mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
177 lines
4.8 KiB
C
177 lines
4.8 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;
|
|
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
|
|
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
|
|
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;
|
|
}
|
|
|
|
#pragma message("This code is not portable and should be revised")
|
|
PIOS_Assert(0);
|
|
|
|
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;
|
|
}
|
|
|
|
#pragma message("This code is not portable and should be revised")
|
|
PIOS_Assert(0);
|
|
|
|
/*
|
|
* 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) ;
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|