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| -rw-r--r-- | examples/test-session.cpp | 437 |
1 files changed, 437 insertions, 0 deletions
diff --git a/examples/test-session.cpp b/examples/test-session.cpp new file mode 100644 index 0000000..0fa7d52 --- /dev/null +++ b/examples/test-session.cpp @@ -0,0 +1,437 @@ +/* *****************************************************************************
+ * The MIT License
+ *
+ * Copyright (c) 2010 LeafLabs LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ * ****************************************************************************/
+
+/**
+ * @file example_main.cpp
+ *
+ * @brief Sample main.cpp file. Blinks an LED, sends a message out USART2
+ * and turns on PWM on pin 2
+ */
+
+#include "wiring.h"
+#include "HardwareSerial.h"
+#include "HardwareUsb.h"
+#include <math.h>
+#include "usb.h"
+
+#define LED_PIN 13
+#define PWM_PIN 2
+
+HardwareUsb Usb;
+
+uint8 input = 0;
+uint8 tiddle = 0;
+int toggle = 0;
+int rate = 0;
+int sample = 0;
+
+// read off maple board rev3
+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 // 43 is the MAX
+uint8 gpio_state[NUM_GPIO];
+
+#define DUMMY_DAT "qwertyuiopasdfghjklzxcvbnmmmmmm,./1234567890-=qwertyuiopasdfghjklzxcvbnm,./1234567890"
+
+void print_help(void);
+void do_noise(uint8 pin);
+void do_everything(void);
+void do_fast_gpio(void);
+
+void setup() {
+ /* Set up the LED to blink */
+ pinMode(LED_PIN, OUTPUT);
+
+ /* Send a message out USART2 */
+ //Serial2.begin(115200);
+ Serial2.begin(9600);
+ Serial2.println("");
+ Serial2.println("Maple interactive test program (type '?' for help)");
+ Serial2.println("------------------------------------------------------------");
+ Serial2.print("> ");
+ /* Turn on PWM on pin PWM_PIN */
+ //pinMode(PWM_PIN, PWM);
+ //pwmWrite(PWM_PIN, 0x8000);
+
+ /* Send a message out the USB virtual com port */
+ // TODO: this should all be over usb as well
+ Usb.println("Maple test program starting; use serial port for interactivity");
+}
+
+void loop() {
+ toggle ^= 1;
+ digitalWrite(LED_PIN, toggle);
+ delay(100);
+
+ //Serial2.flush();
+ while(Serial2.available()) {
+ input = Serial2.read();
+ Serial2.println(input);
+ switch(input) {
+ case 13: // Carriage Return
+ break;
+ case 32: // ' '
+ Serial2.println("spacebar, nice!");
+ break;
+ case 63: // '?'
+ print_help();
+ break;
+ case 104: // 'h'
+ print_help();
+ break;
+ case 117: // 'u'
+ Usb.println("Hello World!");
+ break;
+ case 119: // 'w'
+ Serial1.println("Hello World!");
+ Serial2.println("Hello World!");
+ Serial3.println("Hello World!");
+ break;
+ case 46: // '.'
+ while(!Serial2.available()) {
+ Serial2.print(".");
+ }
+ //Serial2.flush();
+ break;
+ case 110: // 'n'
+ Serial2.println("Taking ADC noise stats...");
+ // turn off LED
+ digitalWrite(LED_PIN, 0);
+ // make sure to skip the TX/RX pins
+ for(int i = 2; i<sizeof(adc_pins); i++) {
+ do_noise(adc_pins[i]);
+ }
+ break;
+ case 78: // 'N'
+ Serial2.println("Taking ADC noise stats under duress...");
+ // turn off LED
+ digitalWrite(LED_PIN, 0);
+ // make sure to skip the TX/RX pins
+ for(int i = 2; i<sizeof(adc_pins); i++) {
+ // spool up PWM
+ for(int j = 2; j<sizeof(pwm_pins); j++) {
+ if(adc_pins[i] != pwm_pins[j]) {
+ pinMode(pwm_pins[j],PWM);
+ pwmWrite(pwm_pins[j], 1000 + i);
+ }
+ }
+ Usb.print(DUMMY_DAT);
+ Usb.print(DUMMY_DAT);
+ do_noise(adc_pins[i]);
+ for(int j = 2; j<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(!Serial2.available()) {
+ Serial1.print(DUMMY_DAT);
+ Serial2.print(DUMMY_DAT);
+ Serial3.print(DUMMY_DAT);
+ }
+ break;
+ case 85: // 'U'
+ Serial2.println("Dumping data to USB. Press enter.");
+ while(!Serial2.available()) {
+ Usb.print(DUMMY_DAT);
+ }
+ break;
