flight/pios/inc/pios_debug.h

   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_i2c.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  11  * @brief      Debug helper functions header.
  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 #ifndef PIOS_DEBUG_H
  32 #define PIOS_DEBUG_H
  33
  34 #ifdef PIOS_INCLUDE_DEBUG_CONSOLE
  35 #ifndef DEBUG_LEVEL
  36 #define DEBUG_LEVEL 0
  37 #endif
  38 #define DEBUG_PRINTF(level, ...) \
  39     { \
  40         if ((level <= DEBUG_LEVEL) && (PIOS_COM_DEBUG > 0)) { \
  41             PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, __VA_ARGS__); \
  42         } \
  43     }
  44 #else
  45 #define DEBUG_PRINTF(level, ...)
  46 #endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
  47
  48 extern const char *PIOS_DEBUG_AssertMsg;
  49
  50 #ifdef USE_SIM_POSIX
  51 void PIOS_DEBUG_Init(void);
  52 #else
  53 #include <pios_tim_priv.h>
  54 void PIOS_DEBUG_Init(const struct pios_tim_channel *channels, uint8_t num_channels);
  55 #endif
  56
  57 void PIOS_DEBUG_PinHigh(uint8_t pin);
  58 void PIOS_DEBUG_PinLow(uint8_t pin);
  59 void PIOS_DEBUG_PinValue8Bit(uint8_t value);
  60 void PIOS_DEBUG_PinValue4BitL(uint8_t value);
  61 void PIOS_DEBUG_Panic(const char *msg) __attribute__((noreturn));
  62
  63 #ifdef DEBUG
  64 #define PIOS_DEBUG_Assert(test) if (!(test)) { PIOS_DEBUG_Panic(PIOS_DEBUG_AssertMsg); }
  65 #define PIOS_Assert(test)       PIOS_DEBUG_Assert(test)
  66 #else
  67 #define PIOS_DEBUG_Assert(test)
  68 #define PIOS_Assert(test) \
  69     if (!(test)) { while (1) {; } \
  70     }
  71 #endif
  72
  73 /* Static (compile-time) assertion for use in a function.
  74    If test evaluates to 0 (ie fails) at compile time then compilation will
  75    fail with the error: "size of unnamed array is negative" */
  76 #define PIOS_STATIC_ASSERT(test) ((void)sizeof(int[1 - 2 * !(test)]))
  77
  78
  79 #endif /* PIOS_DEBUG_H */
  80
  81 /**
  82  * @}
  83  * @}
  84  */