diff options
Diffstat (limited to 'examples')
| -rw-r--r-- | examples/qa-slave-shield.cpp | 48 | ||||
| -rw-r--r-- | examples/test-session.cpp | 847 |
2 files changed, 511 insertions, 384 deletions
diff --git a/examples/qa-slave-shield.cpp b/examples/qa-slave-shield.cpp index 178b780..2da1c04 100644 --- a/examples/qa-slave-shield.cpp +++ b/examples/qa-slave-shield.cpp @@ -1,22 +1,20 @@ -// Slave mode for QA shield +// Slave mode for Quality Assurance test #include "wirish.h" -// FIXME generalize for Maple Native, Maple Mini (NUM_GPIO, Mini USB -// breakout pins, etc.) +#define INTER_TOGGLE_DELAY_NORMAL 5 +#define INTER_TOGGLE_DELAY_SLOW 80 -#define LED_PIN BOARD_LED_PIN -#define NUM_GPIO 38 // Ignore JTAG pins. +void interToggleDelay(void); void setup() { - /* Set up the LED to blink */ - pinMode(LED_PIN, OUTPUT); - digitalWrite(LED_PIN, HIGH); + pinMode(BOARD_LED_PIN, OUTPUT); + pinMode(BOARD_BUTTON_PIN, INPUT); - for(int i = 0; i < NUM_GPIO; i++) { - if (i == BOARD_LED_PIN) { + // All unused pins start out low. + for (int i = 0; i < BOARD_NR_GPIO_PINS; i++) { + if (boardUsesPin(i)) continue; - } pinMode(i, OUTPUT); digitalWrite(i, LOW); } @@ -28,17 +26,29 @@ void loop() { delay(100); toggleLED(); - for(int i = 0; i < NUM_GPIO; i++) { - if (i == BOARD_LED_PIN) { + for (int i = 0; i < BOARD_NR_GPIO_PINS; i++) { + if (boardUsesPin(i)) continue; - } - togglePin(i); - delay(5); - togglePin(i); - delay(5); + + // Bring just this pin high. + digitalWrite(i, HIGH); + // Give the master time to detect if any other pins also went high. + interToggleDelay(); + // Bring this pin back low again; all pins should now be low. + digitalWrite(i, LOW); + // Give the master time to detect if any pins are still high. + interToggleDelay(); } } +void interToggleDelay(void) { + if (digitalRead(BOARD_BUTTON_PIN)) { // don't pay the debouncing time + delay(INTER_TOGGLE_DELAY_SLOW); + } else { + delay(INTER_TOGGLE_DELAY_NORMAL); + } + } + // 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() { @@ -48,7 +58,7 @@ __attribute__((constructor)) void premain() { int main(void) { setup(); - while (1) { + while (true) { loop(); } return 0; diff --git a/examples/test-session.cpp b/examples/test-session.cpp index 110b219..a4128ac 100644 --- a/examples/test-session.cpp +++ b/examples/test-session.cpp @@ -1,49 +1,23 @@ // Interactive Test Session for LeafLabs Maple // Copyright (c) 2010 LeafLabs LLC. // -// Useful for testing Maple features and troubleshooting. Select a COMM port -// (SerialUSB or Serial2) before compiling and then enter 'h' at the prompt -// for a list of commands. +// Useful for testing Maple features and troubleshooting. +// Communicates over SerialUSB. #include "wirish.h" -#define LED_PIN BOARD_LED_PIN -#define PWM_PIN 3 - -// choose your weapon -#define COMM SerialUSB -//#define COMM Serial2 -//#define COMM Serial3 - +// ASCII escape character #define ESC ((uint8)27) -int rate = 0; - -#if defined(BOARD_maple) || defined(BOARD_maple_RET6) -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}; - -#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}; +// Default USART baud rate +#define BAUD 9600 -#elif defined(BOARD_maple_native) -const uint8 pwm_pins[] = {12, 13, 14, 15, 22, 23, 24, 25, 37, 38, 45, - 46, 47, 48, 49, 50, 53, 54}; -const uint8 adc_pins[] = {6, 7, 8, 9, 10, 11, 39, 40, 41, 42, 43, 45, - 46, 47, 48, 49, 50, 51, 52, 53, 54}; -#else -#error "Board type has not been selected correctly" +uint8 gpio_state[BOARD_NR_GPIO_PINS]; -#endif - -uint8 gpio_state[NR_GPIO_PINS]; - -const char* const dummy_dat = ("qwertyuiopasdfghjklzxcvbnmmmmmm,./1234567890-=" - "qwertyuiopasdfghjklzxcvbnm,./1234567890"); +const char* dummy_data = ("qwertyuiopasdfghjklzxcvbnmmmmmm,./1234567890-=" + "qwertyuiopasdfghjklzxcvbnm,./1234567890"); +// Commands void cmd_print_help(void); void cmd_adc_stats(void); void cmd_stressful_adc_stats(void); @@ -55,37 +29,43 @@ 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 cmd_board_info(void); +// Helper functions void measure_adc_noise(uint8 pin); void fast_gpio(int pin); -void do_serials(HardwareSerial **serials, int n, unsigned baud); +void usart_baud_test(HardwareSerial **serials, int n, 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(9600); - Serial2.begin(9600); - Serial3.begin(9600); - - // Send a message out over COMM interface - COMM.println(" "); - COMM.println(" __ __ _ _"); - COMM.println(" | \\/ | __ _ _ __ | | ___| |"); - COMM.println(" | |\\/| |/ _` | '_ \\| |/ _ \\ |"); - COMM.println(" | | | | (_| | |_) | | __/_|"); - COMM.println(" |_| |_|\\__,_| .