From 404a2892b7b08b6d0222402309065967c773d3a5 Mon Sep 17 00:00:00 2001
From: Marti Bolivar <mbolivar@leaflabs.com>
Date: Sun, 30 Jan 2011 21:48:54 -0500
Subject: Ported examples/test-session.cpp to work on Mini

---
 examples/test-session.cpp | 953 +++++++++++++++++++++++++---------------------
 1 file changed, 515 insertions(+), 438 deletions(-)

(limited to 'examples')

diff --git a/examples/test-session.cpp b/examples/test-session.cpp
index bfc1e58..d856067 100644
--- a/examples/test-session.cpp
+++ b/examples/test-session.cpp
@@ -7,46 +7,73 @@
 
 #include "wirish.h"
 
-#define LED_PIN 13
-#define PWM_PIN  2
+#define LED_PIN BOARD_LED_PIN
+#define PWM_PIN 3
 
 // choose your weapon
 #define COMM SerialUSB
 //#define COMM Serial2
+//#define COMM Serial3
 
-uint8 input = 0;
-uint8 tiddle = 0;
-int toggle = 0;
 int rate = 0;
-int sample = 0;
 
-// read these off maple board rev3
-// note that 38 is just a button and 39+ aren't functional as of 04/22/2010
-const uint8 pwm_pins[] = {0,1,2,3,5,6,7,8,9,11,12,14,24,25,27,28};
-const uint8 adc_pins[] = {0,1,2,10,11,12,13,15,16,17,18,19,20,27,28};
-#define NUM_GPIO        44      // 44 is the MAX
-uint8 gpio_state[NUM_GPIO];
+#if defined(BOARD_maple)
+const uint8 pwm_pins[] =
+    {0, 1, 2, 3, 5, 6, 7, 8, 9, 11, 12, 14, 24, 25, 27, 28};
+const uint8 adc_pins[] =
+    {0, 1, 2, 10, 11, 12, 13, 15, 16, 17, 18, 19, 20, 27, 28};
 
-#define DUMMY_DAT "qwertyuiopasdfghjklzxcvbnmmmmmm,./1234567890-=qwertyuiopasdfghjklzxcvbnm,./1234567890"
+#elif defined(BOARD_maple_mini)
+const uint8 pwm_pins[] = {3, 4, 5, 8, 9, 10, 11, 15, 16, 25, 26, 27};
+const uint8 adc_pins[] = {3, 4, 5, 6, 7, 8, 9, 10, 11, 33}; // NB: 33 is LED
 
-void print_help(void);
-void do_noise(uint8 pin);
-void do_everything(void);
-void do_fast_gpio(void);
+#elif defined(BOARD_maple_native) // TODO maple native
+#error "No Maple Native support here yet"
+
+#else
+#error "Board type has not been selected correctly"
+
+#endif
+
+uint8 gpio_state[NR_GPIO_PINS];
+
+#define DUMMY_DAT ("qwertyuiopasdfghjklzxcvbnmmmmmm,./1234567890-="     \
+                   "qwertyuiopasdfghjklzxcvbnm,./1234567890")
+
+#define ESC       ((uint8)27)
+
+void cmd_print_help(void);
+void cmd_adc_stats(void);
+void cmd_stressful_adc_stats(void);
+void cmd_everything(void);
+void cmd_serial1_serial3(void);
+void cmd_gpio_monitoring(void);
+void cmd_sequential_adc_reads(void);
+void cmd_gpio_qa(void);
+void cmd_sequential_gpio_writes(void);
+void cmd_gpio_toggling(void);
+void cmd_sequential_pwm_test(void);
+void cmd_pwm_sweep(void);
+void cmd_servo_sweep(void);
+
+void measure_adc_noise(uint8 pin);
+void fast_gpio(int pin);
+void do_serials(HardwareSerial **serials, int n, unsigned baud);
+void init_all_timers(uint16 prescale);
 
 void setup() {
-    /* Set up the LED to blink  */
-    pinMode(LED_PIN, OUTPUT);
+    // Set up the LED to blink
+    pinMode(BOARD_LED_PIN, OUTPUT);
 
-    /* Start up the serial ports */
+    // Start up the serial ports
     Serial1.begin(9600);
     Serial2.begin(9600);
     Serial3.begin(9600);
 
-    /* Send a message out over COMM interface */
+    // Send a message out over COMM interface
     COMM.println(" ");
     COMM.println("    __   __             _      _");
-    COMM.println("   |  \\/  | __ _ _ __ | | ___| |"); 
+    COMM.println("   |  \\/  | __ _ _ __ | | ___| |");
     COMM.println("   | |\\/| |/ _` | '_ \\| |/ _ \\ |");
     COMM.println("   | |  | | (_| | |_) | |  __/_|");
     COMM.println("   |_|  |_|\\__,_| .__/|_|\\___(_)");
@@ -55,409 +82,169 @@ void setup() {
     COMM.println("");
     COMM.println("");
     COMM.println("Maple interactive test program (type '?' for help)");
-    COMM.println("------------------------------------------------------------");
+    COMM.println("----------------------------------------------------------");
     COMM.print("> ");
 
