path: root/tests/test-session.cpp

// Interactive Test Session for LeafLabs Maple
// Copyright (c) 2010 LeafLabs LLC.
//
// Useful for testing Maple features and troubleshooting.
// Communicates over SerialUSB.

#include <string.h>

#include <wirish/wirish.h>

// ASCII escape character
#define ESC       ((uint8)27)

// Default USART baud rate
#define BAUD     9600

// Number of times to sample a pin per ADC noise measurement
#define N_ADC_NOISE_MEASUREMENTS 40

uint8 gpio_state[BOARD_NR_GPIO_PINS];

const char* dummy_data = ("123456789012345678901234567890\r\n"
                          "123456789012345678901234567890\r\n");

// Commands
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_serial1_echo(void);
void cmd_gpio_monitoring(void);
void cmd_sequential_adc_reads(void);
void cmd_gpio_qa(void);
void cmd_sequential_gpio_toggling(void);
void cmd_gpio_toggling(void);
void cmd_sequential_debug_gpio_toggling(void);
void cmd_debug_gpio_toggling(void);
void cmd_but_test(void);
void cmd_sequential_pwm_test(void);
void cmd_servo_sweep(void);
void cmd_board_info(void);

// Helper functions
void measure_adc_noise(uint8 pin);
void fast_gpio(int pin);
void serial_baud_test(HardwareSerial **serials, int n, unsigned baud);
void serial_echo_test(HardwareSerial *serial, unsigned baud);
void init_all_timers(uint16 prescale);
void enable_usarts(void);
void disable_usarts(void);
void print_board_array(const char* msg, const uint8 arr[], int len);

// -- setup() and loop() ------------------------------------------------------

void setup() {
    // Set up the LED to blink
    pinMode(BOARD_LED_PIN, OUTPUT);

    // Start up the serial ports
    Serial1.begin(BAUD);
    Serial2.begin(BAUD);
    Serial3.begin(BAUD);

    // Send a message out over SerialUSB interface
    SerialUSB.println(" ");
    SerialUSB.println("    __   __             _      _");
    SerialUSB.println("   |  \\/  | __ _ _ __ | | ___| |");
    SerialUSB.println("   | |\\/| |/ _` | '_ \\| |/ _ \\ |");
    SerialUSB.println("   | |  | | (_| | |_) | |  __/_|");
    SerialUSB.println("   |_|  |_|\\__,_| .__/|_|\\___(_)");
    SerialUSB.println("                 |_|");
    SerialUSB.println("                              by leaflabs");
    SerialUSB.println("");
    SerialUSB.println("");
    SerialUSB.println("Maple interactive test program (type '?' for help)");
    SerialUSB.println("-------------------------------------------------------"
                      "---");
    SerialUSB.print("> ");

}

void loop () {
    toggleLED();
    delay(250);

    while (SerialUSB.available()) {
        uint8 input = SerialUSB.read();
        SerialUSB.println((char)input);

        switch(input) {
        case '\r':
            break;

        case ' ':
            SerialUSB.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 'E':
            cmd_serial1_echo();
            break;

        case '.':
            while (!SerialUSB.available()) {
                Serial1.print(".");
                Serial2.print(".");
                Serial3.print(".");
                SerialUSB.print(".");
            }
            break;

        case 'd':
            SerialUSB.println("Disabling USB.  Press BUT to re-enable.");
            SerialUSB.end();
            pinMode(BOARD_BUTTON_PIN, INPUT);
            while (!isButtonPressed())
                ;
            SerialUSB.begin();
            break;

        case 'n':
            cmd_adc_stats();
            break;

        case 'N':
            cmd_stressful_adc_stats();
            break;

        case 'e':
            cmd_everything();
            break;

        case 'W':
            while (!SerialUSB.available()) {
                Serial1.print(dummy_data);
                Serial2.print(dummy_data);
                Serial3.print(dummy_data);
            }
            break;

