flight/pios/stm32f4xx/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, __attribute__((unused)) uint8_t num_channels)
  45 {
  46 #ifdef PIOS_ENABLE_DEBUG_PINS
  47     PIOS_Assert(channels);
  48     PIOS_Assert(num_channels);
  49
  50     /* Store away the GPIOs we've been given */
  51     debug_channels     = channels;
  52     debug_num_channels = num_channels;
  53
  54     /* Configure the GPIOs we've been given */
  55     for (uint8_t i = 0; i < num_channels; i++) {
  56         const struct pios_tim_channel *chan = &channels[i];
  57
  58         // Initialise pins as standard output pins
  59         GPIO_InitTypeDef GPIO_InitStructure;
  60         GPIO_StructInit(&GPIO_InitStructure);
  61         GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_OUT;
  62         GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
  63         GPIO_InitStructure.GPIO_PuPd  = GPIO_PuPd_NOPULL;
  64         GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  65         GPIO_InitStructure.GPIO_Pin   = chan->pin.init.GPIO_Pin;
  66
  67         /* Initialize the GPIO */
  68         GPIO_Init(chan->pin.gpio, &GPIO_InitStructure);
  69
  70         /* Set the pin low */
  71         GPIO_WriteBit(chan->pin.gpio, chan->pin.init.GPIO_Pin, Bit_RESET);
  72     }
  73 #endif // PIOS_ENABLE_DEBUG_PINS
  74 }
  75
  76 /**
  77  * Set debug-pin high
  78  * \param pin 0 for S1 output
  79  */
  80 void PIOS_DEBUG_PinHigh(__attribute__((unused)) uint8_t pin)
  81 {
  82 #ifdef PIOS_ENABLE_DEBUG_PINS
  83     if (!debug_channels || pin >= debug_num_channels) {
  84         return;
  85     }
  86
  87     const struct pios_tim_channel *chan = &debug_channels[pin];
  88
  89     GPIO_WriteBit(chan->pin.gpio, chan->pin.init.GPIO_Pin, Bit_SET);
  90
  91 #endif // PIOS_ENABLE_DEBUG_PINS
  92 }
  93
  94 /**
  95  * Set debug-pin low
  96  * \param pin 0 for S1 output
  97  */
  98 void PIOS_DEBUG_PinLow(__attribute__((unused)) uint8_t pin)
  99 {
 100 #ifdef PIOS_ENABLE_DEBUG_PINS
 101     if (!debug_channels || pin >= debug_num_channels) {
 102         return;
 103     }
 104
 105     const struct pios_tim_channel *chan = &debug_channels[pin];
 106
 107     GPIO_WriteBit(chan->pin.gpio, chan->pin.init.GPIO_Pin, Bit_RESET);
 108
 109 #endif // PIOS_ENABLE_DEBUG_PINS
 110 }
 111
 112
 113 void PIOS_DEBUG_PinValue8Bit(__attribute__((unused)) uint8_t value)
 114 {
 115 #ifdef PIOS_ENABLE_DEBUG_PINS
 116     if (!debug_channels) {
 117         return;
 118     }
 119
 120 #pragma message("This code is not portable and should be revised")
 121     PIOS_Assert(0);
 122
 123     uint32_t bsrr_l = (((~value) & 0x0F) << (16 + 6)) | ((value & 0x0F) << 6);
 124     uint32_t bsrr_h = (((~value) & 0xF0) << (16 + 6 - 4)) | ((value & 0xF0) << (6 - 4));
 125
 126     PIOS_IRQ_Disable();
 127
 128     /*
 129      * This is sketchy since it assumes a particular ordering
 130      * and bitwise layout of the channels provided to the debug code.
 131      */
 132     // debug_channels[0].pin.gpio->BSRR = bsrr_l;
 133     // debug_channels[4].pin.gpio->BSRR = bsrr_h;
 134
 135     PIOS_IRQ_Enable();
 136 #endif // PIOS_ENABLE_DEBUG_PINS
 137 }
 138
 139 void PIOS_DEBUG_PinValue4BitL(__attribute__((unused)) uint8_t value)
 140 {
 141 #ifdef PIOS_ENABLE_DEBUG_PINS
 142     if (!debug_channels) {
 143         return;
 144     }
 145
 146 #pragma message("This code is not portable and should be revised")
 147     PIOS_Assert(0);
 148
 149     /*
 150      * This is sketchy since it assumes a particular ordering
 151      * and bitwise layout of the channels provided to the debug code.
 152      */
 153     uint32_t bsrr_l = ((~(value & 0x0F) << (16 + 6))) | ((value & 0x0F) << 6);
 154     // debug_channels[0].pin.gpio->BSRR = bsrr_l;
 155 #endif // PIOS_ENABLE_DEBUG_PINS
 156 }
 157
 158
 159 /**
 160  * Report a serious error and halt
 161  */
 162 void PIOS_DEBUG_Panic(__attribute__((unused)) const char *msg)
 163 {
 164 #ifdef PIOS_INCLUDE_DEBUG_CONSOLE
 165     register int *lr asm ("lr"); // Link-register holds the PC of the caller
 166     DEBUG_PRINTF(0, "\r%s @0x%x\r", msg, lr);
 167 #endif
 168
 169     // Stay put
 170     while (1) {
 171         ;
 172     }
 173 }
 174
 175 /**
 176  * @}
 177  * @}
 178  */