 }
 
-void loop() {
-    toggle ^= 1;
-    digitalWrite(LED_PIN, toggle);
+void loop () {
+    toggleLED();
     delay(100);
 
     while(COMM.available()) {
-        input = COMM.read();
+        uint8 input = COMM.read();
         COMM.println(input);
+
         switch(input) {
-            case 13:  // Carriage Return
-                break;
-            case 32:  // ' '
-                COMM.println("spacebar, nice!");
-                break;
-            case 63:  // '?'
-            case 104: // 'h'
-                print_help();
-                break;
-            case 117: // 'u'
-                SerialUSB.println("Hello World!");
-                break;
-            case 119: // 'w'
-                Serial1.println("Hello World!");
-                Serial2.println("Hello World!");
-                Serial3.println("Hello World!");
-                break;
-            case 109: // 'm'
-                COMM.println("Testing 57600 baud on USART1 and USART3. Press enter.");
-                Serial1.begin(57600);
-                Serial3.begin(57600);
-                while(!COMM.available()) {
-                    Serial1.println(DUMMY_DAT);
-                    Serial3.println(DUMMY_DAT);
-                    if(Serial1.available()) {
-                        Serial1.println(Serial1.read());
-                        delay(1000);
-                    }
-                    if(Serial3.available()) {
-                        Serial3.println(Serial3.read());
-                        delay(1000);
-                    }
-                }
-                COMM.read();
-                COMM.println("Testing 115200 baud on USART1 and USART3. Press enter.");
-                Serial1.begin(115200);
-                Serial3.begin(115200);
-                while(!COMM.available()) {
-                    Serial1.println(DUMMY_DAT);
-                    Serial3.println(DUMMY_DAT);
-                    if(Serial1.available()) {
-                        Serial1.println(Serial1.read());
-                        delay(1000);
-                    }
-                    if(Serial3.available()) {
-                        Serial3.println(Serial3.read());
-                        delay(1000);
-                    }
-                }
-                COMM.read();
-                COMM.println("Testing 9600 baud on USART1 and USART3. Press enter.");
-                Serial1.begin(9600);
-                Serial3.begin(9600);
-                while(!COMM.available()) {
-                    Serial1.println(DUMMY_DAT);
-                    Serial3.println(DUMMY_DAT);
-                    if(Serial1.available()) {
-                        Serial1.println(Serial1.read());
-                        delay(1000);
-                    }
-                    if(Serial3.available()) {
-                        Serial3.println(Serial3.read());
-                        delay(1000);
-                    }
-                }
-                COMM.read();
-                COMM.println("Resetting USART1 and USART3...");
-                Serial1.begin(9600);
-                Serial3.begin(9600);
-                break;
-            case 46:  // '.'
-                while(!COMM.available()) {
-                    Serial1.print(".");
-                    Serial2.print(".");
-                    Serial3.print(".");
-                    SerialUSB.print(".");
-                }
-                break;
-            case 110: // 'n'
-                COMM.println("Taking ADC noise stats...");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX headers
-                for(uint32 i = 2; i<sizeof(adc_pins); i++) {
-                    delay(5);
-                    do_noise(adc_pins[i]);
-                }
-                break;
-            case 78: // 'N'
-                COMM.println("Taking ADC noise stats under duress...");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX headers
-                for(uint32 i = 2; i<sizeof(adc_pins); i++) {
-                    // spool up PWM
-                    for(uint32 j = 2; j<(uint32)sizeof(pwm_pins); j++) {
-                        if(adc_pins[i] != pwm_pins[j]) {
-                            pinMode(pwm_pins[j],PWM);
-                            pwmWrite(pwm_pins[j], 1000 + i);
-                        }
-                    }
-                    SerialUSB.print(DUMMY_DAT);
-                    SerialUSB.print(DUMMY_DAT);
-                    do_noise(adc_pins[i]);
-                    for(uint32 j = 2; j<(uint32)sizeof(pwm_pins); j++) {
-                        if(adc_pins[i] != pwm_pins[j]) {
-                            pinMode(pwm_pins[j],OUTPUT);
-                            digitalWrite(pwm_pins[j],0);
-                        }
-                    }
-                }
-                break;
-            case 101: // 'e'
-                do_everything();
-                break;
-            case 87:  // 'W'
-                while(!COMM.available()) {
-                    Serial1.print(DUMMY_DAT);
-                    Serial2.print(DUMMY_DAT);
-                    Serial3.print(DUMMY_DAT);
-                }
-                break;
-            case 85:  // 'U'
-                COMM.println("Dumping data to USB. Press enter.");
-                while(!COMM.available()) {
-                    SerialUSB.print(DUMMY_DAT);
-                }
-                break;
-            case 103:  // 'g'
-                COMM.print("Sequentially testing GPIO write on all possible headers except D0 and D1.");
-                COMM.println("Anything for next, ESC to stop.");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX headers
-                for(uint32 i = 2; i<NUM_GPIO; i++) {
-                    COMM.print("GPIO write out on header D");
-                    COMM.print(i, DEC);
-                    COMM.println("...");
-                    pinMode(i, OUTPUT);
-                    digitalWrite(i, tiddle);
-                    while(!COMM.available()) { 
-                        tiddle ^= 1;
-                        digitalWrite(i, tiddle);
-                    }
-                    digitalWrite(i, 0);
-                    if((uint8)COMM.read() == (uint8)27) break;      // ESC
-                }
-                break;
-            case 71:  // 'G'
-                COMM.println("Flipping all GPIOs at the same time. Press enter.");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX headers
-                for(uint32 i = 2; i<NUM_GPIO; i++) {
-                    pinMode(i, OUTPUT);