        case 'U': {
            SerialUSB.println("Dumping data to USB. Press any key.");
            int nprints = 0;
            int start = millis();
            while (!SerialUSB.available()) {
                SerialUSB.print(dummy_data);
                nprints++;
            }
            int elapsed = millis() - start;
            SerialUSB.read();   // consume available character
            size_t nbytes = nprints * strlen(dummy_data);
            SerialUSB.println();
            SerialUSB.print("Sent ");
            SerialUSB.print(nbytes);
            SerialUSB.print(" bytes (");
            SerialUSB.print((nbytes / (double)elapsed) * (1000.0 / 1024.0));
            SerialUSB.println(" kB/sec)");
        }
            break;

        case 'g':
            cmd_sequential_gpio_toggling();
            break;

        case 'G':
            cmd_gpio_toggling();
            break;

        case 'j':
            cmd_sequential_debug_gpio_toggling();
            break;

        case 'J':
            cmd_debug_gpio_toggling();
            break;

        case 'B':
            cmd_but_test();
            break;

        case 'f':
            SerialUSB.println("Wiggling D4 as fast as possible in bursts. "
                         "Press any key.");
            pinMode(4, OUTPUT);
            while (!SerialUSB.available()) {
                fast_gpio(4);
                delay(1);
            }
            break;

        case 'p':
            cmd_sequential_pwm_test();
            break;

        case '_':
            SerialUSB.println("Delaying for 5 seconds...");
            delay(5000);
            break;

        // Be sure to update cmd_print_help() if you implement these:

        case 't':               // TODO
            SerialUSB.println("Unimplemented.");
            break;

        case 'T':               // TODO
            SerialUSB.println("Unimplemented.");
            break;

        case 's':
            cmd_servo_sweep();
            break;

        // Be sure to update cmd_print_help() if you implement these:

        case 'i':               // TODO
            SerialUSB.println("Unimplemented.");
            break;

        case 'I':               // TODO
            SerialUSB.println("Unimplemented.");
            break;

        case 'r':
            cmd_gpio_monitoring();
            break;

        case 'a':
            cmd_sequential_adc_reads();
            break;

        case 'b':
            cmd_board_info();
            break;

        case '+':
            cmd_gpio_qa();
            break;

        default: // -------------------------------
            SerialUSB.print("Unexpected byte: 0x");
            SerialUSB.print((int)input, HEX);
            SerialUSB.println(", press h for help.");
        }

        SerialUSB.print("> ");
    }
}

// -- Commands ----------------------------------------------------------------

void cmd_print_help(void) {
    SerialUSB.println("");
    SerialUSB.println("Command Listing");
    SerialUSB.println("\t?: print this menu");
    SerialUSB.println("\td: Disable SerialUSB (press button to re-enable)");
    SerialUSB.println("\th: print this menu");
    SerialUSB.println("\tw: print Hello World on all 3 USARTS");
    SerialUSB.println("\tn: measure noise and do statistics");
    SerialUSB.println("\tN: measure noise and do statistics with background "
                      "stuff");
    SerialUSB.println("\ta: show realtime ADC info");
    SerialUSB.println("\t.: echo '.' until new input");
    SerialUSB.println("\tu: print Hello World on USB");
    SerialUSB.println("\t_: do as little as possible for a couple seconds "
                      "(delay)");
    SerialUSB.println("\tp: test all PWM channels sequentially");
    SerialUSB.println("\tW: dump data as fast as possible on all 3 USARTS");
    SerialUSB.println("\tU: dump data as fast as possible over USB"
                      " and measure data rate");
    SerialUSB.println("\tg: toggle GPIOs sequentially");
    SerialUSB.println("\tG: toggle GPIOs at the same time");
    SerialUSB.println("\tj: toggle debug port GPIOs sequentially");
    SerialUSB.println("\tJ: toggle debug port GPIOs simultaneously");
    SerialUSB.println("\tB: test the built-in button");
    SerialUSB.println("\tf: toggle pin 4 as fast as possible in bursts");
    SerialUSB.println("\tr: monitor and print GPIO status changes");
    SerialUSB.println("\ts: output a sweeping servo PWM on all PWM channels");
    SerialUSB.println("\tm: output data on USART1 and USART3 at various "
                      "baud rates");
    SerialUSB.println("\tE: echo data on USART1 at various baud rates");
    SerialUSB.println("\tb: print information about the board.");
    SerialUSB.println("\t+: test shield mode (for quality assurance testing)");