__/|_|\\___(_)"); - COMM.println(" |_|"); - COMM.println(" by leaflabs"); - COMM.println(""); - COMM.println(""); - COMM.println("Maple interactive test program (type '?' for help)"); - COMM.println("----------------------------------------------------------"); - COMM.print("> "); + 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("> "); } @@ -93,16 +73,16 @@ void loop () { toggleLED(); delay(100); - while(COMM.available()) { - uint8 input = COMM.read(); - COMM.println(input); + while (SerialUSB.available()) { + uint8 input = SerialUSB.read(); + SerialUSB.println(input); switch(input) { case '\r': break; case ' ': - COMM.println("spacebar, nice!"); + SerialUSB.println("spacebar, nice!"); break; case '?': @@ -125,7 +105,7 @@ void loop () { break; case '.': - while(!COMM.available()) { + while (!SerialUSB.available()) { Serial1.print("."); Serial2.print("."); Serial3.print("."); @@ -146,17 +126,17 @@ void loop () { break; case 'W': - while(!COMM.available()) { - Serial1.print(dummy_dat); - Serial2.print(dummy_dat); - Serial3.print(dummy_dat); + while (!SerialUSB.available()) { + Serial1.print(dummy_data); + Serial2.print(dummy_data); + Serial3.print(dummy_data); } break; case 'U': - COMM.println("Dumping data to USB. Press any key."); - while(!COMM.available()) { - SerialUSB.print(dummy_dat); + SerialUSB.println("Dumping data to USB. Press any key."); + while (!SerialUSB.available()) { + SerialUSB.print(dummy_data); } break; @@ -169,10 +149,10 @@ void loop () { break; case 'f': - COMM.println("Wiggling D4 as fast as possible in bursts. " + SerialUSB.println("Wiggling D4 as fast as possible in bursts. " "Press any key."); - pinMode(4,OUTPUT); - while(!COMM.available()) { + pinMode(4, OUTPUT); + while (!SerialUSB.available()) { fast_gpio(4); delay(1); } @@ -182,19 +162,19 @@ void loop () { cmd_sequential_pwm_test(); break; - case 'P': - cmd_pwm_sweep(); - break; - case '_': - COMM.println("Delaying for 5 seconds..."); + 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': @@ -202,26 +182,30 @@ void loop () { break; case 'd': - COMM.println("Pulling down D4, D22. Press any key."); - pinMode(22,INPUT_PULLDOWN); - pinMode(4,INPUT_PULLDOWN); - while(!COMM.available()) { + SerialUSB.println("Pulling down D4, D22. Press any key."); + pinMode(22, INPUT_PULLDOWN); + pinMode(4, INPUT_PULLDOWN); + while (!SerialUSB.available()) { continue; } - COMM.println("Pulling up D4, D22. Press any key."); - pinMode(22,INPUT_PULLUP); - pinMode(4,INPUT_PULLUP); - while(!COMM.available()) { + SerialUSB.println("Pulling up D4, D22. Press any key."); + pinMode(22, INPUT_PULLUP); + pinMode(4, INPUT_PULLUP); + while (!SerialUSB.available()) { continue; } - COMM.read(); - pinMode(4,OUTPUT); + SerialUSB.read(); + pinMode(4, OUTPUT); 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': @@ -232,391 +216,496 @@ void loop () { cmd_sequential_adc_reads(); break; + case 'b': + cmd_board_info(); + break; + case '+': cmd_gpio_qa(); break; default: // ------------------------------- - COMM.print("Unexpected: "); - COMM.print(input); - COMM.println(", press h for help."); + SerialUSB.print("Unexpected: "); + SerialUSB.print(input); + SerialUSB.println(", press h for help."); } - COMM.print("> "); + SerialUSB.print("> "); } } -void cmd_print_help(void) { - COMM.println(""); - //COMM.println("Command Listing\t(# means any digit)"); - COMM.println("Command Listing"); - COMM.println("\t?: print this menu"); - COMM.println("\th: print this menu"); - COMM.println("\tw: print Hello World on all 3 USARTS"); - COMM.println("\tn: measure noise and do statistics"); - COMM.println("\tN: measure noise and do statistics with background stuff"); - 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_: 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: 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"); - 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 measure_adc_noise(uint8 pin) { // TODO - uint16 data[100]; - 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<100; i++) { - data[i] = analogRead(pin); - delta = data[i] - mean; - mean = mean + delta/(i+1); - M2 = M2 + delta*(data[i] - mean); - } +// -- Commands ---------------------------------------------------------------- - //sqrt is broken? - //stddev = sqrt(variance); - COMM.print("header: D"); COMM.print(pin,DEC); - COMM.print("\tn: "); COMM.print(100,DEC); - COMM.print("\tmean: "); COMM.print(mean); - COMM.print("\tvariance: "); COMM.println(M2/99.0); - pinMode(pin, OUTPUT); +void cmd_print_help(void) { + SerialUSB.println(""); + SerialUSB.println("Command Listing"); + SerialUSB.println("\t?: print this menu"); + 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 on USB"); + SerialUSB.println("\tg: toggle GPIOs sequentially"); + SerialUSB.println("\tG: toggle GPIOs at the same time"); + 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 with various 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) { - COMM.println("Taking ADC noise stats..."); + SerialUSB.println("Taking ADC noise stats."); digitalWrite(BOARD_LED_PIN, 0); - for(uint32 i = 0; i<sizeof(adc_pins); i++) { + for (uint32 i = 0; i < BOARD_NR_ADC_PINS; i++) { delay(5); - measure_adc_noise(adc_pins[i]); + measure_adc_noise(boardADCPins[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.println("Taking ADC noise stats under duress."); + + for (uint32 i = 0; i < BOARD_NR_ADC_PINS; i++) { + for (uint32 j = 0; j < BOARD_NR_PWM_PINS; j++) { + if (boardADCPins[i] != boardPWMPins[j]) { + pinMode(boardPWMPins[j], PWM); + pwmWrite(boardPWMPins[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); + + Serial1.print(dummy_data); + + measure_adc_noise(boardADCPins[i]); + + for (uint32 j = 0; j < BOARD_NR_PWM_PINS; j++) { + if (boardADCPins[i] != boardPWMPins[j]) { + pinMode(boardPWMPins[j], OUTPUT); + digitalWrite(boardPWMPins[j], LOW); } } } } 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 - COMM.println("(unimplemented)"); -} - -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); + SerialUSB.println("Unimplemented."); } 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(); + SerialUSB.println("Testing 57600 baud on USART1 and USART3. " + "Press any key to stop."); + usart_baud_test(serial_1_and_3, 2, 57600); + SerialUSB.read(); - COMM.println("Testing 115200 baud on USART1 and USART3. Press any key."); - do_serials(serial_1_and_3, 2, 115200); - COMM.read(); + SerialUSB.println("Testing 115200 baud on USART1 and USART3. " + "Press any key to stop."); + usart_baud_test(serial_1_and_3, 2, 115200); + SerialUSB.read(); - COMM.println("Testing 9600 baud on USART1 and USART3. Press any key."); - do_serials(serial_1_and_3, 2, 9600); - COMM.read(); + SerialUSB.println("Testing 9600 baud on USART1 and USART3. " + "Press any key to stop."); + usart_baud_test(serial_1_and_3, 2, 9600); + SerialUSB.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); - } - } - } + SerialUSB.println("Resetting USART1 and USART3..."); + Serial1.begin(BAUD); + Serial3.begin(BAUD); } 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++) { + 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(!COMM.available()) { - for(int i = 2; i<NR_GPIO_PINS; 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]) { - COMM.print("State change on header D"); - COMM.print(i,DEC); - if(current_state) COMM.println(":\tHIGH"); - else COMM.println(":\tLOW"); + 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 = 2; i<NR_GPIO_PINS; i++) { + + for (int i = 0; i < BOARD_NR_GPIO_PINS; i++) { + if (boardUsesPin(i)) + continue; 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(" "); + 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(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(" "); + } } - COMM.print("| "); - for(int j = 0; j<12; j++) { - if(sample & (1 << (11-j))) COMM.print("1"); - else COMM.print("0"); + SerialUSB.print("| "); + for (int j = 0; j < 12; j++) { + if (sample & (1 << (11 - j))) { + SerialUSB.print("1"); + } else { + SerialUSB.print("0"); + } } - COMM.println(""); + 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; } - pinMode(adc_pins[i], OUTPUT); - digitalWrite(adc_pins[i], 0); - if((uint8)COMM.read() == ESC) break; } + 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) { - COMM.println("Doing QA testing for most GPIO pins..."); - digitalWrite(BOARD_LED_PIN, 0); - for(int i = 0; i<NR_GPIO_PINS; i++) { + 