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-rw-r--r--examples/test-session.cpp953
1 files changed, 515 insertions, 438 deletions
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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