    SerialUSB.println("Unimplemented:");
    SerialUSB.println("\te: do everything all at once until new input");
    SerialUSB.println("\tt: output a 1khz squarewave on all GPIOs");
    SerialUSB.println("\tT: output a 1hz squarewave on all GPIOs");
    SerialUSB.println("\ti: print out a bunch of info about system state");
    SerialUSB.println("\tI: print out status of all headers");
}

void cmd_adc_stats(void) {
    SerialUSB.println("Taking ADC noise stats.  Press ESC to stop, "
                      "'R' to repeat same pin, anything else for next pin.");

    uint32 i = 0;
    while (i < BOARD_NR_ADC_PINS) {
        measure_adc_noise(boardADCPins[i]);

        SerialUSB.println("----------");
        uint8 c = SerialUSB.read();
        if (c == ESC) {
            break;
        } else if (c != 'r' && c != 'R') {
            i++;
        }
    }
}

void cmd_stressful_adc_stats(void) {
    SerialUSB.println("Taking ADC noise stats under duress.  Press ESC to "
                      "stop, 'R' to repeat same pin, anything else for next "
                      "pin.");

    uint32 i = 0;
    while (i < BOARD_NR_ADC_PINS) {
        // use PWM to create digital noise
        for (uint32 j = 0; j < BOARD_NR_PWM_PINS; j++) {
            if (boardADCPins[i] != boardPWMPins[j]) {
                pinMode(boardPWMPins[j], PWM);
                pwmWrite(boardPWMPins[j], 1000 + i);
            }
        }

        measure_adc_noise(boardADCPins[i]);

        // turn off the noise
        for (uint32 j = 0; j < BOARD_NR_PWM_PINS; j++) {
            if (boardADCPins[i] != boardPWMPins[j]) {
                pinMode(boardPWMPins[j], OUTPUT);
                digitalWrite(boardPWMPins[j], LOW);
            }
        }

        SerialUSB.println("----------");
        uint8 c = SerialUSB.read();
        if (c == ESC) {
            break;
        } else if (c != 'r' && c != 'R') {
            i++;
        }
    }
}

void cmd_everything(void) { // TODO
    // Be sure to update cmd_print_help() if you implement this.

    // print to usart
    // print to usb
    // toggle gpios
    // enable pwm
    SerialUSB.println("Unimplemented.");
}

void cmd_serial1_serial3(void) {
    HardwareSerial *serial_1_and_3[] = {&Serial1, &Serial3};

    SerialUSB.println("Testing 57600 baud on USART1 and USART3. "
                      "Press any key to stop.");
    serial_baud_test(serial_1_and_3, 2, 57600);
    SerialUSB.read();

    SerialUSB.println("Testing 115200 baud on USART1 and USART3. "
                      "Press any key to stop.");
    serial_baud_test(serial_1_and_3, 2, 115200);
    SerialUSB.read();

    SerialUSB.println("Testing 9600 baud on USART1 and USART3. "
                      "Press any key to stop.");
    serial_baud_test(serial_1_and_3, 2, 9600);
    SerialUSB.read();

    SerialUSB.println("Resetting USART1 and USART3...");
    Serial1.begin(BAUD);
    Serial3.begin(BAUD);
}

void cmd_serial1_echo(void) {
    SerialUSB.println("Testing serial echo at various baud rates. "
                      "Press any key for next baud rate, or ESC to quit "
                      "early.");
    while (!SerialUSB.available())
        ;

    if (SerialUSB.read() == ESC) return;
    SerialUSB.println("Testing 115200 baud on USART1.");
    serial_echo_test(&Serial1, 115200);

    if (SerialUSB.read() == ESC) return;
    SerialUSB.println("Testing 57600 baud on USART1.");
    serial_echo_test(&Serial1, 57600);

