/**
* Sends status information via software uart
*/
void debug_send_system_info(char *productName, char *productVersion, char *publisher){
#ifdef CFG_SUART_TX
debug_send_msg( publisher, TRUE );
debug_send_msg( productName, FALSE );
debug_send_msg( " ver. ", FALSE );
debug_send_msg( productVersion, TRUE );
debug_send_msg( "id:", FALSE );
debug_send_c_wait( sys_robotID, TRUE );
#endif /* CFG_SUART_TX */
}
void tim2_isr() {
timer_clear_flag(TIM2, TIM_SR_UIF);
led_toggle(LED_GREEN);
/* Random transmit length. */
u32 len = (u32)rand() % 256;
if(debug_send_msg(0x22, len, buff_out))
speaking_death("debug_send_msg failed in tim2_isr");
}
int main(void)
{
for (u32 i = 0; i < 600000; i++)
__asm__("nop");
led_setup();
rcc_clock_setup_hse_3v3(&hse_16_368MHz_in_65_472MHz_out_3v3);
debug_setup();
timer_setup();
// Debug pins (CC1111 TX/RX)
RCC_AHB1ENR |= RCC_AHB1ENR_IOPCEN;
gpio_mode_setup(GPIOC, GPIO_MODE_OUTPUT, GPIO_PUPD_NONE, GPIO10|GPIO11);
gpio_clear(GPIOC, GPIO10|GPIO11);
printf("\n\nFirmware info - git: " GIT_VERSION ", built: " __DATE__ " " __TIME__ "\n");
printf("--- DEBUG TEST ---\n");
u32 len;
for (u8 i=0; i<30; i++) {
guard_below[i] = 0;
guard_above[i] = 0;
}
for (u32 i=0; i<256; i++)
buff_out[i] = (u8)i;
while(1) {
/* Random transmit length. */
len = (u32)rand() % 256;
while(debug_send_msg(0x22, len, buff_out));
/* Check the guards for buffer over/underrun. */
for (u8 i=0; i<30; i++) {
if (guard_below[i] != 0)
screaming_death();
if (guard_above[i] != 0)
screaming_death();
}
/* Introduce some timing jitter. */
u32 jitter_delay = ((u32)rand() % 20000);
for (u32 i = 0; i < jitter_delay; i++)
/*for (u32 i = 0; i < 1000; i++)*/
__asm__("nop");
}
while (1);
return 0;
}
void flash_erase_callback(u8 buff[] ) {
// Msg format: u32 addr
// Erases a 65536-byte sector. Any address within the sector will work.
u32 addr = *(u32*)buff;
printf("SPI Flash erasing 64KB from 0x%06X...", (unsigned int)addr & 0xFF0000);
m25_write_enable();
m25_sector_erase(addr);
printf("ok\n");
debug_send_msg(MSG_FLASH_COMPLETE,0,0); // Report completion
}
void flash_write_callback(u8 buff[]) {
// Msg format: u32 addr, u8 len, u8 data[]
// Write a 256-byte page at a time.
// If you start partway through a page, that's ok, but if you run off the end of the page
// it will wrap, rather than going on to the next page.
u32 addr = *(u32 *)&buff[0];
u8 len = *(u8 *)&buff[4];
u8 *data = &buff[5];
printf("SPI Flash writing %d bytes to 0x%06X...", (int)len, (unsigned int)addr);
m25_write_enable();
m25_page_program(addr, len, data);
printf("ok\n");
debug_send_msg(MSG_FLASH_COMPLETE,0,0); // Report completion
}
/**
* Sends all available commands
*/
void debug_send_help(void){
debug_send_msg( "DEBUG COMMANDS:", TRUE );
debug_send_msg( "abcdefghijklmnoprstuvwzM?", TRUE );
#if !defined(CFG_CODE_LEVEL_AVG)
char motors[] = {"motors"};
char motor[] = {"motor"};
char animation[] = {"anim."};
char voltage[] = {"volt."};
debug_send_msg( "f: ", FALSE); debug_send_msg(motors, FALSE); debug_send_msg( " fwd", TRUE );
debug_send_msg( "b: ", FALSE); debug_send_msg(motors, FALSE); debug_send_msg( " bwd", TRUE );
