mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-11 19:24:10 +01:00
7b753399ec
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@295 ebee16cc-31ac-478f-84a7-5cbb03baadba
88 lines
2.9 KiB
C
88 lines
2.9 KiB
C
/**
|
|
******************************************************************************
|
|
*
|
|
* @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
|
|
* @defgroup PIOS_DEBUG Debugging 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)
|
|
{
|
|
#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
|
|
}
|
|
|
|
|