pios_debug.c

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/* 
 * 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, see <http://www.gnu.org/licenses/>
 */

/* Project Includes */
#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 */

void PIOS_DEBUG_Init(const struct pios_tim_channel * channels, 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_PP;
                GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
                GPIO_InitStructure.GPIO_Pin = chan->init->GPIO_Pin;

                /* Initialize the GPIO */
                GPIO_Init(chan->init->port, &GPIO_InitStructure);

                /* Set the pin low */
                GPIO_WriteBit(chan->init->port, chan->init->GPIO_Pin, Bit_RESET);
        }
#endif // PIOS_ENABLE_DEBUG_PINS
}

void PIOS_DEBUG_PinHigh(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->init->port, chan->init->GPIO_Pin, Bit_Set);

#endif // PIOS_ENABLE_DEBUG_PINS
}

void PIOS_DEBUG_PinLow(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->init->port, chan->init->GPIO_Pin, Bit_RESET);

#endif // PIOS_ENABLE_DEBUG_PINS
}


void PIOS_DEBUG_PinValue8Bit(uint8_t value)
{
#ifdef PIOS_ENABLE_DEBUG_PINS
        if (!debug_channels) {
                return;
        }

        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].init.port->BSRR = bsrr_l;
        debug_channels[4].init.port->BSRR = bsrr_h;

        PIOS_IRQ_Enable();
#endif // PIOS_ENABLE_DEBUG_PINS
}

void PIOS_DEBUG_PinValue4BitL(uint8_t value)
{
#ifdef PIOS_ENABLE_DEBUG_PINS
        if (!debug_channels) {
                return;
        }

        /* 
         * 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].init.port->BSRR = bsrr_l;
#endif // PIOS_ENABLE_DEBUG_PINS
}


void PIOS_DEBUG_Panic(const char *msg)
{
#if defined(PIOS_INCLUDE_COM) && defined(PIOS_COM_DEBUG)
        register int *lr asm("lr");     // Link-register holds the PC of the caller
        PIOS_COM_SendFormattedStringNonBlocking(PIOS_COM_DEBUG, "\r%s @0x%x\r", msg, lr);
#endif

        PIOS_IRQ_Disable();

        // Stay put
        while (1) ;
}