    if (SerialUSB.read() == ESC) return;
    SerialUSB.println("Testing 9600 baud on USART1.");
    serial_echo_test(&Serial1, 9600);
}

void cmd_gpio_monitoring(void) {
    SerialUSB.println("Monitoring pin state changes. Press any key to stop.");

    for (int i = 0; i < BOARD_NR_GPIO_PINS; i++) {
        if (boardUsesPin(i))
            continue;
        pinMode(i, INPUT_PULLDOWN);
        gpio_state[i] = (uint8)digitalRead(i);
    }

    while (!SerialUSB.available()) {
        for (int i = 0; i < BOARD_NR_GPIO_PINS; i++) {
            if (boardUsesPin(i))
                continue;

            uint8 current_state = (uint8)digitalRead(i);
            if (current_state != gpio_state[i]) {
                SerialUSB.print("State change on pin ");
                SerialUSB.print(i, DEC);
                if (current_state) {
                    SerialUSB.println(":\tHIGH");
                } else {
                    SerialUSB.println(":\tLOW");
                }
                gpio_state[i] = current_state;
            }
        }
    }

    for (int i = 0; i < BOARD_NR_GPIO_PINS; i++) {
        if (boardUsesPin(i))
            continue;
        pinMode(i, OUTPUT);
    }
}

void cmd_sequential_adc_reads(void) {
    SerialUSB.print("Sequentially reading most ADC ports.");
    SerialUSB.println("Press any key for next port, or ESC to stop.");

    for (uint32 i = 0; i < BOARD_NR_ADC_PINS; i++) {
        if (boardUsesPin(boardADCPins[i]))
            continue;

        SerialUSB.print("Reading pin ");
        SerialUSB.print(boardADCPins[i], DEC);
        SerialUSB.println("...");
        pinMode(boardADCPins[i], INPUT_ANALOG);
        while (!SerialUSB.available()) {
            int sample = analogRead(boardADCPins[i]);
            SerialUSB.print(boardADCPins[i], DEC);
            SerialUSB.print("\t");
            SerialUSB.print(sample, DEC);
            SerialUSB.print("\t");
            SerialUSB.print("|");
            for (int j = 0; j < 4096; j += 100) {
                if (sample >= j) {
                    SerialUSB.print("#");
                } else {
                    SerialUSB.print(" ");
                }
            }
            SerialUSB.print("| ");
            for (int j = 0; j < 12; j++) {
                if (sample & (1 << (11 - j))) {
                    SerialUSB.print("1");
                } else {
                    SerialUSB.print("0");
                }
            }
            SerialUSB.println();
        }
        pinMode(boardADCPins[i], OUTPUT);
        digitalWrite(boardADCPins[i], 0);
        if (SerialUSB.read() == ESC)
            break;
    }
}

bool test_single_pin_is_high(int high_pin, const char* err_msg) {
    bool ok = true;
    for (int i = 0; i < BOARD_NR_GPIO_PINS; i++) {
        if (boardUsesPin(i)) continue;

        if (digitalRead(i) == HIGH && i != high_pin) {
            SerialUSB.println();
            SerialUSB.print("\t*** FAILURE! pin ");
            SerialUSB.print(i, DEC);
            SerialUSB.print(' ');
            SerialUSB.println(err_msg);
            ok = false;
        }
    }
    return ok;
}

bool wait_for_low_transition(uint8 pin) {
    uint32 start = millis();
    while (millis() - start < 2000) {
        if (digitalRead(pin) == LOW) {
            return true;
        }
    }
    return false;
}

void cmd_gpio_qa(void) {
    bool all_pins_ok = true;
    const int not_a_pin = -1;
    SerialUSB.println("Doing QA testing for unused GPIO pins.");

    for (int i = 0; i < BOARD_NR_GPIO_PINS; i++) {
        if (boardUsesPin(i)) continue;

        pinMode(i, INPUT);
    }

    SerialUSB.println("Waiting to start.");
    ASSERT(!boardUsesPin(0));
    while (digitalRead(0) == LOW) continue;