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); - 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"); + + 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; } - 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; - } + 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; } - 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; - } + + pin_ok = pin_ok && test_single_pin_is_high(not_a_pin, "is still HIGH"); + + if (pin_ok) { + SerialUSB.println(": ok"); } - COMM.println(": Ok!"); + + all_pins_ok = all_pins_ok && pin_ok; } - for(int i = 0; i<NR_GPIO_PINS; i++) { + + 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, 0); + digitalWrite(i, LOW); + gpio_state[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((int)i, DEC); - COMM.println("..."); + 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(!COMM.available()); - digitalWrite(i, 0); - if((uint8)COMM.read() == ESC) break; + } while (!SerialUSB.available()); + + digitalWrite(i, LOW); + if (SerialUSB.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++) { + 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(!COMM.available()) { - for(uint32 i = 2; i<NR_GPIO_PINS; i++) { + + while (!SerialUSB.available()) { + for (uint32 i = 0; i < BOARD_NR_GPIO_PINS; i++) { + if (boardUsesPin(i)) + continue; togglePin(i); } } - for(uint32 i = 2; i<NR_GPIO_PINS; i++) { - digitalWrite(i, 0); + + for (uint32 i = 0; i < BOARD_NR_GPIO_PINS; i++) { + if (boardUsesPin(i)) + continue; + digitalWrite(i, LOW); } } 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; - } -} + SerialUSB.println("Sequentially testing PWM on all unused pins. " + "Press any key for next pin, ESC to stop."); -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); + 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); } - delay(1); - } - for(uint32 i = 2; i<sizeof(pwm_pins); i++) { - pinMode(pwm_pins[i], OUTPUT); + + pinMode(boardPWMPins[i], OUTPUT); + digitalWrite(boardPWMPins[i], 0); + if (SerialUSB.read() == ESC) + break; } } 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); + SerialUSB.println("Testing all PWM headers with a servo sweep. " + "Press any key to stop."); + SerialUSB.println(); + + disable_usarts(); 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); + + 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 - rate = 4096; - while(!COMM.available()) { + int rate = 4096; + while (!SerialUSB.available()) { rate += 20; - if(rate > 5734) rate = 4096; - for(uint32 i = 2; i<sizeof(pwm_pins); i++) { - pwmWrite(pwm_pins[i], rate); + 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 = 2; i<sizeof(pwm_pins); i++) { - pinMode(pwm_pins[i], OUTPUT); + + for (uint32 i = 0; i < BOARD_NR_PWM_PINS; i++) { + if (boardUsesPin(i)) + continue; + pinMode(boardPWMPins[i], OUTPUT); } init_all_timers(1); - Serial2.begin(9600); - COMM.println("(reset serial port)"); + enable_usarts(); +} + +void cmd_board_info(void) { // TODO print more information + SerialUSB.println("Board information"); + SerialUSB.println("================="); + + SerialUSB.print("* Clock speed (cycles/us): "); + 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) { + uint16 data[100]; + 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 i = 0; i < 100; i++) { + data[i] = analogRead(pin); + delta = data[i] - mean; + mean = mean + delta / (i + 1); + M2 = M2 + delta * (data[i] - mean); + } + + SerialUSB.print("header: D"); + SerialUSB.print(pin, DEC); + SerialUSB.print("\tn: "); + SerialUSB.print(100, DEC); + SerialUSB.print("\tmean: "); + SerialUSB.print(mean); + SerialUSB.print("\tvariance: "); + SerialUSB.println(M2 / 99.0); + 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 usart_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); + } + } + } } static uint16 init_all_timers_prescale = 0; @@ -630,14 +719,42 @@ void init_all_timers(uint16 prescale) { timer_foreach(set_prescale); } +void enable_usarts(void) { + // FIXME generalize after USART refactor + Serial1.begin(BAUD); + Serial2.begin(BAUD); + Serial3.begin(BAUD); +} + +void disable_usarts(void) { + // FIXME generalize after USART refactor + Serial1.end(); + Serial2.end(); + Serial3.end(); +} + +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() { +__attribute__((constructor)) void premain() { init(); } -int main(void) -{ +int main(void) { setup(); while (1) { |