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https://bitbucket.org/librepilot/librepilot.git
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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
/**
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******************************************************************************
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* @addtogroup PIOS PIOS Core hardware abstraction layer
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* @{
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* @defgroup PIOS_DEBUG Debugging Functions
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* @brief Debugging functionality
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* @{
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*
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* @file pios_debug.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
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* @brief Debugging Functions
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "pios.h"
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// Global variables
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const char *PIOS_DEBUG_AssertMsg = "ASSERT FAILED";
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#ifdef PIOS_ENABLE_DEBUG_PINS
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static const struct pios_tim_channel * debug_channels;
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static uint8_t debug_num_channels;
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#endif /* PIOS_ENABLE_DEBUG_PINS */
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/**
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* Initialise Debug-features
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*/
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void PIOS_DEBUG_Init(__attribute__((unused)) const struct pios_tim_channel * channels, __attribute__((unused)) uint8_t num_channels)
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{
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#ifdef PIOS_ENABLE_DEBUG_PINS
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PIOS_Assert(channels);
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PIOS_Assert(num_channels);
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/* Store away the GPIOs we've been given */
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debug_channels = channels;
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debug_num_channels = num_channels;
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/* Configure the GPIOs we've been given */
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for (uint8_t i = 0; i < num_channels; i++) {
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const struct pios_tim_channel * chan = &channels[i];
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// Initialise pins as standard output pins
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GPIO_InitTypeDef GPIO_InitStructure;
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GPIO_StructInit(&GPIO_InitStructure);
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GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
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GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStructure.GPIO_Pin = chan->pin.init.GPIO_Pin;
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/* Initialize the GPIO */
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GPIO_Init(chan->pin.gpio, &GPIO_InitStructure);
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/* Set the pin low */
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GPIO_WriteBit(chan->pin.gpio, chan->pin.init.GPIO_Pin, Bit_RESET);
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}
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#endif // PIOS_ENABLE_DEBUG_PINS
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}
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/**
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* Set debug-pin high
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* \param pin 0 for S1 output
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*/
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void PIOS_DEBUG_PinHigh(__attribute__((unused)) uint8_t pin)
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{
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#ifdef PIOS_ENABLE_DEBUG_PINS
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if (!debug_channels || pin >= debug_num_channels) {
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return;
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}
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const struct pios_tim_channel * chan = &debug_channels[pin];
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GPIO_WriteBit(chan->pin.gpio, chan->pin.init.GPIO_Pin, Bit_SET);
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#endif // PIOS_ENABLE_DEBUG_PINS
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}
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/**
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* Set debug-pin low
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* \param pin 0 for S1 output
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*/
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void PIOS_DEBUG_PinLow(__attribute__((unused)) uint8_t pin)
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{
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#ifdef PIOS_ENABLE_DEBUG_PINS
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if (!debug_channels || pin >= debug_num_channels) {
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return;
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}
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const struct pios_tim_channel * chan = &debug_channels[pin];
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GPIO_WriteBit(chan->pin.gpio, chan->pin.init.GPIO_Pin, Bit_RESET);
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#endif // PIOS_ENABLE_DEBUG_PINS
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}
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void PIOS_DEBUG_PinValue8Bit(__attribute__((unused)) uint8_t value)
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{
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#ifdef PIOS_ENABLE_DEBUG_PINS
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if (!debug_channels) {
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return;
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}
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#pragma message("This code is not portable and should be revised")
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PIOS_Assert(0);
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uint32_t bsrr_l = ( ((~value)&0x0F)<<(16+6) ) | ((value & 0x0F)<<6);
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uint32_t bsrr_h = ( ((~value)&0xF0)<<(16+6-4) ) | ((value & 0xF0)<<(6-4));
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PIOS_IRQ_Disable();
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/*
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* This is sketchy since it assumes a particular ordering
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* and bitwise layout of the channels provided to the debug code.
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*/
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//debug_channels[0].pin.gpio->BSRR = bsrr_l;
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//debug_channels[4].pin.gpio->BSRR = bsrr_h;
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PIOS_IRQ_Enable();
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#endif // PIOS_ENABLE_DEBUG_PINS
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}
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void PIOS_DEBUG_PinValue4BitL(__attribute__((unused)) uint8_t value)
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{
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#ifdef PIOS_ENABLE_DEBUG_PINS
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if (!debug_channels) {
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return;
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}
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#pragma message("This code is not portable and should be revised")
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PIOS_Assert(0);
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/*
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* This is sketchy since it assumes a particular ordering
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* and bitwise layout of the channels provided to the debug code.
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*/
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uint32_t bsrr_l = ((~(value & 0x0F)<<(16+6))) | ((value & 0x0F)<<6);
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//debug_channels[0].pin.gpio->BSRR = bsrr_l;
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#endif // PIOS_ENABLE_DEBUG_PINS
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}
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/**
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* Report a serious error and halt
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*/
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void PIOS_DEBUG_Panic(__attribute__((unused)) const char *msg)
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{
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#ifdef PIOS_INCLUDE_DEBUG_CONSOLE
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register int *lr asm("lr"); // Link-register holds the PC of the caller
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DEBUG_PRINTF(0, "\r%s @0x%x\r", msg, lr);
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#endif
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// Stay put
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while (1) ;
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}
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/**
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* @}
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* @}
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*/
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