    for (int i = 0; i < BOARD_NR_GPIO_PINS; i++) {
        if (boardUsesPin(i)) {
            SerialUSB.print("Skipping pin ");
            SerialUSB.println(i, DEC);
            continue;
        }
        bool pin_ok = true;
        SerialUSB.print("Checking pin ");
        SerialUSB.print(i, DEC);
        while (digitalRead(i) == LOW) continue;

        pin_ok = pin_ok && test_single_pin_is_high(i, "is also HIGH");

        if (!wait_for_low_transition(i)) {
            SerialUSB.println("Transition to low timed out; something is "
                              "very wrong.  Aborting test.");
            return;
        }

        pin_ok = pin_ok && test_single_pin_is_high(not_a_pin, "is still HIGH");

        if (pin_ok) {
            SerialUSB.println(": ok");
        }

        all_pins_ok = all_pins_ok && pin_ok;
    }

    if (all_pins_ok) {
        SerialUSB.println("Finished; test passes.");
    } else {
        SerialUSB.println("**** TEST FAILS *****");
    }

    for (int i = 0; i < BOARD_NR_GPIO_PINS; i++) {
        if (boardUsesPin(i)) continue;

        pinMode(i, OUTPUT);
        digitalWrite(i, LOW);
        gpio_state[i] = 0;
    }
}

void cmd_sequential_gpio_toggling(void) {
    SerialUSB.println("Sequentially toggling all unused pins. "
                      "Press any key for next pin, ESC to stop.");

    for (uint32 i = 0; i < BOARD_NR_GPIO_PINS; i++) {
        if (boardUsesPin(i))
            continue;

        SerialUSB.print("Toggling pin ");
        SerialUSB.print((int)i, DEC);
        SerialUSB.println("...");

        pinMode(i, OUTPUT);
        do {
            togglePin(i);
        } while (!SerialUSB.available());

        digitalWrite(i, LOW);
        if (SerialUSB.read() == ESC)
            break;
    }
}

void cmd_gpio_toggling(void) {
    SerialUSB.println("Toggling all unused pins simultaneously. "
                      "Press any key to stop.");

    for (uint32 i = 0; i < BOARD_NR_GPIO_PINS; i++) {
        if (boardUsesPin(i))
            continue;
        pinMode(i, OUTPUT);
    }

    while (!SerialUSB.available()) {
        for (uint32 i = 0; i < BOARD_NR_GPIO_PINS; i++) {
            if (boardUsesPin(i))
                continue;
            togglePin(i);
        }
    }

    for (uint32 i = 0; i < BOARD_NR_GPIO_PINS; i++) {
        if (boardUsesPin(i))
            continue;
        digitalWrite(i, LOW);
    }
}

uint8 debugGPIOPins[] = {BOARD_JTMS_SWDIO_PIN,
                         BOARD_JTCK_SWCLK_PIN,
                         BOARD_JTDI_PIN,
                         BOARD_JTDO_PIN,
                         BOARD_NJTRST_PIN};

#define N_DEBUG_PINS 5

void cmd_sequential_debug_gpio_toggling(void) {
    SerialUSB.println("Toggling all debug (JTAG/SWD) pins sequentially. "
                      "This will permanently disable debug port "
                      "functionality.");
    disableDebugPorts();

    for (int i = 0; i < N_DEBUG_PINS; i++) {
        pinMode(debugGPIOPins[i], OUTPUT);
    }

    for (int i = 0; i < N_DEBUG_PINS; i++) {
        int pin = debugGPIOPins[i];
        SerialUSB.print("Toggling pin ");
        SerialUSB.print(pin, DEC);
        SerialUSB.println("...");

        pinMode(pin, OUTPUT);
        do {
            togglePin(pin);
        } while (!SerialUSB.available());

        digitalWrite(pin, LOW);
        if (SerialUSB.read() == ESC)
            break;
    }

    for (int i = 0; i < N_DEBUG_PINS; i++) {
        digitalWrite(debugGPIOPins[i], 0);
    }
}

