mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-10 18:24:11 +01:00
2f86e4dd4f
PWM and PPM can now coexist in the same load and be selected at boot time via the hwsettings UAVObject. This is basically a complete restructuring of the way the drivers interact with the TIM peripheral in the STM32. As a side effect, the PWM and PPM drivers are now ready to support multiple instances of each. This also provides the first step toward being able to reassign some of the PWM input pins to be servo output pins. Still more work required, but this is a good start.
170 lines
4.4 KiB
C
170 lines
4.4 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";
|
|
|
|
#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(const struct pios_tim_channel * channels, 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->init->GPIO_Pin;
|
|
|
|
/* Initialize the GPIO */
|
|
GPIO_Init(chan->init->port, &GPIO_InitStructure);
|
|
|
|
/* Set the pin low */
|
|
GPIO_WriteBit(chan->init->port, chan->init->GPIO_Pin, Bit_RESET);
|
|
}
|
|
#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 (!debug_channels || pin >= debug_num_channels) {
|
|
return;
|
|
}
|
|
|
|
const struct pios_tim_channel * chan = &debug_channels[pin];
|
|
|
|
GPIO_WriteBit(chan->init->port, chan->init->GPIO_Pin, Bit_Set);
|
|
|
|
#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 (!debug_channels || pin >= debug_num_channels) {
|
|
return;
|
|
}
|
|
|
|
const struct pios_tim_channel * chan = &debug_channels[pin];
|
|
|
|
GPIO_WriteBit(chan->init->port, chan->init->GPIO_Pin, Bit_RESET);
|
|
|
|
#endif // PIOS_ENABLE_DEBUG_PINS
|
|
}
|
|
|
|
|
|
void PIOS_DEBUG_PinValue8Bit(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].init.port->BSRR = bsrr_l;
|
|
debug_channels[4].init.port->BSRR = bsrr_h;
|
|
|
|
PIOS_IRQ_Enable();
|
|
#endif // PIOS_ENABLE_DEBUG_PINS
|
|
}
|
|
|
|
void PIOS_DEBUG_PinValue4BitL(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].init.port->BSRR = bsrr_l;
|
|
#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) ;
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|