flight/pios/stm32f0x/pios_debug.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup PIOS PIOS Core hardware abstraction layer
   4  * @{
   5  * @defgroup   PIOS_DEBUG Debugging Functions
   6  * @brief Debugging functionality
   7  * @{
   8  *
   9  * @file       pios_debug.c
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
  11  * @brief      Debugging Functions
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  *****************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 #include "pios.h"
  32
  33 // Global variables
  34 const char *PIOS_DEBUG_AssertMsg = "ASSERT FAILED";
  35
  36 #ifdef PIOS_ENABLE_DEBUG_PINS
  37 static const struct pios_tim_channel *debug_channels;
  38 static uint8_t debug_num_channels;
  39 #endif /* PIOS_ENABLE_DEBUG_PINS */
  40
  41 /**
  42  * Initialise Debug-features
  43  */
  44 void PIOS_DEBUG_Init(__attribute__((unused)) const struct pios_tim_channel *channels,
  45                      __attribute__((unused)) uint8_t num_channels)
  46 {
  47 #ifdef PIOS_ENABLE_DEBUG_PINS
  48     PIOS_Assert(channels);
  49     PIOS_Assert(num_channels);
  50
  51     /* Store away the GPIOs we've been given */
  52     debug_channels     = channels;
  53     debug_num_channels = num_channels;
  54
  55     /* Configure the GPIOs we've been given */
  56     for (uint8_t i = 0; i < num_channels; i++) {
  57         const struct pios_tim_channel *chan = &channels[i];
  58
  59         // Initialise pins as standard output pins
  60         GPIO_InitTypeDef GPIO_InitStructure;
  61         GPIO_StructInit(&GPIO_InitStructure);
  62         GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_Out_PP;
  63         GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  64         GPIO_InitStructure.GPIO_Pin   = chan->pin.init.GPIO_Pin;
  65
  66         /* Initialize the GPIO */
  67         GPIO_Init(chan->pin.gpio, &GPIO_InitStructure);
  68
  69         /* Set the pin low */
  70         GPIO_WriteBit(chan->pin.gpio, chan->pin.init.GPIO_Pin, Bit_RESET);
  71     }
  72 #endif // PIOS_ENABLE_DEBUG_PINS
  73 }
  74
  75 /**
  76  * Set debug-pin high
  77  * \param pin 0 for S1 output
  78  */
  79 void PIOS_DEBUG_PinHigh(__attribute__((unused)) uint8_t pin)
  80 {
  81 #ifdef PIOS_ENABLE_DEBUG_PINS
  82     if (!debug_channels || pin >= debug_num_channels) {
  83         return;
  84     }
  85
  86     const struct pios_tim_channel *chan = &debug_channels[pin];
  87
  88     GPIO_WriteBit(chan->pin.gpio, chan->pin.init.GPIO_Pin, Bit_SET);
  89
  90 #endif // PIOS_ENABLE_DEBUG_PINS
  91 }
  92
  93 /**
  94  * Set debug-pin low
  95  * \param pin 0 for S1 output
  96  */
  97 void PIOS_DEBUG_PinLow(__attribute__((unused)) uint8_t pin)
  98 {
  99 #ifdef PIOS_ENABLE_DEBUG_PINS
 100     if (!debug_channels || pin >= debug_num_channels) {
 101         return;
 102     }
 103
 104     const struct pios_tim_channel *chan = &debug_channels[pin];
 105
 106     GPIO_WriteBit(chan->pin.gpio, chan->pin.init.GPIO_Pin, Bit_RESET);
 107
 108 #endif // PIOS_ENABLE_DEBUG_PINS
 109 }
 110
 111
 112 void PIOS_DEBUG_PinValue8Bit(__attribute__((unused)) uint8_t value)
 113 {
 114 #ifdef PIOS_ENABLE_DEBUG_PINS
 115     if (!debug_channels) {
 116         return;
 117     }
 118
 119     uint32_t bsrr_l = (((~value) & 0x0F) << (16 + 6)) | ((value & 0x0F) << 6);
 120     uint32_t bsrr_h = (((~value) & 0xF0) << (16 + 6 - 4)) | ((value & 0xF0) << (6 - 4));
 121
 122     PIOS_IRQ_Disable();
 123
 124     /*
 125      * This is sketchy since it assumes a particular ordering
 126      * and bitwise layout of the channels provided to the debug code.
 127      */
 128     debug_channels[0].pin.gpio->BSRR = bsrr_l;
 129     debug_channels[4].pin.gpio->BSRR = bsrr_h;
 130
 131     PIOS_IRQ_Enable();
 132 #endif // PIOS_ENABLE_DEBUG_PINS
 133 }
 134
 135 void PIOS_DEBUG_PinValue4BitL(__attribute__((unused)) uint8_t value)
 136 {
 137 #ifdef PIOS_ENABLE_DEBUG_PINS
 138     if (!debug_channels) {
 139         return;
 140     }
 141
 142     /*
 143      * This is sketchy since it assumes a particular ordering
 144      * and bitwise layout of the channels provided to the debug code.
 145      */
 146     uint32_t bsrr_l = ((~(value & 0x0F) << (16 + 6))) | ((value & 0x0F) << 6);
 147     debug_channels[0].pin.gpio->BSRR = bsrr_l;
 148 #endif // PIOS_ENABLE_DEBUG_PINS
 149 }
 150
 151
 152 /**
 153  * Report a serious error and halt
 154  */
 155 void PIOS_DEBUG_Panic(__attribute__((unused)) const char *msg)
 156 {
 157 #ifdef PIOS_INCLUDE_DEBUG_CONSOLE
 158     register int *lr asm ("lr"); // Link-register holds the PC of the caller
 159     DEBUG_PRINTF(0, "\r%s @0x%x\r", msg, lr);
 160 #endif
 161
 162     // Stay put
 163     while (1) {
 164         ;
 165     }
 166 }
 167
 168 /**
 169  * @}
 170  * @}
 171  */