void cmd_debug_gpio_toggling(void) {
    SerialUSB.println("Toggling debug GPIO simultaneously. "
                      "This will permanently disable JTAG and Serial Wire "
                      "debug port functionality. "
                      "Press any key to stop.");
    disableDebugPorts();

    for (uint32 i = 0; i < N_DEBUG_PINS; i++) {
        pinMode(debugGPIOPins[i], OUTPUT);
    }

    while (!SerialUSB.available()) {
        for (uint32 i = 0; i < N_DEBUG_PINS; i++) {
            togglePin(debugGPIOPins[i]);
        }
    }

    for (uint32 i = 0; i < N_DEBUG_PINS; i++) {
        digitalWrite(debugGPIOPins[i], LOW);
    }
}

void cmd_but_test(void) {
    SerialUSB.println("Press the button to test.  Press any key to stop.");
    pinMode(BOARD_BUTTON_PIN, INPUT);

    while (!SerialUSB.available()) {
        if (isButtonPressed()) {
            uint32 tstamp = millis();
            SerialUSB.print("Button press detected, timestamp: ");
            SerialUSB.println(tstamp);
        }
    }
    SerialUSB.read();
}

void cmd_sequential_pwm_test(void) {
    SerialUSB.println("Sequentially testing PWM on all unused pins. "
                      "Press any key for next pin, ESC to stop.");

    for (uint32 i = 0; i < BOARD_NR_PWM_PINS; i++) {
        if (boardUsesPin(i))
            continue;

        SerialUSB.print("PWM out on header D");
        SerialUSB.print(boardPWMPins[i], DEC);
        SerialUSB.println("...");
        pinMode(boardPWMPins[i], PWM);
        pwmWrite(boardPWMPins[i], 16000);

        while (!SerialUSB.available()) {
            delay(10);
        }

        pinMode(boardPWMPins[i], OUTPUT);
        digitalWrite(boardPWMPins[i], 0);
        if (SerialUSB.read() == ESC)
            break;
    }
}

void cmd_servo_sweep(void) {
    SerialUSB.println("Testing all PWM headers with a servo sweep. "
                      "Press any key to stop.");
    SerialUSB.println();

    disable_usarts();
    init_all_timers(21);

    for (uint32 i = 0; i < BOARD_NR_PWM_PINS; i++) {
        if (boardUsesPin(i))
            continue;
        pinMode(boardPWMPins[i], PWM);
        pwmWrite(boardPWMPins[i], 4000);
    }

    // 1.25ms = 4096counts = 0deg
    // 1.50ms = 4915counts = 90deg
    // 1.75ms = 5734counts = 180deg
    int rate = 4096;
    while (!SerialUSB.available()) {
        rate += 20;
        if (rate > 5734)
            rate = 4096;
        for (uint32 i = 0; i < BOARD_NR_PWM_PINS; i++) {
            if (boardUsesPin(i))
                continue;
            pwmWrite(boardPWMPins[i], rate);
        }
        delay(20);
    }

    for (uint32 i = 0; i < BOARD_NR_PWM_PINS; i++) {
        if (boardUsesPin(i))
            continue;
        pinMode(boardPWMPins[i], OUTPUT);
    }
    init_all_timers(1);
    enable_usarts();
}

void cmd_board_info(void) {     // TODO print more information
    SerialUSB.println("Board information");
    SerialUSB.println("=================");

    SerialUSB.print("* Clock speed (MHz): ");
    SerialUSB.println(CYCLES_PER_MICROSECOND);

    SerialUSB.print("* BOARD_LED_PIN: ");
    SerialUSB.println(BOARD_LED_PIN);

    SerialUSB.print("* BOARD_BUTTON_PIN: ");
    SerialUSB.println(BOARD_BUTTON_PIN);