-                }
-                while(!COMM.available()) { 
-                    tiddle ^= 1;
-                    for(uint32 i = 2; i<NUM_GPIO; i++) {
-                        digitalWrite(i, tiddle);
-                    }
-                }
-                for(uint32 i = 2; i<NUM_GPIO; i++) {
-                    digitalWrite(i, 0);
-                }
-                if((uint8)COMM.read() == (uint8)27) break;      // ESC
-                break;
-            case 102:  // 'f'
-                COMM.println("Wiggling GPIO header D4 as fast as possible in bursts. Press enter.");
-                pinMode(4,OUTPUT);
-                while(!COMM.available()) {
-                    do_fast_gpio();
-                    delay(1);
-                }
-                break;
-            case 112:  // 'p'
-                COMM.println("Sequentially testing PWM on all possible headers except D0 and D1. ");
-                COMM.println("Anything for next, ESC to stop.");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX headers
-                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
-                    COMM.print("PWM out on header D");
-                    COMM.print(pwm_pins[i], DEC);
-                    COMM.println("...");
-                    pinMode(pwm_pins[i], PWM);
-                    pwmWrite(pwm_pins[i], 16000);
-                    while(!COMM.available()) { delay(10); }
-                    pinMode(pwm_pins[i], OUTPUT);
-                    digitalWrite(pwm_pins[i], 0);
-                    if((uint8)COMM.read() == (uint8)27) break;      // ESC
-                }
-                break;
-            case 80:  // 'P'
-                COMM.println("Testing all PWM ports with a sweep. Press enter.");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX pins
-                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
-                    pinMode(pwm_pins[i], PWM);
-                    pwmWrite(pwm_pins[i], 4000);
-                }
-                while(!COMM.available()) { 
-                    rate += 20;
-                    if(rate > 65500) rate = 0;
-                    for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
-                        pwmWrite(pwm_pins[i], rate);
-                    }
-                    delay(1);
-                }
-                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
-                    pinMode(pwm_pins[i], OUTPUT);
-                }
-                break;
-            case 95:  // '_'
-                COMM.println("Delaying for 5 seconds...");
-                delay(5000);
-                break;
-            case 116:  // 't'
-                break;
-            case 84:  // 'T'
-                break;
-            case 115:  // 's'
-                COMM.println("Testing all PWM headers with a servo sweep. Press enter.");
-                COMM.println("");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                timer_init(1, 21);
-                timer_init(2, 21);
-                timer_init(3, 21);
-                timer_init(4, 21);
-                // make sure to skip the TX/RX headers
-                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
-                    pinMode(pwm_pins[i], PWM);
-                    pwmWrite(pwm_pins[i], 4000);
-                }
-                // 1.25ms = 4096counts = 0deg
-                // 1.50ms = 4915counts = 90deg
-                // 1.75ms = 5734counts = 180deg
-                rate = 4096;
-                while(!COMM.available()) { 
-                    rate += 20;
-                    if(rate > 5734) rate = 4096;
-                    for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
-                        pwmWrite(pwm_pins[i], rate);
-                    }
-                    delay(20);
-                }
-                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
-                    pinMode(pwm_pins[i], OUTPUT);
-                }
-                timer_init(1, 1);
-                timer_init(2, 1);
-                timer_init(3, 1);
-                timer_init(4, 1);
-                Serial2.begin(9600);
-                COMM.println("(reset serial port)");
-                break;
-            case 100:  // 'd'
-                COMM.println("Pulling down D4, D22");
-                pinMode(22,INPUT_PULLDOWN);
-                pinMode(4,INPUT_PULLDOWN);
-                while(!COMM.available()) {
-                    delay(1);
-                }
-                COMM.read();
-                COMM.println("Pulling up D4, D22");
-                pinMode(22,INPUT_PULLUP);
-                pinMode(4,INPUT_PULLUP);
-                while(!COMM.available()) {
-                    delay(1);
-                }
-                COMM.read();
-                pinMode(4,OUTPUT); 
-                break;
-            case 105:  // 'i'
-                break;
-            case 73:  // 'I'
-                break;
-            case 114:  // 'r'
-                COMM.println("Monitoring GPIO read state changes. Press enter.");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX headers
-                for(int i = 2; i<NUM_GPIO; i++) {
-                    pinMode(i, INPUT_PULLDOWN);
-                    gpio_state[i] = (uint8)digitalRead(i);
-                }
-                while(!COMM.available()) { 
-                    for(int i = 2; i<NUM_GPIO; i++) {
-                        tiddle = (uint8)digitalRead(i);
-                        if(tiddle != gpio_state[i]) {
-                            COMM.print("State change on header D");
-                            COMM.print(i,DEC);
-                            if(tiddle) COMM.println(":\tHIGH");
-                            else COMM.println(":\tLOW");
-                            gpio_state[i] = tiddle;
-                        }
-                    }
-                }
-                for(int i = 2; i<NUM_GPIO; i++) {
-                    pinMode(i, OUTPUT);
-                }
-                break;
-            case 97: // 'a'
-                COMM.print("Sequentially reading each ADC port.");
-                COMM.println("Anything for next, ESC to stop.");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX headers
-                for(uint32 i = 2; i<sizeof(adc_pins); i++) {
-                    COMM.print("Reading on header D");
-                    COMM.print(adc_pins[i], DEC);
-                    COMM.println("...");
-                    pinMode(adc_pins[i], INPUT_ANALOG);
