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Code Issues Releases Activity

console: add support for serial debug consoles

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Serial ports now have a new HW setting called DebugConsole
which can be used to dump internal state to a serial port
for debug.

To enable this feature, you need to:
 - make fw_coptercontrol_clean
 - make fw_coptercontrol ENABLE_DEBUG_CONSOLE=YES
 - configure one of the serial ports as DebugConsole in the GCS
 - save settings
 - power-cycle your board

Things to note:
 - The console is at 57600,8N1.
 - This is not currently configurable via the GCS.
 - You can only have a single console enabled at a time.
This commit is contained in:
Stacey Sheldon 2012-10-11 00:06:28 -04:00
parent 27fd597795
commit 6088c05946
5 changed files with 53 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
flight/CopterControl/Makefile
View File

@ -444,8 +444,8 @@ CDEFS += -DUSE_$(BOARD)
ifeq ($(ENABLE_DEBUG_PINS), YES)
CDEFS += -DPIOS_ENABLE_DEBUG_PINS
endif
ifeq ($(ENABLE_AUX_UART), YES)
CDEFS += -DPIOS_ENABLE_AUX_UART
ifeq ($(ENABLE_DEBUG_CONSOLE), YES)
CDEFS += -DPIOS_INCLUDE_DEBUG_CONSOLE
endif
ifeq ($(ERASE_FLASH), YES)
CDEFS += -DERASE_FLASH

45
flight/CopterControl/System/pios_board.c
View File

@ -61,6 +61,11 @@ uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
#define PIOS_COM_BRIDGE_RX_BUF_LEN 65
#define PIOS_COM_BRIDGE_TX_BUF_LEN 12
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
uint32_t pios_com_debug_id;
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
uint32_t pios_com_telem_rf_id;
uint32_t pios_com_telem_usb_id;
uint32_t pios_com_vcp_id;
@ -487,7 +492,25 @@ void PIOS_Board_Init(void) {
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWSETTINGS_CC_MAINPORT_COMAUX:
case HWSETTINGS_CC_MAINPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
PIOS_Assert(0);
}
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usart_com_driver, pios_usart_generic_id,
NULL, 0,
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_CC_MAINPORT_COMBRIDGE:
{
@ -613,7 +636,25 @@ void PIOS_Board_Init(void) {
}
#endif /* PIOS_INCLUDE_DSM */
break;
case HWSETTINGS_CC_FLEXIPORT_COMAUX:
case HWSETTINGS_CC_FLEXIPORT_DEBUGCONSOLE:
#if defined(PIOS_INCLUDE_COM)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
{
uint32_t pios_usart_generic_id;
if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
PIOS_Assert(0);
}
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_debug_id, &pios_usart_com_driver, pios_usart_generic_id,
NULL, 0,
tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
PIOS_Assert(0);
}
}
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
#endif /* PIOS_INCLUDE_COM */
break;
case HWSETTINGS_CC_FLEXIPORT_I2C:
#if defined(PIOS_INCLUDE_I2C)

6
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
View File

@ -136,7 +136,6 @@ extern uint32_t pios_i2c_flexi_adapter_id;
extern uint32_t pios_com_telem_rf_id;
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#define PIOS_COM_DEBUG PIOS_COM_TELEM_RF
#if defined(PIOS_INCLUDE_GPS)
extern uint32_t pios_com_gps_id;
@ -152,6 +151,11 @@ extern uint32_t pios_com_vcp_id;
extern uint32_t pios_com_telem_usb_id;
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
extern uint32_t pios_com_debug_id;
#define PIOS_COM_DEBUG (pios_com_debug_id)
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
//-------------------------
// ADC
// PIOS_ADC_PinGet(0) = Gyro Z

2
ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
View File

@ -104,7 +104,7 @@ void ConfigCCHWWidget::widgetsContentsChanged()
if (((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_TELEMETRY) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_TELEMETRY)) ||
((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_GPS) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_GPS)) ||
((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_COMAUX) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_COMAUX)) ||
((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_DEBUGCONSOLE) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_DEBUGCONSOLE)) ||
((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_COMBRIDGE) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_COMBRIDGE)))
{
enableControls(false);

4
shared/uavobjectdefinition/hwsettings.xml
View File

@ -2,8 +2,8 @@
<object name="HwSettings" singleinstance="true" settings="true">
<description>Selection of optional hardware configurations.</description>
<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+PWM,PPM+Outputs,Outputs" defaultvalue="PWM"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM2,DSMX (10bit),DSMX (11bit),ComAux,ComBridge" defaultvalue="Telemetry"/>
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM2,DSMX (10bit),DSMX (11bit),ComAux,ComBridge" defaultvalue="Disabled"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM2,DSMX (10bit),DSMX (11bit),DebugConsole,ComBridge" defaultvalue="Telemetry"/>
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,DSM2,DSMX (10bit),DSMX (11bit),DebugConsole,ComBridge" defaultvalue="Disabled"/>
<field name="RV_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+Outputs,Outputs" defaultvalue="PWM"/>
<field name="RV_AuxPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,DSM2,DSMX (10bit),DSMX (11bit),ComAux,ComBridge" defaultvalue="Disabled"/>