    SerialUSB.print("* GPIO information (BOARD_NR_GPIO_PINS = ");
    SerialUSB.print(BOARD_NR_GPIO_PINS);
    SerialUSB.println("):");
    print_board_array("ADC pins", boardADCPins, BOARD_NR_ADC_PINS);
    print_board_array("PWM pins", boardPWMPins, BOARD_NR_PWM_PINS);
    print_board_array("Used pins", boardUsedPins, BOARD_NR_USED_PINS);
}

// -- Helper functions --------------------------------------------------------

void measure_adc_noise(uint8 pin) {
    const int N = 1000;
    uint16 x;
    float mean = 0;
    float delta = 0;
    float M2 = 0;
    pinMode(pin, INPUT_ANALOG);

    // Variance algorithm from Welford, via Knuth, by way of Wikipedia:
    // http://en.wikipedia.org/wiki/Algorithms_for_calculating_variance#On-line_algorithm
    for (int sample = 0; sample < N_ADC_NOISE_MEASUREMENTS; sample++) {
        for (int i = 1; i <= N; i++) {
            x = analogRead(pin);
            delta = x - mean;
            mean += delta / i;
            M2 = M2 + delta * (x - mean);
        }
        SerialUSB.print("header: D");
        SerialUSB.print(pin, DEC);
        SerialUSB.print("\tn: ");
        SerialUSB.print(N, DEC);
        SerialUSB.print("\tmean: ");
        SerialUSB.print(mean);
        SerialUSB.print("\tvariance: ");
        SerialUSB.println(M2 / (float)(N-1));
    }

    pinMode(pin, OUTPUT);
}

void fast_gpio(int maple_pin) {
    gpio_dev *dev = PIN_MAP[maple_pin].gpio_device;
    uint32 bit = PIN_MAP[maple_pin].gpio_bit;

    gpio_write_bit(dev, bit, 1);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
    gpio_toggle_bit(dev, bit);
}

void serial_baud_test(HardwareSerial **serials, int n, unsigned baud) {
    for (int i = 0; i < n; i++) {
        serials[i]->begin(baud);
    }
    while (!SerialUSB.available()) {
        for (int i = 0; i < n; i++) {
            serials[i]->println(dummy_data);
            if (serials[i]->available()) {
                serials[i]->println(serials[i]->read());
                delay(1000);
            }
        }
    }
}

void serial_echo_test(HardwareSerial *serial, unsigned baud) {
    serial->begin(baud);
    while (!SerialUSB.available()) {
        if (!serial->available())
            continue;
        serial->print(serial->read());
    }
}

static uint16 init_all_timers_prescale = 0;

static void set_prescale(timer_dev *dev) {
    timer_set_prescaler(dev, init_all_timers_prescale);
}

void init_all_timers(uint16 prescale) {
    init_all_timers_prescale = prescale;
    timer_foreach(set_prescale);
}

void enable_usarts(void) {
    Serial1.begin(BAUD);
    Serial2.begin(BAUD);
    Serial3.begin(BAUD);
#if defined(BOARD_HAVE_USART4)
    Serial4.begin(BAUD);
#endif
#if defined(BOARD_HAVE_USART5)
    Serial5.begin(BAUD);
#endif
}

void disable_usarts(void) {
    Serial1.end();
    Serial2.end();
    Serial3.end();
#if defined(BOARD_HAVE_USART4)
    Serial4.end();
#endif
#if defined(BOARD_HAVE_USART5)
    Serial5.end();
#endif
}

void print_board_array(const char* msg, const uint8 arr[], int len) {
    SerialUSB.print("\t");
    SerialUSB.print(msg);
    SerialUSB.print(" (");
    SerialUSB.print(len);
    SerialUSB.print("): ");
    for (int i = 0; i < len; i++) {
        SerialUSB.print(arr[i], DEC);
        if (i < len - 1) SerialUSB.print(", ");
    }
    SerialUSB.println();
}

// -- premain() and main() ----------------------------------------------------

// Force init to be called *first*, i.e. before static object allocation.
// Otherwise, statically allocated objects that need libmaple may fail.
__attribute__((constructor)) void premain() {
    init();
}

int main(void) {
    setup();

    while (1) {
        loop();
    }
    return 0;
}