-                    while(!COMM.available()) { 
-                        sample = analogRead(adc_pins[i]);
-                        COMM.print(adc_pins[i],DEC);
-                        COMM.print("\t");
-                        COMM.print(sample,DEC);
-                        COMM.print("\t");
-                        COMM.print("|");
-                        for(int j = 0; j<4096; j+= 100) {
-                            if(sample >= j) COMM.print("#");
-                            else COMM.print(" ");
-                        } 
-                        COMM.print("| ");
-                        for(int j = 0; j<12; j++) {
-                            if(sample & (1 << (11-j))) COMM.print("1");
-                            else COMM.print("0");
-                        }
-                        COMM.println("");
-                    }
-                    pinMode(adc_pins[i], OUTPUT);
-                    digitalWrite(adc_pins[i], 0);
-                    if((uint8)COMM.read() == (uint8)27) break;      // ESC
-                }
-                break;
-            case 43:  // '+'
-                COMM.println("Doing QA testing for 37 GPIO pins...");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                for(int i = 0; i<NUM_GPIO; i++) {
-                    pinMode(i, INPUT);
-                    gpio_state[i] = 0; //(uint8)digitalRead(i);
-                }
-                COMM.println("Waiting to start...");
-                while(digitalRead(0) != 1 && !COMM.available()) {
-                    continue;
-                }
-                for(int i=0; i<38; i++) {
-                    if(i==13) {
-                        COMM.println("Not Checking D13 (LED)");
-                        continue;
-                    }
-                    COMM.print("Checking D");
-                    COMM.print(i,DEC);
-                    while(digitalRead(i) == 0) continue;
-                    for(int j=0; j<NUM_GPIO; j++) {
-                        if(digitalRead(j) && j!=i) {
-                            COMM.print(": FAIL ########################### D");
-                            COMM.println(j, DEC);
-                            break;
-                        }
-                    }
-                    while(digitalRead(i) == 1) continue;
-                    for(int j=0; j<NUM_GPIO; j++) {
-                        if(digitalRead(j) && j!=i) {
-                            COMM.print(": FAIL ########################### D");
-                            COMM.println(j, DEC);
-                            break;
-                        }
-                    }
-                    COMM.println(": Ok!");
-                }
-                for(int i = 0; i<NUM_GPIO; i++) {
-                    pinMode(i, OUTPUT);
-                    digitalWrite(i, 0);
-                }
-                break;
-            default:
-                COMM.print("Unexpected: ");
-                COMM.println(input);
+        case '\r':
+            break;
+
+        case ' ':
+            COMM.println("spacebar, nice!");
+            break;
+
+        case '?':
+        case 'h':
+            cmd_print_help();
+            break;
+
+        case 'u':
+            SerialUSB.println("Hello World!");
+            break;
+
+        case 'w':
+            Serial1.println("Hello World!");
+            Serial2.println("Hello World!");
+            Serial3.println("Hello World!");
+            break;
+
+        case 'm':
+            cmd_serial1_serial3();
+            break;
+
+        case '.':
+            while(!COMM.available()) {
+                Serial1.print(".");
+                Serial2.print(".");
+                Serial3.print(".");
+                SerialUSB.print(".");
+            }
+            break;
+
+        case 'n':
+            cmd_adc_stats();
+            break;
+
+        case 'N':
+            cmd_stressful_adc_stats();
+            break;
+
+        case 'e':
+            cmd_everything();
+            break;
+
+        case 'W':
+            while(!COMM.available()) {
+                Serial1.print(DUMMY_DAT);
+                Serial2.print(DUMMY_DAT);
+                Serial3.print(DUMMY_DAT);
+            }
+            break;
+
+        case 'U':
+            COMM.println("Dumping data to USB. Press any key.");
+            while(!COMM.available()) {
+                SerialUSB.print(DUMMY_DAT);
+            }
+            break;
+
+        case 'g':
+            cmd_sequential_gpio_writes();
+            break;
+
+        case 'G':
+            cmd_gpio_toggling();
+            break;
+
+        case 'f':
+            COMM.println("Wiggling D4 as fast as possible in bursts. "
+                         "Press any key.");
+            pinMode(4,OUTPUT);
+            while(!COMM.available()) {
+                fast_gpio(4);
+                delay(1);
+            }
+            break;
+
+        case 'p':
+            cmd_sequential_pwm_test();
+            break;
+
+        case 'P':
+            cmd_pwm_sweep();
+            break;
+
+        case '_':
+            COMM.println("Delaying for 5 seconds...");
+            delay(5000);
+            break;
+
+        case 't':               // TODO
+            break;
+
+        case 'T':               // TODO
+            break;
+
+        case 's':
+            cmd_servo_sweep();
+            break;
+
+        case 'd':
+            COMM.println("Pulling down D4, D22. Press any key.");
+            pinMode(22,INPUT_PULLDOWN);
+            pinMode(4,INPUT_PULLDOWN);
+            while(!COMM.available()) {
+                continue;
+            }
+            COMM.println("Pulling up D4, D22. Press any key.");
+            pinMode(22,INPUT_PULLUP);
+            pinMode(4,INPUT_PULLUP);
+            while(!COMM.available()) {
+                continue;
+            }
+            COMM.read();
+            pinMode(4,OUTPUT);
+            break;
+
+        case 'i':               // TODO
+            break;
+
+        case 'I':               // TODO
+            break;
+
+        case 'r':
+            cmd_gpio_monitoring();
+            break;
+
+        case 'a':
+            cmd_sequential_adc_reads();
+            break;
+
+        case '+':
+            cmd_gpio_qa();
+            break;
+
+        default: // -------------------------------
+            COMM.print("Unexpected: ");
+            COMM.print(input);
+            COMM.println(", press h for help.");
         }
+
         COMM.print("> ");
     }
 }
 
