diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index fc93423183..e3d5a81104 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1040,7 +1040,7 @@ PX4IO::task_main() int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1); if (pret != OK) { - mavlink_log_critical(&_mavlink_log_pub, "failsafe upload failed, FS: %d us", (int)failsafe_thr); + mavlink_log_critical(&_mavlink_log_pub, "failsafe upload failed, FS: %" PRId16 " us", failsafe_thr); } } } @@ -2224,7 +2224,7 @@ PX4IO::io_reg_set(uint8_t page, uint8_t offset, const uint16_t *values, unsigned int ret = _interface->write((page << 8) | offset, (void *)values, num_values); if (ret != (int)num_values) { - PX4_DEBUG("io_reg_set(%hhu,%hhu,%u): error %d", page, offset, num_values, ret); + PX4_DEBUG("io_reg_set(%" PRIu8 ",%" PRIu8 ",%u): error %d", page, offset, num_values, ret); return -1; } @@ -2249,7 +2249,7 @@ PX4IO::io_reg_get(uint8_t page, uint8_t offset, uint16_t *values, unsigned num_v int ret = _interface->read((page << 8) | offset, reinterpret_cast(values), num_values); if (ret != (int)num_values) { - PX4_DEBUG("io_reg_get(%hhu,%hhu,%u): data error %d", page, offset, num_values, ret); + PX4_DEBUG("io_reg_get(%" PRIu8 ",%" PRIu8 ",%u): data error %d", page, offset, num_values, ret); return -1; } @@ -2450,14 +2450,16 @@ void PX4IO::print_status(bool extended_status) { /* basic configuration */ - printf("protocol %u hardware %u bootloader %u buffer %uB crc 0x%04x%04x\n", + printf("protocol %" PRIu32 " hardware %" PRIu32 " bootloader %" PRIu32 " buffer %" PRIu32 "B crc 0x%04" PRIu32 "%04" + PRIu32 "\n", io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_PROTOCOL_VERSION), io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_HARDWARE_VERSION), io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_BOOTLOADER_VERSION), io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_MAX_TRANSFER), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_CRC + 1)); - printf("%u controls %u actuators %u R/C inputs %u analog inputs %u relays\n", + printf("%" PRIu32 " controls %" PRIu32 " actuators %" PRIu32 " R/C inputs %" PRIu32 " analog inputs %" PRIu32 + " relays\n", io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_CONTROL_COUNT), io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_ACTUATOR_COUNT), io_reg_get(PX4IO_PAGE_CONFIG, PX4IO_P_CONFIG_RC_INPUT_COUNT), @@ -2492,17 +2494,17 @@ PX4IO::print_status(bool extended_status) (double)trim_roll, (double)trim_pitch, (double)trim_yaw); uint16_t raw_inputs = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_COUNT); - printf("%hu raw R/C inputs", raw_inputs); + printf("%" PRIu16 " raw R/C inputs", raw_inputs); for (unsigned i = 0; i < raw_inputs; i++) { - printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i)); + printf(" %" PRIu32, io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i)); } printf("\n"); uint16_t io_status_flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS); uint16_t flags = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_FLAGS); - printf("R/C flags: 0x%04hx%s%s%s%s%s\n", flags, + printf("R/C flags: 0x%04" PRIx16 "%s%s%s%s%s\n", flags, (((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (!(flags & PX4IO_P_RAW_RC_FLAGS_RC_DSM11))) ? " DSM10" : ""), (((io_status_flags & PX4IO_P_STATUS_FLAGS_RC_DSM) && (flags & PX4IO_P_RAW_RC_FLAGS_RC_DSM11)) ? " DSM11" : ""), ((flags & PX4IO_P_RAW_RC_FLAGS_FRAME_DROP) ? " FRAME_DROP" : ""), @@ -2520,11 +2522,11 @@ PX4IO::print_status(bool extended_status) } uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID); - printf("mapped R/C inputs 0x%04hx", mapped_inputs); + printf("mapped R/C inputs 0x%04" PRIx16, mapped_inputs); for (unsigned i = 0; i < _max_rc_input; i++) { if (mapped_inputs & (1 << i)) { - printf(" %u:%hd", i, REG_TO_SIGNED(io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_BASE + i))); + printf(" %u:%" PRId16, i, REG_TO_SIGNED(io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_BASE + i))); } } @@ -2533,32 +2535,32 @@ PX4IO::print_status(bool extended_status) printf("ADC inputs"); for (unsigned i = 0; i < adc_inputs; i++) { - printf(" %u", io_reg_get(PX4IO_PAGE_RAW_ADC_INPUT, i)); + printf(" %" PRIu32, io_reg_get(PX4IO_PAGE_RAW_ADC_INPUT, i)); } printf("\n"); /* setup and state */ uint16_t features = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FEATURES); - printf("features 0x%04hx%s%s%s%s\n", features, + printf("features 0x%04" PRIx16 "%s%s%s%s\n", features, ((features & PX4IO_P_SETUP_FEATURES_SBUS1_OUT) ? " S.BUS1_OUT" : ""), ((features & PX4IO_P_SETUP_FEATURES_SBUS2_OUT) ? " S.BUS2_OUT" : ""), ((features & PX4IO_P_SETUP_FEATURES_PWM_RSSI) ? " RSSI_PWM" : ""), ((features & PX4IO_P_SETUP_FEATURES_ADC_RSSI) ? " RSSI_ADC" : "") ); - printf("rates 0x%04x default %u alt %u sbus %u\n", + printf("rates 0x%04" PRIx32 " default %" PRIu32 " alt %" PRIu32 " sbus %" PRIu32 "\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_DEFAULTRATE), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_ALTRATE), io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SBUS_RATE)); - printf("debuglevel %u\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG)); + printf("debuglevel %" PRIu32 "\n", io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_SET_DEBUG)); for (unsigned group = 0; group < 4; group++) { printf("controls %u:", group); for (unsigned i = 0; i < _max_controls; i++) { - printf(" %hd", (int16_t) io_reg_get(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT + i)); + printf(" %" PRIu16, (int16_t) io_reg_get(PX4IO_PAGE_CONTROLS, group * PX4IO_PROTOCOL_MAX_CONTROL_COUNT + i)); } printf("\n"); @@ -2568,7 +2570,8 @@ PX4IO::print_status(bool extended_status) for (unsigned i = 0; i < _max_rc_input; i++) { unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i; uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS); - printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04hx%s%s\n", + printf("input %u min %" PRIu32 " center %" PRIu32 " max %" PRIu32 " deadzone %" PRIu32 " assigned %" PRIu32 + " options 0x%04" PRIx16 "%s%s\n", i, io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN), io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER), @@ -2584,13 +2587,13 @@ PX4IO::print_status(bool extended_status) printf("failsafe"); for (unsigned i = 0; i < _max_actuators; i++) { - printf(" %u", io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i)); + printf(" %" PRIu32, io_reg_get(PX4IO_PAGE_FAILSAFE_PWM, i)); } printf("\ndisarmed values"); for (unsigned i = 0; i < _max_actuators; i++) { - printf(" %u", io_reg_get(PX4IO_PAGE_DISARMED_PWM, i)); + printf(" %" PRIu32, io_reg_get(PX4IO_PAGE_DISARMED_PWM, i)); } /* IMU heater (Pixhawk 2.1) */ @@ -3001,7 +3004,7 @@ PX4IO::ioctl(file *filep, int cmd, unsigned long arg) } if (io_crc != arg) { - PX4_DEBUG("Firmware CRC mismatch 0x%08x 0x%08lx", io_crc, arg); + PX4_DEBUG("Firmware CRC mismatch 0x%08" PRIx32 " 0x%08lx", io_crc, arg); return -EINVAL; } @@ -3251,7 +3254,7 @@ checkcrc(int argc, char *argv[]) } if (ret != OK) { - PX4_ERR("check CRC failed: %d, CRC: %u", ret, fw_crc); + PX4_ERR("check CRC failed: %d, CRC: %" PRIu32, ret, fw_crc); exit(1); } else { @@ -3584,7 +3587,7 @@ px4io_main(int argc, char *argv[]) exit(1); } - warnx("SET_DEBUG %hhu OK", level); + warnx("SET_DEBUG %" PRIu8 " OK", level); exit(0); }