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LibrePilot/flight/PiOS/STM32F10x/pios_debug.c
peabody124 3c021c09d9 Flight/PiOS: Whitespace changes
find ./flight/PiOS/inc/ \! \( -name '*~' -a -prune \) -type f    | xargs -I{}
bash -c 'echo {}; dos2unix {}; gnuindent -npro -kr -i8 -ts8 -sob -ss -ncs -cp1
-il0 -hnl -l150 {};'

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1777 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-09-27 07:28:45 +00:00

109 lines
3.3 KiB
C

/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @defgroup PIOS_DEBUG Debugging Functions
* @brief Debugging functionality
* @{
*
* @file pios_debug.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Debugging Functions
* @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
*/
/* Project Includes */
#include "pios.h"
// Global variables
const char *PIOS_DEBUG_AssertMsg = "ASSERT FAILED";
/* Private Function Prototypes */
/**
* Initialise Debug-features
*/
void PIOS_DEBUG_Init(void)
{
#ifdef PIOS_ENABLE_DEBUG_PINS
// 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 = PIOS_SERVO_GPIO_PIN_1 | PIOS_SERVO_GPIO_PIN_2 | PIOS_SERVO_GPIO_PIN_3 | PIOS_SERVO_GPIO_PIN_4;
GPIO_Init(PIOS_SERVO_GPIO_PORT_1TO4, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = PIOS_SERVO_GPIO_PIN_5 | PIOS_SERVO_GPIO_PIN_6 | PIOS_SERVO_GPIO_PIN_7 | PIOS_SERVO_GPIO_PIN_8;
GPIO_Init(PIOS_SERVO_GPIO_PORT_5TO8, &GPIO_InitStructure);
// Drive all pins low
PIOS_SERVO_GPIO_PORT_1TO4->BRR = PIOS_SERVO_GPIO_PIN_1 | PIOS_SERVO_GPIO_PIN_2 | PIOS_SERVO_GPIO_PIN_3 | PIOS_SERVO_GPIO_PIN_4;
PIOS_SERVO_GPIO_PORT_5TO8->BRR = PIOS_SERVO_GPIO_PIN_5 | PIOS_SERVO_GPIO_PIN_6 | PIOS_SERVO_GPIO_PIN_7 | PIOS_SERVO_GPIO_PIN_8;
#endif // PIOS_ENABLE_DEBUG_PINS
}
/**
* Set debug-pin high
* \param pin 0 for S1 output
*/
void PIOS_DEBUG_PinHigh(uint8_t Pin)
{
#ifdef PIOS_ENABLE_DEBUG_PINS
if (Pin < 4) {
PIOS_SERVO_GPIO_PORT_1TO4->BSRR = (PIOS_SERVO_GPIO_PIN_1 << Pin);
} else if (Pin <= 7) {
PIOS_SERVO_GPIO_PORT_5TO8->BSRR = (PIOS_SERVO_GPIO_PIN_5 << (Pin - 4));
}
#endif // PIOS_ENABLE_DEBUG_PINS
}
/**
* Set debug-pin low
* \param pin 0 for S1 output
*/
void PIOS_DEBUG_PinLow(uint8_t Pin)
{
#ifdef PIOS_ENABLE_DEBUG_PINS
if (Pin < 4) {
PIOS_SERVO_GPIO_PORT_1TO4->BRR = (PIOS_SERVO_GPIO_PIN_1 << Pin);
} else if (Pin <= 7) {
PIOS_SERVO_GPIO_PORT_5TO8->BRR = (PIOS_SERVO_GPIO_PIN_5 << (Pin - 4));
}
#endif // PIOS_ENABLE_DEBUG_PINS
}
/**
* Report a serious error and halt
*/
void PIOS_DEBUG_Panic(const char *msg)
{
#ifdef PIOS_COM_DEBUG
register int *lr asm("lr"); // Link-register holds the PC of the caller
PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, "\r%s @0x%x\r", msg, lr);
#endif
// Stay put
while (1) ;
}
/**
* @}
* @}
*/