-void print_help(void) {
+void cmd_print_help(void) {
     COMM.println("");
     //COMM.println("Command Listing\t(# means any digit)");
     COMM.println("Command Listing");
@@ -469,28 +256,29 @@ void print_help(void) {
     COMM.println("\ta: show realtime ADC info");
     COMM.println("\t.: echo '.' until new input");
     COMM.println("\tu: print Hello World on USB");
-    COMM.println("\t_: try to do as little as possible for a couple seconds (delay)");
+    COMM.println("\t_: do as little as possible for a couple seconds (delay)");
     COMM.println("\tp: test all PWM channels sequentially");
     COMM.println("\tW: dump data as fast as possible on all 3 USARTS");
     COMM.println("\tU: dump data as fast as possible on USB");
     COMM.println("\tg: toggle all GPIOs sequentialy");
     COMM.println("\tG: toggle all GPIOs at the same time");
     COMM.println("\tf: toggle GPIO D4 as fast as possible in bursts");
-    COMM.println("\tP: test all PWM channels at the same time with different speeds/sweeps");
-    COMM.println("\tr: read in GPIO status changes and print them in realtime");
-    COMM.println("\ts: output a sweeping SERVO PWM on all PWM channels");
-    COMM.println("\tm: output serial data dumps on USART1 and USART3 with various rates");
+    COMM.println("\tP: simultaneously test all PWM channels with different "
+                 "speeds/sweeps");
+    COMM.println("\tr: Monitor and print GPIO status changes");
+    COMM.println("\ts: output a sweeping servo PWM on all PWM channels");
+    COMM.println("\tm: output data on USART1 and USART3 with various rates");
     COMM.println("\t+: test shield mode (for QA, will disrupt Serial2!)");
 