+ case 103: // 'g'
+ Serial2.print("Sequentially testing GPIO write on all possible pins except 0 and 1.");
+ Serial2.println("Anything for next, ESC to stop.");
+ // turn off LED
+ digitalWrite(LED_PIN, 0);
+ // make sure to skip the TX/RX pins
+ for(int i = 2; i<NUM_GPIO; i++) {
+ Serial2.print("GPIO write out on pin ");
+ Serial2.print(i, DEC);
+ Serial2.println("...");
+ pinMode(i, OUTPUT);
+ digitalWrite(i, tiddle);
+ while(!Serial2.available()) {
+ tiddle ^= 1;
+ digitalWrite(i, tiddle);
+ }
+ digitalWrite(i, 0);
+ if((uint8)Serial2.read() == (uint8)27) break; // ESC
+ }
+ break;
+ case 71: // 'G'
+ Serial2.println("Flipping all GPIOs at the same time. Press enter.");
+ // turn off LED
+ digitalWrite(LED_PIN, 0);
+ // make sure to skip the TX/RX pins
+ for(int i = 2; i<NUM_GPIO; i++) {
+ pinMode(i, OUTPUT);
+ }
+ while(!Serial2.available()) {
+ tiddle ^= 1;
+ for(int i = 2; i<NUM_GPIO; i++) {
+ digitalWrite(i, tiddle);
+ }
+ }
+ for(int i = 2; i<NUM_GPIO; i++) {
+ digitalWrite(i, 0);
+ }
+ if((uint8)Serial2.read() == (uint8)27) break; // ESC
+ break;
+ case 102: // 'f'
+ Serial2.println("Wiggling GPIO pin D4 as fast as possible in bursts. Press enter.");
+ pinMode(4,OUTPUT);
+ while(!Serial2.available()) {
+ do_fast_gpio();
+ delay(1);
+ }
+ break;
+ case 112: // 'p'
+ Serial2.println("Sequentially testing PWM on all possible pins except 0 and 1. ");
+ Serial2.println("Anything for next, ESC to stop.");
+ // turn off LED
+ digitalWrite(LED_PIN, 0);
+ // make sure to skip the TX/RX pins
+ for(int i = 2; i<sizeof(pwm_pins); i++) {
+ Serial2.print("PWM out on pin ");
+ Serial2.print(pwm_pins[i], DEC);
+ Serial2.println("...");
+ pinMode(pwm_pins[i], PWM);
+ pwmWrite(pwm_pins[i], 16000);
+ while(!Serial2.available()) { delay(10); }
+ pinMode(pwm_pins[i], OUTPUT);
+ digitalWrite(pwm_pins[i], 0);
+ if((uint8)Serial2.read() == (uint8)27) break; // ESC
+ }
+ break;
+ case 80: // 'P'
+ Serial2.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(int i = 2; i<sizeof(pwm_pins); i++) {
+ pinMode(pwm_pins[i], PWM);
+ pwmWrite(pwm_pins[i], 4000);
+ }
+ while(!Serial2.available()) {
+ rate += 20;
+ if(rate > 65500) rate = 0;
+ for(int i = 2; i<sizeof(pwm_pins); i++) {
+ pwmWrite(pwm_pins[i], rate);
+ }
+ delay(1);
+ }
+ for(int i = 2; i<sizeof(pwm_pins); i++) {
+ pinMode(pwm_pins[i], OUTPUT);
+ }
+ break;
+ case 95: // '_'
+ Serial2.println("Delaying for 5 seconds...");
+ delay(5000);
+ break;
+ case 116: // 't'
+ break;
+ case 84: // 'T'
+ break;
+ case 115: // 's'
+ break;
+ case 105: // 'i'
+ break;
+ case 73: // 'I'
+ break;
+ case 114: // 'r'
+ Serial2.println("Monitoring GPIO read state changes. Press enter.");
+ // turn off LED
+ digitalWrite(LED_PIN, 0);
+ // make sure to skip the TX/RX pins
+ for(int i = 2; i<NUM_GPIO; i++) {
+ pinMode(i, INPUT);
+ gpio_state[i] = (uint8)digitalRead(i);
+ }
+ while(!Serial2.available()) {
+ for(int i = 2; i<NUM_GPIO; i++) {
+ tiddle = (uint8)digitalRead(i);
+ if(tiddle != gpio_state[i]) {
+ Serial2.print("State change on pin ");
+ Serial2.print(i,DEC);
+ if(tiddle) Serial2.println(":\tLOW");
+ else Serial2.println(":\tHIGH");
+ gpio_state[i] = tiddle;
+ }
+ }
+ }
+ for(int i = 2; i<NUM_GPIO; i++) {
+ pinMode(i, OUTPUT);
+ }
+ break;
+ case 97: // 'a'
+ Serial2.print("Sequentially reading each ADC port.");
+ Serial2.println("Anything for next, ESC to stop.");
+ // turn off LED
+ digitalWrite(LED_PIN, 0);
+ // make sure to skip the TX/RX pins
+ for(int i = 2; i<sizeof(adc_pins); i++) {
+ Serial2.print("Reading on pin ");
+ Serial2.print(adc_pins[i], DEC);
+ Serial2.println("...");
+ pinMode(adc_pins[i], INPUT_ANALOG);
+ while(!Serial2.available()) {
+ sample = analogRead(adc_pins[i]);
+ Serial2.print(adc_pins[i],DEC);
