LOOP;
case 'i':
if (((int)u_val) < 0){
u_val = - u_val;
*buf = '-'; buf++; *buf=0;
}
// no break -> run into next case
case 'u':
base = 10;
goto CONVERSION_LOOP;
case 'x':
base = 16;
CONVERSION_LOOP:
u_val = va_arg(ap,int);
ptr = scratch + SCRATCH;
*--ptr = 0;
do {
char ch = u_val % base + '0';
if (ch > '9')
ch += 'a' - '9' - 1;
*--ptr = ch;
u_val /= base;
} while (u_val);
strcat(buf, ptr);
buf += strlen(ptr);
}
}
}
#endif // PRINTFUART_ENABLED
// -------------------------------------------------------------------
#endif // PRINTFUART_H
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