     COMM.println("Unimplemented:");
     COMM.println("\te: do everything all at once until new input");
-    COMM.println("\tt: output a 1khz squarewave on all GPIOs as well as possible");
-    COMM.println("\tT: output a 1hz squarewave on all GPIOs as well as possible");
+    COMM.println("\tt: output a 1khz squarewave on all GPIOs");
+    COMM.println("\tT: output a 1hz squarewave on all GPIOs");
     COMM.println("\ti: print out a bunch of info about system state");
     COMM.println("\tI: print out status of all headers");
 }
 
-void do_noise(uint8 pin) { // TODO    
+void measure_adc_noise(uint8 pin) { // TODO
     uint16 data[100];
     float mean = 0;
     //float stddev = 0;
@@ -512,12 +300,43 @@ void do_noise(uint8 pin) { // TODO
     COMM.print("header: D"); COMM.print(pin,DEC);
     COMM.print("\tn: "); COMM.print(100,DEC);
     COMM.print("\tmean: "); COMM.print(mean);
-    COMM.print("\tvar: "); COMM.println(M2/99.0);
+    COMM.print("\tvariance: "); COMM.println(M2/99.0);
     pinMode(pin, OUTPUT);
 }
 
-void do_everything(void) { // TODO    
-    // TODO
+void cmd_adc_stats(void) {
+    COMM.println("Taking ADC noise stats...");
+    digitalWrite(BOARD_LED_PIN, 0);
+    for(uint32 i = 0; i<sizeof(adc_pins); i++) {
+        delay(5);
+        measure_adc_noise(adc_pins[i]);
+    }
+}
+
+void cmd_stressful_adc_stats(void) {
+    COMM.println("Taking ADC noise stats under duress...");
+    digitalWrite(BOARD_LED_PIN, 0);
+    for(uint32 i = 0; i<sizeof(adc_pins); i++) {
+        // spool up PWM
+        for(uint32 j = 2; j<(uint32)sizeof(pwm_pins); j++) {
+            if(adc_pins[i] != pwm_pins[j]) {
+                pinMode(pwm_pins[j],PWM);
+                pwmWrite(pwm_pins[j], 1000 + i);
+            }
+        }
+        SerialUSB.print(DUMMY_DAT);
+        SerialUSB.print(DUMMY_DAT);
+        measure_adc_noise(adc_pins[i]);
+        for(uint32 j = 2; j<(uint32)sizeof(pwm_pins); j++) {
+            if(adc_pins[i] != pwm_pins[j]) {
+                pinMode(pwm_pins[j],OUTPUT);
+                digitalWrite(pwm_pins[j],0);
+            }
+        }
+    }
+}
+
+void cmd_everything(void) { // TODO
     // print to usart
     // print to usb
     // toggle gpios
@@ -525,26 +344,284 @@ void do_everything(void) { // TODO
     COMM.println("(unimplemented)");
 }
 
