refactor: move test-style examples to ./tests

1 files changed, 0 insertions, 938 deletions

diff --git a/examples/test-session.cpp b/examples/test-session.cpp
deleted file mode 100644
index 284b4b0..0000000
--- a/examples/test-session.cpp
+++ /dev/null
@@ -1,938 +0,0 @@
-// 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(STM32_HIGH_DENSITY) && !defined(BOARD_maple_RET6)
-    Serial4.begin(BAUD);
-    Serial5.begin(BAUD);
-#endif
-}
-
-void disable_usarts(void) {
-    Serial1.end();
-    Serial2.end();
-    Serial3.end();
-#if defined(STM32_HIGH_DENSITY) && !defined(BOARD_maple_RET6)
-    Serial4.end();
-    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;
-}