diff options
| -rw-r--r-- | src/calibration.cpp | 29 | ||||
| -rw-r--r-- | src/calibration.hpp | 11 | ||||
| -rw-r--r-- | src/gyronardo.cpp | 120 | ||||
| -rw-r--r-- | src/sensor/registers.hpp (renamed from src/sensor_registers.hpp) | 0 | ||||
| -rw-r--r-- | src/sensor/sensor.cpp (renamed from src/sensor.cpp) | 137 | ||||
| -rw-r--r-- | src/sensor/sensor.hpp (renamed from src/sensor.hpp) | 14 | ||||
| -rw-r--r-- | src/utils/general.cpp | 14 | ||||
| -rw-r--r-- | src/utils/general.hpp | 23 | ||||
| -rw-r--r-- | src/utils/memory.hpp | 23 | ||||
| -rw-r--r-- | src/utils/memory.tpp | 48 | ||||
| -rw-r--r-- | src/utils/serial.cpp | 57 | ||||
| -rw-r--r-- | src/utils/serial.hpp | 27 | ||||
| -rw-r--r-- | src/utils/smart_string.cpp | 26 | ||||
| -rw-r--r-- | src/utils/smart_string.hpp | 14 | ||||
| -rw-r--r-- | src/utils/time.cpp (renamed from src/time_utils.cpp) | 2 | ||||
| -rw-r--r-- | src/utils/time.hpp (renamed from src/time_utils.hpp) | 4 |
16 files changed, 408 insertions, 141 deletions
diff --git a/src/calibration.cpp b/src/calibration.cpp index f76d8f8..a772ae9 100644 --- a/src/calibration.cpp +++ b/src/calibration.cpp @@ -1,9 +1,11 @@ #include "calibration.hpp" -#include "time_utils.hpp" -SensorCalibrator::SensorCalibrator(Sensor *sensor) +#include "utils/general.hpp" +#include "utils/time.hpp" + +SensorCalibrator::SensorCalibrator(unique_ptr<Sensor> &sensor, SerialStream sout) + : _sensor(sensor), _sout(sout) { - _sensor = sensor; _resetValues(); } @@ -15,7 +17,9 @@ bool SensorCalibrator::calibrate(unsigned int throttle_time) while (!done) { if (time_now().diff(start_time).millisecs() >= CALIBRATION_TIMEOUT) + { return false; + } delay(throttle_time); @@ -28,19 +32,12 @@ bool SensorCalibrator::calibrate(unsigned int throttle_time) _adjustValues(); - Serial.print("Accel X: "); - Serial.print(_accel_x); - Serial.print(" Accel Y: "); - Serial.print(_accel_y); - Serial.print(" Accel Z: "); - Serial.print(_accel_z); - - Serial.print(" Gyro X: "); - Serial.print(_gyro_x); - Serial.print(" Gyro Y: "); - Serial.print(_gyro_y); - Serial.print(" Gyro Z: "); - Serial.println(_gyro_z); + _sout << "Accel X: " << _accel_x << " " + << "Accel Y: " << _accel_y << " " + << "Accel Z: " << _accel_z << " " + << "Gyro X: " << _gyro_x << " " + << "Gyro Y: " << _gyro_y << " " + << "Gyro Z: " << _gyro_z << endl; if (_isValuesInRange()) { diff --git a/src/calibration.hpp b/src/calibration.hpp index 79b3758..e66b6fc 100644 --- a/src/calibration.hpp +++ b/src/calibration.hpp @@ -1,7 +1,9 @@ #ifndef CALIBRATION_HPP #define CALIBRATION_HPP -#include "sensor.hpp" +#include "sensor/sensor.hpp" +#include "utils/memory.hpp" +#include "utils/serial.hpp" // Calibration precision #define ACCEL_CAL_X_MAX 0.006 @@ -37,8 +39,9 @@ public: * Sensor calibrator. * * @param sensor A sensor to calibrate + * @param sout A Serial output stream */ - SensorCalibrator(Sensor *sensor); + SensorCalibrator(unique_ptr<Sensor> &sensor, SerialStream sout); /** * Calibrates the sensor. @@ -57,7 +60,9 @@ private: void _adjustCalibration(); - Sensor *_sensor; + unique_ptr<Sensor> &_sensor; + + SerialStream _sout; float _accel_x; float _accel_y; diff --git a/src/gyronardo.cpp b/src/gyronardo.cpp index f1e968e..53a1912 100644 --- a/src/gyronardo.cpp +++ b/src/gyronardo.cpp @@ -1,94 +1,87 @@ #include "Arduino.h" + #include "Wire.h" #include "calibration.hpp" -#include "sensor.hpp" +#include "sensor/sensor.hpp" +#include "utils/memory.hpp" + +#include "utils/serial.hpp" #define LINE_CLEAR_LENGTH 30 +#define SENSOR_ADDRESS 0x68 #define SENSOR_THROTTLE_TIME 50 // milliseconds -Sensor sensor(0x68, &Wire, SENSOR_THROTTLE_TIME); - -char line_clear[LINE_CLEAR_LENGTH + 1]; +unique_ptr<SerialStream> sout_ptr = nullptr; -/** - * Stops code execution. - */ -void stop() -{ - while (true) {} -} +unique_ptr<Sensor> sensor = nullptr; void setup() { - Serial.begin(9600); + sout_ptr = make_unique<SerialStream>(Serial, 9600); - // Wait for Serial because the Arduino Leonardo is weird - while (!Serial) {} + auto sout = *sout_ptr; - while (!sensor.begin()) + sensor = make_unique<Sensor>(SENSOR_ADDRESS, &Wire, sout, SENSOR_THROTTLE_TIME); + + while (!sensor->begin()) { - Serial.println("Error: Could not connect to the sensor. Retrying after 2000 " - "milliseconds..."); + sout << "Error: Could not connect to the sensor. Retrying after 2000 " + "milliseconds..." + << endl; + delay(2000); } - if (!sensor.setAccelSensitivity(2)) // 8g + sout << "Skit!" << endl; + + if (!sensor->setAccelSensitivity(2)) // 8g { - Serial.print( - "Error: Failed to set the sensor's accelerometer sensitivity. Status: "); - Serial.println(static_cast<int>(sensor.getStatus())); + sout << "Error: Failed to set the sensor's accelerometer sensitivity. Status: " + << static_cast<int>(sensor->getStatus()) << endl; + stop(); } - if (!sensor.setGyroSensitivity(1)) // 500 degrees/s + if (!sensor->setGyroSensitivity(1)) // 500 degrees/s { - Serial.print("Error: Failed to set the sensor's gyro sensitivity. Status: "); - Serial.println(static_cast<int>(sensor.getStatus())); + sout << "Error: Failed to set the sensor's gyro sensitivity. Status: " + << static_cast<int>(sensor->getStatus()) << endl; + stop(); } - Serial.println("Calibrating sensor..."); - SensorCalibrator sensor_calibrator(&sensor); + sout << "Calibrating sensor..." << endl; + + SensorCalibrator sensor_calibrator(sensor, sout); if (!sensor_calibrator.calibrate(SENSOR_THROTTLE_TIME)) { - Serial.print("Error: Sensor calibration timed out after "); - Serial.print(CALIBRATION_TIMEOUT); - Serial.println(" milliseconds"); + sout << "Error: Sensor calibration timed out after " << CALIBRATION_TIMEOUT + << " milliseconds" << endl; stop(); } - Serial.println("Finished calibrating sensor"); - - Serial.println("Calibration values:"); - - Serial.print("Accelerometer X: "); - Serial.println(sensor.accel_cal_x); - - Serial.print("Accelerometer Y: "); - Serial.println(sensor.accel_cal_y); - - Serial.print("Accelerometer Z: "); - Serial.println(sensor.accel_cal_z); - Serial.print("Gyro X: "); - Serial.println(sensor.gyro_cal_x); + sout << "Finished calibrating sensor\n"; - Serial.print("Gyro Y: "); - Serial.println(sensor.gyro_cal_y); + sout << "Calibration