-void do_fast_gpio(void) {
-    // header D4 is on port B and is pin 5 on the uC
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
+void fast_gpio(int maple_pin) {
+    GPIO_Port *port = PIN_MAP[maple_pin].port;
+    uint32 pin = PIN_MAP[maple_pin].pin;
+
+    gpio_write_bit(port, pin, 1); gpio_write_bit(port, pin, 0);
+    gpio_write_bit(port, pin, 1); gpio_write_bit(port, pin, 0);
+    gpio_write_bit(port, pin, 1); gpio_write_bit(port, pin, 0);
+    gpio_write_bit(port, pin, 1); gpio_write_bit(port, pin, 0);
+    gpio_write_bit(port, pin, 1); gpio_write_bit(port, pin, 0);
+    gpio_write_bit(port, pin, 1); gpio_write_bit(port, pin, 0);
+    gpio_write_bit(port, pin, 1); gpio_write_bit(port, pin, 0);
+    gpio_write_bit(port, pin, 1); gpio_write_bit(port, pin, 0);
+    gpio_write_bit(port, pin, 1); gpio_write_bit(port, pin, 0);
+    gpio_write_bit(port, pin, 1); gpio_write_bit(port, pin, 0);
+    gpio_write_bit(port, pin, 1); gpio_write_bit(port, pin, 0);
+    gpio_write_bit(port, pin, 1); gpio_write_bit(port, pin, 0);
+    gpio_write_bit(port, pin, 1); gpio_write_bit(port, pin, 0);
+}
+
+void cmd_serial1_serial3(void) {
+    HardwareSerial *serial_1_and_3[] = {&Serial1, &Serial3};
+
+    COMM.println("Testing 57600 baud on USART1 and USART3. Press any key.");
+    do_serials(serial_1_and_3, 2, 57600);
+    COMM.read();
+
+    COMM.println("Testing 115200 baud on USART1 and USART3. Press any key.");
+    do_serials(serial_1_and_3, 2, 115200);
+    COMM.read();
+
+    COMM.println("Testing 9600 baud on USART1 and USART3. Press any key.");
+    do_serials(serial_1_and_3, 2, 9600);
+    COMM.read();
+
+    COMM.println("Resetting USART1 and USART3...");
+    Serial1.begin(9600);
+    Serial3.begin(9600);
+}
+
+void do_serials(HardwareSerial **serials, int n, unsigned baud) {
+    for (int i = 0; i < n; i++) {
+        serials[i]->begin(9600);
+    }
+    while (!COMM.available()) {
+        for (int i = 0; i < n; i++) {
+            serials[i]->println(DUMMY_DAT);
+            if (serials[i]->available()) {
+                serials[i]->println(serials[i]->read());
+                delay(1000);
+            }
+        }
+    }
+}
+
+void cmd_gpio_monitoring(void) {
+    COMM.println("Monitoring GPIO read state changes. Press any key.");
+    digitalWrite(BOARD_LED_PIN, 0);
+    // make sure to skip the TX/RX headers
+    for(int i = 2; i<NR_GPIO_PINS; i++) {
+        pinMode(i, INPUT_PULLDOWN);
+        gpio_state[i] = (uint8)digitalRead(i);
+    }
+    while(!COMM.available()) {
+        for(int i = 2; i<NR_GPIO_PINS; i++) {
+            uint8 current_state = (uint8)digitalRead(i);
+            if(current_state != gpio_state[i]) {
+                COMM.print("State change on header D");
+                COMM.print(i,DEC);
+                if(current_state) COMM.println(":\tHIGH");
+                else COMM.println(":\tLOW");
+                gpio_state[i] = current_state;
+            }
+        }
+    }
+    for(int i = 2; i<NR_GPIO_PINS; i++) {
+        pinMode(i, OUTPUT);
+    }
 }
 