+ Serial2.print("\t");
+ Serial2.print(sample,DEC);
+ Serial2.print("\t");
+ Serial2.print("|");
+ for(int j = 0; j<4096; j+= 100) {
+ if(sample >= j) Serial2.print("#");
+ else Serial2.print(" ");
+ }
+ Serial2.print("| ");
+ for(int j = 0; j<12; j++) {
+ if(sample & (1 << (11-j))) Serial2.print("1");
+ else Serial2.print("0");
+ }
+ Serial2.println("");
+ }
+ pinMode(adc_pins[i], OUTPUT);
+ digitalWrite(adc_pins[i], 0);
+ if((uint8)Serial2.read() == (uint8)27) break; // ESC
+ }
+ break;
+ default:
+ Serial2.print("Unexpected: ");
+ Serial2.println(input);
+ }
+ Serial2.print("> ");
+ }
+}
+
+void print_help(void) {
+ Serial2.println("");
+ //Serial2.println("Command Listing\t(# means any digit)");
+ Serial2.println("Command Listing");
+ Serial2.println("\t?: print this menu");
+ Serial2.println("\th: print this menu");
+ Serial2.println("\tw: print Hello World on all 3 USARTS");
+ Serial2.println("\tn: measure noise and do statistics");
+ Serial2.println("\tN: measure noise and do statistics with background stuff");
+ Serial2.println("\ta: show realtime ADC info");
+ Serial2.println("\t.: echo '.' until new input");
+ Serial2.println("\te: do everything all at once until new input");
+ Serial2.println("\tu: print Hello World on USB");
+ Serial2.println("\t_: try to do as little as possible for a couple seconds (delay)");
+ Serial2.println("\tp: test all PWM channels sequentially");
+ Serial2.println("\tW: dump data as fast as possible on all 3 USARTS");
+ Serial2.println("\tU: dump data as fast as possible on USB");
+ Serial2.println("\tg: toggle all GPIOs sequentialy");
+ Serial2.println("\tG: toggle all GPIOs at the same time");
+ Serial2.println("\tf: toggle GPIO D4 as fast as possible in bursts");
+ Serial2.println("\tP: test all PWM channels at the same time with different speeds/sweeps");
+ Serial2.println("\tr: read in GPIO status changes and print them in realtime");
+
+ Serial2.println("Unimplemented:");
+ Serial2.println("\tt: output a 1khz squarewave on all GPIOs as well as possible");
+ Serial2.println("\tT: output a 1hz squarewave on all GPIOs as well as possible");
+ Serial2.println("\ts: output a sweeping SERVO PWM on all PWM channels");
+ Serial2.println("\ti: print out a bunch of info about system state");
+ Serial2.println("\tI: print out status of all pins");
+ // uint32 digitalRead(uint8 pin)
+}
+
+void do_noise(uint8 pin) { // TODO
+ uint16 data[64];
+ float mean = 0;
+ //float stddev = 0;
+ float delta = 0;
+ float M2 = 0;
+ pinMode(pin, INPUT_ANALOG);
+
+ // variance algorithm from knuth; see wikipedia
+ // checked against python
+ for(int i = 0; i<64; i++) {
+ data[i] = analogRead(pin);
+ delta = data[i] - mean;
+ mean = mean + delta/(i+1);
+ M2 = M2 + delta*(data[i] - mean);
+ }
+
+ Serial2.print("pin: "); Serial2.print(pin,DEC);
+ Serial2.print("\tn: "); Serial2.print(64,DEC);
+ Serial2.print("\tmean: "); Serial2.print(mean);
+ Serial2.print("\tvar: "); Serial2.println(M2/63.0);
+ //sqrt is broken?
+ //stddev = M2/(63.0);
+ //stddev = sqrt(stddev);
+ pinMode(pin, OUTPUT);
+}
+
+void do_everything(void) { // TODO
+ // print to usart
+ // print to usb
+ // toggle gpios
+ // enable pwm
+ do_noise(15);
+ Serial2.println("(unimplemented)");
+}
+
+void do_fast_gpio(void) {
+ // pin 4 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);
+
+ // this way incurs an extra function call
+ //digitalWrite(4, 1); digitalWrite(4, 0);
+}
+
+int main(void) {
+ init();
+ setup();
+
+ while (1) {
+ loop();
+ }
+ return 0;
+}
+
+/* Required for C++ hackery */
+/* TODO: This really shouldn't go here... move it later
+ * */
+extern "C" void __cxa_pure_virtual(void) {
+ while(1)
+ ;
+}
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