values:\n" + << "Accelerometer X: " << sensor->accel_cal_x << "\n" + << "Accelerometer Y: " << sensor->accel_cal_y << "\n" + << "Accelerometer Z: " << sensor->accel_cal_z << "\n" + << "Gyro X: " << sensor->gyro_cal_x << "\n" + << "Gyro Y: " << sensor->gyro_cal_y << "\n" + << "Gyro Z: " << sensor->gyro_cal_z << "\n"; - Serial.print("Gyro Z: "); - Serial.println(sensor.gyro_cal_z); + sout << "Starting..." << endl; - Serial.println("\nStarting..."); - - size_t prev_len = strlen(line_clear); - memset(line_clear + prev_len, ' ', LINE_CLEAR_LENGTH - prev_len); + sout << "Pitch: " << sensor->getPitch() << " " + << "Roll: " << sensor->getRoll() << endl; } void loop() { + /* delay(SENSOR_THROTTLE_TIME); if (!sensor.read()) @@ -97,24 +90,25 @@ void loop() if (status == SensorStatus::THROTTLED) { - Serial.println("Warning: The sensor was read too frequently and throttled"); + printSerial("Warning: The sensor was read too frequently and throttled"); + endl(); + return; } - Serial.print("Error: Failed to read sensor. Status: "); - Serial.println(static_cast<int>(status)); + printSerial("Error: Failed to read sensor. Status: %d", static_cast<int>(status)); + endl(); + stop(); } - float pitch = sensor.getPitch(); - float roll = sensor.getRoll(); + char *pitch = floatToStr(sensor.getPitch(), FLOAT_WIDTH, FLOAT_PRECISION); + char *roll = floatToStr(sensor.getRoll(), FLOAT_WIDTH, FLOAT_PRECISION); - Serial.print(line_clear); - Serial.print("\r"); - Serial.print("Pitch: "); - Serial.print(pitch, 3); - Serial.print(" Roll: "); - Serial.print(roll, 3); - Serial.print("\r"); + printSerial("\rPitch: %s Roll: %s", pitch, roll); Serial.flush(); + + free(pitch); + free(roll); + */ } diff --git a/src/sensor_registers.hpp b/src/sensor/registers.hpp index c1b19b4..c1b19b4 100644 --- a/src/sensor_registers.hpp +++ b/src/sensor/registers.hpp diff --git a/src/sensor.cpp b/src/sensor/sensor.cpp index 9d4157e..e11a74b 100644 --- a/src/sensor.cpp +++ b/src/sensor/sensor.cpp @@ -1,9 +1,11 @@ #include "sensor.hpp" -#include "math.h" -#include "sensor_registers.hpp" -#include "time_utils.hpp" +#include "../utils/serial.hpp" +#include "../utils/time.hpp" +#include "registers.hpp" -Sensor::Sensor(uint8_t address, TwoWire *wire, unsigned int throttle_time) : _last_time(0) +Sensor::Sensor(uint8_t address, TwoWire *wire, SerialStream sout, + unsigned int throttle_time) + : _last_time(0), _sout(sout) { _address = address; _wire = wire; @@ -100,14 +102,24 @@ bool Sensor::read() } // Accelerometer - _accel_raw_x = _readTwoBytes(); // ACCEL_XOUT_H ACCEL_XOUT_L - _accel_raw_y = _readTwoBytes(); // ACCEL_YOUT_H ACCEL_YOUT_L - _accel_raw_z = _readTwoBytes(); // ACCEL_ZOUT_H ACCEL_ZOUT_L + _accel_raw_x = _readHighLow(); + _accel_raw_y = _readHighLow(); + _accel_raw_z = _readHighLow(); + + _sout << "\nAccel raw x: " << _accel_raw_x << "\n" + << "Accel raw y: " << _accel_raw_y << "\n" + << "Accel raw z: " << _accel_raw_z << "\n" + << endl; // Gyroscope - _gyro_raw_x = _readTwoBytes(); // GYRO_XOUT_H GYRO_XOUT_L - _gyro_raw_y = _readTwoBytes(); // GYRO_YOUT_H GYRO_YOUT_L - _gyro_raw_z = _readTwoBytes(); // GYRO_ZOUT_H GYRO_ZOUT_L + _gyro_raw_x = _readHighLow(); + _gyro_raw_y = _readHighLow(); + _gyro_raw_z = _readHighLow(); + + _sout << "\nGyro raw x: " << _gyro_raw_x << "\n" + << "Gyro raw y: " << _gyro_raw_y << "\n" + << "Gyro raw z: " << _gyro_raw_z << "\n" + << endl; // Duration interval now.update(); @@ -119,67 +131,93 @@ bool Sensor::read() _accel_raw_y *= _accel_to_g_force; _accel_raw_z *= _accel_to_g_force; + _sout << "\nAccel raw x g:s: " << _accel_raw_x << "\n" + << "Accel raw y g:s: " << _accel_raw_y << "\n" + << "Accel raw z g:s: " << _accel_raw_z << "\n" + << endl; + // Error correct raw acceleration _accel_raw_x += accel_cal_x; _accel_raw_y += accel_cal_y; _accel_raw_z += accel_cal_z; + _sout << "\nAccel raw x correct: " << _accel_raw_x << "\n" + << "Accel raw y correct: " << _accel_raw_y << "\n" + << "Accel raw z correct: " << _accel_raw_z << "\n" + << endl; + // Prepare for Pitch Roll Yaw - float accel_x_pow_two = pow(_accel_raw_x, 2); float accel_y_pow_two = pow(_accel_raw_y, 2); float accel_z_pow_two = pow(_accel_raw_z, 2); + _accel_x = atan2(_accel_raw_y, _accel_raw_z) * 180 / PI; + + _accel_y = atan2(-_accel_raw_x, sqrt(accel_y_pow_two + accel_z_pow_two)) * 180 / PI; + + /* _accel_x = atan(_accel_raw_y / sqrt(accel_x_pow_two + accel_z_pow_two)) * RAD_TO_DEGREES; _accel_y = atan(-1.0 * _accel_raw_x / sqrt(accel_y_pow_two + accel_z_pow_two)) * RAD_TO_DEGREES; + */ // Convert raw Gyro to degrees/s _gyro_raw_x *= _ang_rate_to_dps; _gyro_raw_y *= _ang_rate_to_dps; _gyro_raw_z *= _ang_rate_to_dps; + _sout << "\nGyro raw x dps: " << _gyro_raw_x << "\n" + << "Gyro raw y dps: " << _gyro_raw_y << "\n" + << "Gyro raw z dps: " << _gyro_raw_z << "\n" + << endl; + // Error correct raw gyro measurements. _gyro_raw_x += gyro_cal_x; _gyro_raw_y += gyro_cal_y; _gyro_raw_z += gyro_cal_z; + _sout << "\nGyro raw x correct: " << _gyro_raw_x << "\n" + << "Gyro raw y correct: " << _gyro_raw_y << "\n" + << "Gyro raw z correct: " << _gyro_raw_z << "\n" + << endl; + _gyro_x += _gyro_raw_x * duration; _gyro_y += _gyro_raw_y * duration; _gyro_z += _gyro_raw_z * duration; - _yaw = _gyro_z; + _sout << "\nGyro raw x w/o time: " << _gyro_raw_x << "\n" + << "Gyro raw y w/o time: " << _gyro_raw_y << "\n" + << "Gyro raw z w/o time: " << _gyro_raw_z << "\n" + << endl; + _pitch = 0.96 * _gyro_y + 0.04 * _accel_y; _roll = 0.96 * _gyro_x + 0.04 * _accel_x; + _yaw = _gyro_z; return true; } bool Sensor::setAccelSensitivity(uint8_t sensitivity) { - _accel_sensitivity = sensitivity; + if (sensitivity > 3) + sensitivity = 3; - if (_accel_sensitivity > 3) - _accel_sensitivity = 3; + _accel_sensitivity = sensitivity; - uint8_t val = getRegister(SensorRegisters::ACCEL_CONFIG); + uint8_t accel_config = getRegister(SensorRegisters::ACCEL_CONFIG); if (_status != SensorStatus::OK) - { return false; - } // No need to write same value - if (((val >> 3) & 3) != _accel_sensitivity) + if (((accel_config >> 3) & 3) != _accel_sensitivity) { - val &= 0xE7; - val |= (_accel_sensitivity << 3); + accel_config &= 0xE7; + accel_config |= (_accel_sensitivity << 3); - if (!setRegister(SensorRegisters::ACCEL_CONFIG, val)) - { + if (!setRegister(SensorRegisters::ACCEL_CONFIG, accel_config)) return false; - } } // Calculate conversion factor. @@ -190,12 +228,12 @@ bool Sensor::setAccelSensitivity(uint8_t sensitivity) bool Sensor::setGyroSensitivity(uint8_t sensitivity) { - _gyro_sensitivity = sensitivity; + if (sensitivity > 3) + sensitivity = 3; - if (_gyro_sensitivity > 3) - _gyro_sensitivity = 3; + _gyro_sensitivity = sensitivity; - uint8_t val = getRegister(SensorRegisters::GYRO_CONFIG); + uint8_t gyro_config = getRegister(SensorRegisters::GYRO_CONFIG); if (_status != SensorStatus::OK) { @@ -203,12 +241,12 @@ bool Sensor::setGyroSensitivity(uint8_t sensitivity) } // No need to write same value - if (((val >> 3) & 3) != _gyro_sensitivity) + if (((gyro_config >> 3) & 3) != _gyro_sensitivity) { - val &= 0xE7; - val |= (_gyro_sensitivity << 3); + gyro_config &= 0xE7; + gyro_config |= (_gyro_sensitivity << 3); - if (!setRegister(SensorRegisters::GYRO_CONFIG, val)) + if (!setRegister(SensorRegisters::GYRO_CONFIG, gyro_config)) { return false; } @@ -222,52 +260,52 @@ bool Sensor::setGyroSensitivity(uint8_t sensitivity) float Sensor::getAccelX() { return _accel_raw_x; -}; +} float Sensor::getAccelY() { return _accel_raw_y; -}; +} float Sensor::getAccelZ() { return _accel_raw_z; -}; +} float Sensor::getAngleX() { return _accel_x; -}; +} float Sensor::getAngleY() { return _accel_y; -}; +} float Sensor::getGyroX() { return _gyro_raw_x; -}; +} float Sensor::getGyroY() { return _gyro_raw_y; -}; +} float Sensor::getGyroZ() { return _gyro_raw_z; -}; +} float Sensor::getPitch() { return _pitch; -}; +} float Sensor::getRoll() { return _roll; -}; +} bool Sensor::setRegister(uint8_t reg, uint8_t value) { @@ -302,9 +340,7 @@ uint8_t Sensor::getRegister(uint8_t reg) return 0; } - uint8_t val = _wire->read(); - - return val; + return _wire->read(); } SensorStatus Sensor::getStatus() @@ -313,13 +349,12 @@ SensorStatus Sensor::getStatus() _status = SensorStatus::OK; return status; -}; +} -int16_t Sensor::_readTwoBytes() +int16_t Sensor::_readHighLow() { - int16_t response = _wire->read(); - response <<= 8; - response |= _wire->read(); + int16_t high = _wire->read(); + int16_t low = _wire->read(); - return response; + return high << 8 | low; } diff --git a/src/sensor.hpp b/src/sensor/sensor.hpp index 72ff396..c982fac 100644 --- a/src/sensor.hpp +++ b/src/sensor/sensor.hpp @@ -1,13 +1,14 @@ #ifndef SENSOR_HPP #define SENSOR_HPP -#include "Arduino.h" +#include "../utils/serial.hpp" +#include "../utils/time.hpp" + #include "Wire.h" -#include "time_utils.hpp" +#include <Arduino.h> #define SENSOR_WAKEUP 0x00 -#define RAD_TO_DEGREES (180.0 / PI) #define RAW_TO_DPS_FACTOR (1.0 / 131.0) #define RAW_TO_G_FACTOR (1.0 / 16384.0) @@ -31,9 +32,10 @@ public: * * @param address The address of the sensor * @param wire A Wire instance + * @param sout A serial output stream * @param throttle_time A minumum time between sensor reads for the sensor to throttle */ - Sensor(uint8_t address, TwoWire *wire, unsigned int throttle_time); + Sensor(uint8_t address, TwoWire *wire, SerialStream sout, unsigned int throttle_time); /** * Initializes communication with the sensor. @@ -181,9 +183,11 @@ private: float _pitch, _roll, _yaw; - int16_t _readTwoBytes(); + int16_t _readHighLow(); TwoWire *_wire; + + SerialStream _sout; }; #endif diff --git a/src/utils/general.cpp b/src/utils/general.cpp new file mode 100644 index 0000000..bbcd4dd --- /dev/null +++ b/src/utils/general.cpp @@ -0,0 +1,14 @@ +#include "general.hpp" + +void stop() +{ + while (true) {} +} + +unique_ptr<SmartString> floatToStr(float num, unsigned int width, unsigned int precision) +{ + auto str = make_unique<SmartString>(width + precision); + dtostrf(num, width, precision, str->c_str); + + return str; +} diff --git a/src/utils/general.hpp b/src/utils/general.hpp new file mode 100644 index 0000000..9ad0655 --- /dev/null +++ b/src/utils/general.hpp @@ -0,0 +1,23 @@ +#pragma once + +#include "memory.hpp" +#include "smart_string.hpp" + +/** + * Stops code execution. + */ +void stop(); + +/** + * Converts a floating point number to a string. + * + * @param num A floating point number + * @param width The desired float width + * @param precision The desired float precision + * @returns The float as a string. + */ +unique_ptr<SmartString> floatToStr( + float num, + unsigned int width = 3, + unsigned int precision = 2 +); diff --git a/src/utils/memory.hpp b/src/utils/memory.hpp new file mode 100644 index 0000000..81e3757 --- /dev/null +++ b/src/utils/memory.hpp @@ -0,0 +1,23 @@ +#pragma once + +template <typename memType> +memType *malloc_s(unsigned int size); + +template <class Target> +class unique_ptr +{ +public: + unique_ptr(Target *target); + ~unique_ptr(); + + Target operator *() const; + Target *operator ->() const; + +private: + Target *_target; +}; + +template<class Target, typename...Args> +unique_ptr<Target> make_unique(Args&... args); + +#include "memory.tpp" diff --git a/src/utils/memory.tpp b/src/utils/memory.tpp new file mode 100644 index 0000000..276b0b4 --- /dev/null +++ b/src/utils/memory.tpp @@ -0,0 +1,48 @@ +#include "memory.hpp" + +#include "Arduino.h" +#include "general.hpp" + +template <typename memType> +memType *malloc_s(unsigned int size) +{ + auto *mem = malloc(size); + + if (mem == nullptr) + { + Serial.println("Error: Memory allocation failed"); + while (true) {} + } + + return static_cast<memType *>(mem); +} + +template <class Target> +unique_ptr<Target>::unique_ptr(Target *target) +{ + this->_target = target; +} + +template <class Target> +unique_ptr<Target>::~unique_ptr() +{ + delete this->_target; +} + +template <class Target> +Target unique_ptr<Target>::operator*() const +{ + return *(this->_target); +} + +template <class Target> +Target *unique_ptr<Target>::operator->() const +{ + return this->_target; +} + +template <class Target, typename... Args> +unique_ptr<Target> make_unique(Args... args) +{ + return unique_ptr<Target>(new Target(args...)); +} diff --git a/src/utils/serial.cpp b/src/utils/serial.cpp new file mode 100644 index 0000000..11be550 --- /dev/null +++ b/src/utils/serial.cpp @@ -0,0 +1,57 @@ +#include "serial.hpp" + +#include "general.hpp" + +SerialStream::SerialStream(Serial_ serial, unsigned long baud_rate) +{ + this->_serial = serial; + + this->_serial.begin(baud_rate); + + while (!this->_serial) {} +} + +SerialStream::~SerialStream() +{ + Serial.end(); +} + +SerialStream &SerialStream::operator<<(const char *str) +{ + this->write(str); + return *this; +} + +SerialStream &SerialStream::operator<<(const SmartString &str) +{ + this->write(str.c_str); + return *this; +} + +SerialStream &SerialStream::operator<<(const float num) +{ + this->write(floatToStr(num)->c_str); + return *this; +} + +SerialStream &SerialStream::operator<<(void (*manipulator)(SerialStream *)) +{ + manipulator(this); + return *this; +} + +void SerialStream::write(const char *str) +{ + this->_serial.write(str); +} + +void SerialStream::flush() +{ + this->_serial.flush(); +} + +void endl(SerialStream *serial_stream) +{ + serial_stream->write("\n"); + serial_stream->flush(); +} diff --git a/src/utils/serial.hpp b/src/utils/serial.hpp new file mode 100644 index 0000000..f97e1d8 --- /dev/null +++ b/src/utils/serial.hpp @@ -0,0 +1,27 @@ +#pragma once + +#include "smart_string.hpp" + +#include <USBAPI.h> + +class SerialStream +{ +public: + SerialStream(Serial_ serial, unsigned long baud_rate); + ~SerialStream(); + + SerialStream &operator<<(const char *str); + SerialStream &operator<<(const SmartString &str); + SerialStream &operator<<(const float num); + + SerialStream &operator<<(void (*manipulator)(SerialStream *)); + + void write(const char *str); + + void flush(); + +private: + Serial_ _serial; +}; + +void endl(SerialStream *serial_stream); diff --git a/src/utils/smart_string.cpp b/src/utils/smart_string.cpp new file mode 100644 index 0000000..5258ffe --- /dev/null +++ b/src/utils/smart_string.cpp @@ -0,0 +1,26 @@ +#include "smart_string.hpp" + +#include "memory.hpp" + +#include <stdlib.h> + +SmartString::SmartString(char *c_string) +{ + this->c_str = c_string; +} + +SmartString::SmartString(unsigned int size) +{ + this->c_str = malloc_s<char>(size + 1); +} + +SmartString::~SmartString() +{ + if (this->c_str != nullptr) + free(this->c_str); +} + +SmartString::operator char *() const +{ + return this->c_str; +} diff --git a/src/utils/smart_string.hpp b/src/utils/smart_string.hpp new file mode 100644 index 0000000..fcaff98 --- /dev/null +++ b/src/utils/smart_string.hpp @@ -0,0 +1,14 @@ +#pragma once + +class SmartString +{ +public: + SmartString(char *c_str); + SmartString(unsigned int size); + + ~SmartString(); + + operator char *() const; + + char *c_str = nullptr; +}; diff --git a/src/time_utils.cpp b/src/utils/time.cpp index 84c7d96..adc33db 100644 --- a/src/time_utils.cpp +++ b/src/utils/time.cpp @@ -1,4 +1,4 @@ -#include "time_utils.hpp" +#include "time.hpp" #include "Arduino.h" Time::Time(unsigned long time_micros) diff --git a/src/time_utils.hpp b/src/utils/time.hpp index f8f2eb3..e0385ef 100644 --- a/src/time_utils.hpp +++ b/src/utils/time.hpp @@ -1,5 +1,5 @@ -#ifndef TIME_UTILS_HPP -#define TIME_UTILS_HPP +#ifndef TIME_HPP +#define TIME_HPP /** * A representation of time. |