+void cmd_sequential_adc_reads(void) {
+    COMM.print("Sequentially reading each ADC port.");
+    COMM.println("Press any key for next port, or ESC to stop.");
+    digitalWrite(LED_PIN, 0);
+    // make sure to skip the TX/RX headers
+    for(uint32 i = 2; i<sizeof(adc_pins); i++) {
+        COMM.print("Reading on header D");
+        COMM.print(adc_pins[i], DEC);
+        COMM.println("...");
+        pinMode(adc_pins[i], INPUT_ANALOG);
+        while(!COMM.available()) {
+            int sample = analogRead(adc_pins[i]);
+            COMM.print(adc_pins[i],DEC);
+            COMM.print("\t");
+            COMM.print(sample,DEC);
+            COMM.print("\t");
+            COMM.print("|");
+            for(int j = 0; j<4096; j+= 100) {
+                if(sample >= j) COMM.print("#");
+                else COMM.print(" ");
+            }
+            COMM.print("| ");
+            for(int j = 0; j<12; j++) {
+                if(sample & (1 << (11-j))) COMM.print("1");
+                else COMM.print("0");
+            }
+            COMM.println("");
+        }
+        pinMode(adc_pins[i], OUTPUT);
+        digitalWrite(adc_pins[i], 0);
+        if((uint8)COMM.read() == ESC) break;
+    }
+}
+
+void cmd_gpio_qa(void) {
+    COMM.println("Doing QA testing for most GPIO pins...");
+    digitalWrite(BOARD_LED_PIN, 0);
+    for(int i = 0; i<NR_GPIO_PINS; i++) {
+        pinMode(i, INPUT);
+        gpio_state[i] = 0;
+    }
+    COMM.println("Waiting to start...");
+    while(digitalRead(0) != 1 && !COMM.available()) {
+        continue;
+    }
+    for(int i=0; i<38; i++) {
+        if(i == BOARD_LED_PIN) {
+            COMM.println("Not checking LED");
+            continue;
+        }
+        COMM.print("Checking D");
+        COMM.print(i,DEC);
+        while(digitalRead(i) == 0) continue;
+        for(int j=0; j<NR_GPIO_PINS; j++) {
+            if(digitalRead(j) && j!=i) {
+                COMM.print(": FAIL ########################### D");
+                COMM.println(j, DEC);
+                break;
+            }
+        }
+        while(digitalRead(i) == 1) continue;
+        for(int j=0; j<NR_GPIO_PINS; j++) {
+            if(digitalRead(j) && j!=i) {
+                COMM.print(": FAIL ########################### D");
+                COMM.println(j, DEC);
+                break;
+            }
+        }
+        COMM.println(": Ok!");
+    }
+    for(int i = 0; i<NR_GPIO_PINS; i++) {
+        pinMode(i, OUTPUT);
+        digitalWrite(i, 0);
+    }
+}
+
+void cmd_sequential_gpio_writes(void) {
+    COMM.print("Sequentially toggling all pins except D0, D1. ");
+    COMM.println("Anything for next, ESC to stop.");
+    digitalWrite(BOARD_LED_PIN, 0);
+    // make sure to skip the TX/RX headers
+    for(uint32 i = 2; i<NR_GPIO_PINS; i++) {
+        COMM.print("GPIO write out on header D");
+        COMM.print(i, DEC);
+        COMM.println("...");
+        pinMode(i, OUTPUT);
+        do {
+            togglePin(i);
+        } while(!COMM.available());
+        digitalWrite(i, 0);
+        if((uint8)COMM.read() == ESC) break;
+    }
+}
+
+void cmd_gpio_toggling(void) {
+    COMM.println("Toggling all GPIOs simultaneously. Press any key.");
+    digitalWrite(BOARD_LED_PIN, 0);
+    // make sure to skip the TX/RX headers
+    for(uint32 i = 2; i<NR_GPIO_PINS; i++) {
+        pinMode(i, OUTPUT);
+    }
+    while(!COMM.available()) {
+        for(uint32 i = 2; i<NR_GPIO_PINS; i++) {
+            togglePin(i);
+        }
+    }
+    for(uint32 i = 2; i<NR_GPIO_PINS; i++) {
+        digitalWrite(i, 0);
+    }
+}
+
+void cmd_sequential_pwm_test(void) {
+    COMM.println("Sequentially testing PWM on all possible headers "
+                 "except D0 and D1.");
+    COMM.println("Press any key for next, ESC to stop.");
+    digitalWrite(BOARD_LED_PIN, 0);
+    // make sure to skip the TX/RX headers
+    for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
+        COMM.print("PWM out on header D");
+        COMM.print(pwm_pins[i], DEC);
+        COMM.println("...");
+        pinMode(pwm_pins[i], PWM);
+        pwmWrite(pwm_pins[i], 16000);
+        while(!COMM.available()) { delay(10); }
+        pinMode(pwm_pins[i], OUTPUT);
+        digitalWrite(pwm_pins[i], 0);
+        if((uint8)COMM.read() == ESC) break;
+    }
+}
+
+void cmd_pwm_sweep(void) {
+    COMM.println("Testing all PWM ports with a sweep. Press any key.");
+    digitalWrite(BOARD_LED_PIN, 0);
+    // make sure to skip the TX/RX pins
+    for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
+        pinMode(pwm_pins[i], PWM);
+        pwmWrite(pwm_pins[i], 4000);
+    }
+    while(!COMM.available()) {
+        rate += 20;
+        if(rate > 65500) rate = 0;
+        for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
+            pwmWrite(pwm_pins[i], rate);
+        }
+        delay(1);
+    }
+    for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
+        pinMode(pwm_pins[i], OUTPUT);
+    }
+}
+
+void cmd_servo_sweep(void) {
+    COMM.println("Testing all PWM headers with a servo sweep. Press any key.");
+    COMM.println();
+    digitalWrite(BOARD_LED_PIN, 0);
+    init_all_timers(21);
+    // make sure to skip the TX/RX headers
+    for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
+        pinMode(pwm_pins[i], PWM);
+        pwmWrite(pwm_pins[i], 4000);
+    }
+    // 1.25ms = 4096counts = 0deg
+    // 1.50ms = 4915counts = 90deg
+    // 1.75ms = 5734counts = 180deg
+    rate = 4096;
+    while(!COMM.available()) {
+        rate += 20;
+        if(rate > 5734) rate = 4096;
+        for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
+            pwmWrite(pwm_pins[i], rate);
+        }
+        delay(20);
+    }
+    for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
+        pinMode(pwm_pins[i], OUTPUT);
+    }
+    init_all_timers(1);
+    Serial2.begin(9600);
+    COMM.println("(reset serial port)");
+}
+
+void init_all_timers(uint16 prescale) {
+    timer_init(TIMER1, prescale);
+    timer_init(TIMER2, prescale);
+    timer_init(TIMER3, prescale);
+#if NR_TIMERS >= 4
+    timer_init(TIMER4, prescale);
+#elif NR_TIMERS >= 8 // TODO test this on maple native
+    timer_init(TIMER5, prescale);
+    timer_init(TIMER6, prescale);
+    timer_init(TIMER7, prescale);
+    timer_init(TIMER8, prescale);
+#endif
+}
+
+
 // Force init to be called *first*, i.e. before static object allocation.
 // Otherwise, statically allocated object that need libmaple may fail.
- __attribute__(( constructor )) void premain() {
+__attribute__(( constructor )) void premain() {
     init();
 }
 
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