debug_send_msg( "z: ", FALSE); debug_send_msg(motors, FALSE); debug_send_msg( " brake", TRUE );
debug_send_msg( "g: rgb leds on", TRUE );
debug_send_msg( "h: rgb leds off", TRUE );
debug_send_msg( "s: stat led on", TRUE );
debug_send_msg( "r: stat led off", TRUE );
debug_send_msg( "c: turn cw", TRUE );
debug_send_msg( "a: turn ccw", TRUE );
debug_send_msg( "m: L-", FALSE); debug_send_msg(motor, FALSE); debug_send_msg( " speed", TRUE );
debug_send_msg( "n: R-", FALSE); debug_send_msg(motor, FALSE); debug_send_msg( " speed", TRUE );
debug_send_msg( "o: L-", FALSE); debug_send_msg(motor, FALSE); debug_send_msg( " cmd", TRUE );
debug_send_msg( "p: R-", FALSE); debug_send_msg(motor, FALSE); debug_send_msg( " cmd", TRUE );
debug_send_msg( "i: bot ID", TRUE );
debug_send_msg( "j: publisher", TRUE );
debug_send_msg( "k: version", TRUE );
debug_send_msg( "l: name", TRUE );
debug_send_msg( "d: L-", FALSE); debug_send_msg(motor, FALSE); debug_send_msg( " faults", TRUE );
debug_send_msg( "e: R-", FALSE); debug_send_msg(motor, FALSE); debug_send_msg( " faults", TRUE );
debug_send_msg( "u: clear L-", FALSE); debug_send_msg(motor, FALSE); debug_send_msg( " faults", TRUE );
debug_send_msg( "v: clear R-", FALSE); debug_send_msg(motor, FALSE); debug_send_msg( " faults", TRUE );
debug_send_msg( "M: ", FALSE); debug_send_msg(motors, FALSE); debug_send_msg( " test", TRUE );
debug_send_msg( "T: temp.", TRUE );
debug_send_msg( "U: ", FALSE); debug_send_msg(voltage, FALSE); debug_send_msg( "1", TRUE );
debug_send_msg( "V: ", FALSE); debug_send_msg(voltage, FALSE); debug_send_msg( "2", TRUE );
debug_send_msg( "W: ", FALSE); debug_send_msg(voltage, FALSE); debug_send_msg( " bat1", TRUE );
debug_send_msg( "X: ", FALSE); debug_send_msg(voltage, FALSE); debug_send_msg( " bat2", TRUE );
debug_send_msg( "I: cur. L-", FALSE); debug_send_msg(motor, TRUE);
debug_send_msg( "J: cur. R-", FALSE); debug_send_msg(motor, TRUE);
debug_send_msg( "A: VCCs", TRUE );
debug_send_msg( "R: red pulsed ", FALSE); debug_send_msg(animation, TRUE);
debug_send_msg( "S: strobe ", FALSE); debug_send_msg(animation, TRUE);
debug_send_msg( "L: lady ", FALSE); debug_send_msg(animation, TRUE);
debug_send_msg( "F: fade ", FALSE); debug_send_msg(animation, TRUE);
debug_send_msg( "N: no ", FALSE); debug_send_msg(animation, TRUE);
#endif
}
/**
* Function to process debugging module
* Checks for debbunging commands and things like this
*/
void debug_process(void){
#ifdef CFG_SUART_RX
// check for recieved commands
if( suart_rxFlag ){
uint8_t cmd = suart_getc();
#if !defined(CFG_CODE_LEVEL_AVG)
uint16_t tmp;
#endif
// process command
switch(cmd){
case 'f':
motor_set_speed(MOTOR_ADDR_L, 0x50, MOTOR_FORWARD);
motor_set_speed(MOTOR_ADDR_R, 0x40, MOTOR_FORWARD);
break;
case'b':
motor_set_speed(MOTOR_ADDR_L, 0x40, MOTOR_BACKWARD);
motor_set_speed(MOTOR_ADDR_R, 0x43, MOTOR_BACKWARD);
break;
case 'z':
motor_set_speed(MOTOR_ADDR_L, 0x00, MOTOR_BRAKE);
motor_set_speed(MOTOR_ADDR_R, 0x00, MOTOR_BRAKE);
break;
#if !defined(CFG_CODE_LEVEL_AVG)
case 'g':
led_set_allcolors();
