Added licensing. Moved lots of header files around. Added HardwareSerial reads, writes. Tweaked some of the util and assert functions. Added various useful routines for printing stuff to the serial port. Continued moving out stm32lib. Slightly more consistent naming, this will come in another change.

git-svn-id: https://leaflabs.googlecode.com/svn/trunk/library@74 749a229e-a60e-11de-b98f-4500b42dc123

1 files changed, 99 insertions, 0 deletions

diff --git a/src/lib/util.c b/src/lib/util.c
new file mode 100644
index 0000000..c75031f
--- /dev/null
+++ b/src/lib/util.c
@@ -0,0 +1,99 @@
+/* *****************************************************************************
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ *  Created: 12/18/09 02:38:44
+ *  Copyright (c) 2009 Perry L. Hung. All rights reserved.
+ *
+ * ****************************************************************************/
+
+/**
+ *  @file util.h
+ *
+ *  @brief Utility procedures for debugging, mostly an error LED fade and
+ *  messages dumped over a uart for failed asserts.
+ */
+
+#include "libmaple.h"
+#include "usart.h"
+#include "gpio.h"
+#include "nvic.h"
+#include "adc.h"
+#include "timers.h"
+
+#define ERROR_LED_PORT         GPIOA_BASE
+#define ERROR_LED_PIN          5
+#define ERROR_USART_NUM        2
+#define ERROR_USART_BAUD       9600
+#define ERROR_TX_PIN           2
+#define ERROR_TX_PORT          GPIOA_BASE
+
+/* Error assert + fade */
+void _fail(const char* file, int line, const char* exp) {
+    int32_t  slope   = 1;
+    int32_t CC      = 0x0000;
+    int32_t TOP_CNT = 0x02FF;
+    int32_t i       = 0;
+
+    /* Turn off interrupts */
+    nvic_disable_interrupts();
+
+    /* Turn off timers  */
+    timers_disable();
+
+    /* Turn off ADC */
+    adc_disable();
+
+    /* Turn off all usarts  */
+    usart_disable(1);
+    usart_disable(2);
+    usart_disable(3);
+
+    /* Initialize the error usart */
+    gpio_set_mode(ERROR_TX_PORT, ERROR_TX_PIN, GPIO_MODE_AF_OUTPUT_PP);
+    usart_init(ERROR_USART_NUM, ERROR_USART_BAUD);
+
+    /* Print failed assert message  */
+    usart_putstr(ERROR_USART_NUM, "ERROR: FAILED ASSERT(");
+    usart_putstr(ERROR_USART_NUM, exp);
+    usart_putstr(ERROR_USART_NUM, "): ");
+    usart_putstr(ERROR_USART_NUM, file);
+    usart_putstr(ERROR_USART_NUM, ": ");
+    usart_putudec(ERROR_USART_NUM, line);
+    usart_putc(ERROR_USART_NUM, '\n');
+
+    /* Turn on the error LED  */
+    gpio_set_mode(ERROR_LED_PORT, ERROR_LED_PIN, GPIO_MODE_OUTPUT_PP);
+
+    /* Error fade  */
+    while (1) {
+        if (CC == TOP_CNT)  {
+            slope = -1;
+        } else if (CC == 0) {
+            slope = 1;
+        }
+
+        if (i == TOP_CNT)  {
+            CC += slope;
+            i = 0;
+        }
+
+        if (i < CC) {
+            gpio_write_bit(ERROR_LED_PORT, ERROR_LED_PIN, 1);
+        } else {
+            gpio_write_bit(ERROR_LED_PORT, ERROR_LED_PIN, 0);
+        }
+        i++;
+    }
+}
+