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-rw-r--r--examples/qa-slave-shield.cpp48
-rw-r--r--examples/test-session.cpp847
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) {