led_all_on();
break;
case 'h':
led_set_nocolors();
led_all_off();
break;
#endif
case 's':
led_on(LED_STATUS);
break;
case 'r':
led_off(LED_STATUS);
break;
case 'c':
motor_set_speed(MOTOR_ADDR_L, MOTOR_SPEED_HALF, MOTOR_FORWARD);
motor_set_speed(MOTOR_ADDR_R, MOTOR_SPEED_HALF, MOTOR_BACKWARD);
break;
case 'a':
motor_set_speed(MOTOR_ADDR_L, MOTOR_SPEED_HALF, MOTOR_BACKWARD);
motor_set_speed(MOTOR_ADDR_R, MOTOR_SPEED_HALF, MOTOR_FORWARD);
break;
#if !defined(CFG_CODE_LEVEL_AVG)
case 'm':
debug_send_c( motor_get_speed(MOTOR_ADDR_L), TRUE );
break;
case 'n':
debug_send_c( motor_get_speed(MOTOR_ADDR_R), TRUE );
break;
case 'o':
debug_send_c( motor_get_direction(MOTOR_ADDR_L), TRUE );
break;
case 'p':
debug_send_c( motor_get_direction(MOTOR_ADDR_R), TRUE );
break;
case 'd':
debug_send_c( motor_get_fault(MOTOR_ADDR_L), TRUE );
break;
case 'e':
debug_send_c( motor_get_fault(MOTOR_ADDR_R), TRUE );
break;
case 'u':
motor_clear_fault( MOTOR_ADDR_L );
break;
case 'v':
motor_clear_fault( MOTOR_ADDR_R );
break;
#endif
case 'i':
debug_send_c( sys_robotID, TRUE );
break;
case 'j':
debug_send_msg( SYS_PUBLISHER, TRUE );
break;
case 'k':
debug_send_msg( SYS_VERSION, TRUE );
break;
case 'l':
debug_send_msg( SYS_NAME, TRUE );
break;
case 'M':
debug_send_c( motor_test(), TRUE );
break;
#if !defined(CFG_CODE_LEVEL_AVG)
case 'T':
tmp = monitor_read_temp(MONITOR_ADDR_1);
debug_send_c_wait( tmp>>8, FALSE );
debug_send_c_wait( tmp, FALSE );
tmp = monitor_read_temp(MONITOR_ADDR_2);
debug_send_c_wait( tmp>>8, FALSE );
debug_send_c_wait( tmp, TRUE );
break;
case 'U':
tmp = monitor_read_voltage(MONITOR_ADDR_2, MONITOR_U1);
debug_send_c_wait( tmp>>8, FALSE );
debug_send_c_wait( tmp, TRUE );
break;
case 'V':
tmp = monitor_read_voltage(MONITOR_ADDR_2, MONITOR_U4);
debug_send_c_wait( tmp>>8, FALSE );
debug_send_c_wait( tmp, TRUE );
break;
case 'W':
tmp = monitor_read_voltage(MONITOR_ADDR_2, MONITOR_U2);
debug_send_c_wait( tmp>>8, FALSE );
debug_send_c_wait( tmp, TRUE );
break;
case 'X':
tmp = monitor_read_voltage(MONITOR_ADDR_2, MONITOR_U3);
debug_send_c_wait( tmp>>8, FALSE );
debug_send_c_wait( tmp, TRUE );
break;
case 'I':
tmp = monitor_read_current(MONITOR_ADDR_1, MONITOR_I1);
debug_send_c_wait( tmp>>8, FALSE );
debug_send_c_wait( tmp, TRUE );
break;
case 'J':
tmp = monitor_read_current(MONITOR_ADDR_1, MONITOR_I2);
debug_send_c_wait( tmp>>8, FALSE );
debug_send_c_wait( tmp, TRUE );
break;
case 'A':
tmp = monitor_read_voltage(MONITOR_ADDR_1, MONITOR_UVCC);
debug_send_c_wait( tmp>>8, FALSE );
debug_send_c_wait( tmp, FALSE );
tmp = monitor_read_voltage(MONITOR_ADDR_2, MONITOR_UVCC);
debug_send_c_wait( tmp>>8, FALSE );
debug_send_c_wait( tmp, TRUE );
break;
case 'R':
animation_set_mode(ANIMATION_MODE_RED_PULSED);
break;
case 'S':
animation_set_mode(ANIMATION_MODE_STROBE);
break;
case 'F':
animation_set_mode(ANIMATION_MODE_FADE);
break;
case 'L':
animation_set_mode(ANIMATION_MODE_LADY);
break;
case 'N':
animation_set_mode(ANIMATION_MODE_NONE);
break;
#endif
case '?':
debug_send_help();
break;
default:
debug_send_c( 0xff, TRUE );
break;
}
}
#endif /* CFG_SUART_RX */
}
