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LibrePilot/flight/pios/stm32f10x/pios_debug.c

172 lines
4.7 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) 2013.
* @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
*/
#include "pios.h"
// Global variables
const char *PIOS_DEBUG_AssertMsg = "ASSERT FAILED";
#ifdef PIOS_ENABLE_DEBUG_PINS
static const struct pios_tim_channel *debug_channels;
static uint8_t debug_num_channels;
#endif /* PIOS_ENABLE_DEBUG_PINS */
/**
* Initialise Debug-features
*/
void PIOS_DEBUG_Init(__attribute__((unused)) const struct pios_tim_channel *channels,
__attribute__((unused)) uint8_t num_channels)
{
#ifdef PIOS_ENABLE_DEBUG_PINS
PIOS_Assert(channels);
PIOS_Assert(num_channels);
/* Store away the GPIOs we've been given */
debug_channels = channels;
debug_num_channels = num_channels;
/* Configure the GPIOs we've been given */
for (uint8_t i = 0; i < num_channels; i++) {
const struct pios_tim_channel *chan = &channels[i];
// Initialise 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 = chan->pin.init.GPIO_Pin;
/* Initialize the GPIO */
GPIO_Init(chan->pin.gpio, &GPIO_InitStructure);
/* Set the pin low */
GPIO_WriteBit(chan->pin.gpio, chan->pin.init.GPIO_Pin, Bit_RESET);
}
#endif // PIOS_ENABLE_DEBUG_PINS
}
/**
* Set debug-pin high
* \param pin 0 for S1 output
*/
void PIOS_DEBUG_PinHigh(__attribute__((unused)) uint8_t pin)
{
#ifdef PIOS_ENABLE_DEBUG_PINS
if (!debug_channels || pin >= debug_num_channels) {
return;
}
const struct pios_tim_channel *chan = &debug_channels[pin];
GPIO_WriteBit(chan->pin.gpio, chan->pin.init.GPIO_Pin, Bit_SET);
#endif // PIOS_ENABLE_DEBUG_PINS
}
/**
* Set debug-pin low
* \param pin 0 for S1 output
*/
void PIOS_DEBUG_PinLow(__attribute__((unused)) uint8_t pin)
{
#ifdef PIOS_ENABLE_DEBUG_PINS
if (!debug_channels || pin >= debug_num_channels) {
return;
}
const struct pios_tim_channel *chan = &debug_channels[pin];
GPIO_WriteBit(chan->pin.gpio, chan->pin.init.GPIO_Pin, Bit_RESET);
#endif // PIOS_ENABLE_DEBUG_PINS
}
void PIOS_DEBUG_PinValue8Bit(__attribute__((unused)) uint8_t value)
{
#ifdef PIOS_ENABLE_DEBUG_PINS
if (!debug_channels) {
return;
}
uint32_t bsrr_l = (((~value) & 0x0F) << (16 + 6)) | ((value & 0x0F) << 6);
uint32_t bsrr_h = (((~value) & 0xF0) << (16 + 6 - 4)) | ((value & 0xF0) << (6 - 4));
PIOS_IRQ_Disable();
/*
* This is sketchy since it assumes a particular ordering
* and bitwise layout of the channels provided to the debug code.
*/
debug_channels[0].pin.gpio->BSRR = bsrr_l;
debug_channels[4].pin.gpio->BSRR = bsrr_h;
PIOS_IRQ_Enable();
#endif // PIOS_ENABLE_DEBUG_PINS
}
void PIOS_DEBUG_PinValue4BitL(__attribute__((unused)) uint8_t value)
{
#ifdef PIOS_ENABLE_DEBUG_PINS
if (!debug_channels) {
return;
}
/*
* This is sketchy since it assumes a particular ordering
* and bitwise layout of the channels provided to the debug code.
*/
uint32_t bsrr_l = ((~(value & 0x0F) << (16 + 6))) | ((value & 0x0F) << 6);
debug_channels[0].pin.gpio->BSRR = bsrr_l;
#endif // PIOS_ENABLE_DEBUG_PINS
}
/**
* Report a serious error and halt
*/
void PIOS_DEBUG_Panic(__attribute__((unused)) const char *msg)
{
#ifdef PIOS_INCLUDE_DEBUG_CONSOLE
register int *lr asm ("lr"); // Link-register holds the PC of the caller
DEBUG_PRINTF(0, "\r%s @0x%x\r", msg, lr);
#endif
// Stay put
while (1) {
;
}
}
/**
* @}
* @}
*/