From ce5f814b63418b1ed312906210d5141819b3c64c Mon Sep 17 00:00:00 2001
From: FredericG <FredericG>
Date: Tue, 2 Mar 2010 11:23:03 +0000
Subject: [PATCH] Introduction of PIOS_DEBUG

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@222 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/PiOS/STM32F10x/pios_debug.c | 85 ++++++++++++++++++++++++++++++
 flight/PiOS/inc/pios_debug.h       | 33 ++++++++++++
 flight/PiOS/pios.h                 |  1 +
 3 files changed, 119 insertions(+)
 create mode 100644 flight/PiOS/STM32F10x/pios_debug.c
 create mode 100644 flight/PiOS/inc/pios_debug.h

diff --git a/flight/PiOS/STM32F10x/pios_debug.c b/flight/PiOS/STM32F10x/pios_debug.c
new file mode 100644
index 000000000..3324c4a46
--- /dev/null
+++ b/flight/PiOS/STM32F10x/pios_debug.c
@@ -0,0 +1,85 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_debug.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      RC Servo routines
+ * @see        The GNU Public License (GPL) Version 3
+ * @defgroup   PIOS_SERVO RC Servo Functions
+ * @{
+ * 
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+/* Project Includes */
+#include "pios.h"
+
+
+/* Private Function Prototypes */
+
+/**
+* Initialise Debug-features
+*/
+void PIOS_DEBUG_Init(void)
+{
+	// Initialise Servo pins as standard output pins
+	GPIO_InitTypeDef GPIO_InitStructure;
+	GPIO_StructInit(&GPIO_InitStructure);
+
+	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
+	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+	GPIO_InitStructure.GPIO_Pin = SERVO1_PIN | SERVO2_PIN | SERVO3_PIN | SERVO4_PIN;
+	GPIO_Init(SERVO1TO4_PORT, &GPIO_InitStructure);
+
+	GPIO_InitStructure.GPIO_Pin = SERVO5_PIN | SERVO6_PIN | SERVO7_PIN | SERVO8_PIN;
+	GPIO_Init(SERVO5TO8_PORT, &GPIO_InitStructure);
+}
+
+/**
+* Set debug-pin high
+* \param pin	0 for S1 output
+*/
+void PIOS_DEBUG_PinHigh(uint8_t pin)
+{
+	if (pin < 4)
+	{
+		SERVO1TO4_PORT->BSRR = (SERVO1_PIN<<pin);
+	}
+	else if (pin <= 7)
+	{
+		SERVO5TO8_PORT->BSRR = (SERVO5_PIN<<(pin-4));
+	}
+}
+
+/**
+* Set debug-pin low
+* \param pin	0 for S1 output
+*/
+void PIOS_DEBUG_PinLow(uint8_t pin)
+{
+	if (pin < 4)
+	{
+		SERVO1TO4_PORT->BRR = (SERVO1_PIN<<pin);
+	}
+	else if (pin <= 7)
+	{
+		SERVO5TO8_PORT->BRR = (SERVO5_PIN<<(pin-4));
+	}
+}
+
+
diff --git a/flight/PiOS/inc/pios_debug.h b/flight/PiOS/inc/pios_debug.h
new file mode 100644
index 000000000..0b96d9f20
--- /dev/null
+++ b/flight/PiOS/inc/pios_debug.h
@@ -0,0 +1,33 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_i2c.h  
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Debug helper functions header.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/* 
+ * This program is free software; you can redistribute it and/or modify 
+ * it under the terms of the GNU General Public License as published by 
+ * the Free Software Foundation; either version 3 of the License, or 
+ * (at your option) any later version.
+ * 
+ * This program is distributed in the hope that it will be useful, but 
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License 
+ * for more details.
+ * 
+ * You should have received a copy of the GNU General Public License along 
+ * with this program; if not, write to the Free Software Foundation, Inc., 
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_DEBUG_H
+#define PIOS_DEBUG_H
+
+void PIOS_DEBUG_Init(void);
+void PIOS_DEBUG_PinHigh(uint8_t pin);
+void PIOS_DEBUG_PinLow(uint8_t pin);
+
+#endif /* PIOS_DEBUG_H */
diff --git a/flight/PiOS/pios.h b/flight/PiOS/pios.h
index 448059903..bb0342ea8 100644
--- a/flight/PiOS/pios.h
+++ b/flight/PiOS/pios.h
@@ -69,6 +69,7 @@
 #include <pios_pwm.h>
 #include <pios_usb.h>
 #include <pios_usb_hid.h>
+#include <pios_debug.h>
 
 /* PIOS Hardware Includes (Common) */
 #include <pios_settings.h>