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-rw-r--r--examples/test-bkp.cpp80
-rw-r--r--examples/test-dac.cpp51
-rw-r--r--examples/test-fsmc.cpp122
-rw-r--r--examples/test-print.cpp184
-rw-r--r--examples/test-ring-buffer-insertion.cpp114
-rw-r--r--examples/test-serial-flush.cpp38
-rw-r--r--examples/test-serialusb.cpp126
-rw-r--r--examples/test-servo.cpp152
-rw-r--r--examples/test-session.cpp938
-rw-r--r--examples/test-spi-roundtrip.cpp192
-rw-r--r--examples/test-systick.cpp49
-rw-r--r--examples/test-timers.cpp537
-rw-r--r--examples/test-usart-dma.cpp211
13 files changed, 0 insertions, 2794 deletions
diff --git a/examples/test-bkp.cpp b/examples/test-bkp.cpp
deleted file mode 100644
index 719cac7..0000000
--- a/examples/test-bkp.cpp
+++ /dev/null
@@ -1,80 +0,0 @@
-#include <stdio.h> // for snprintf()
-
-#include <wirish/wirish.h>
-#include <libmaple/bkp.h>
-#include <libmaple/iwdg.h>
-
-void print_bkp_contents();
-void write_to_bkp(uint16 val);
-
-#define comm Serial2
-
-void setup() {
- pinMode(BOARD_BUTTON_PIN, INPUT);
-
- comm.begin(9600);
- comm.println("*** Beginning BKP test");
-
- comm.println("Init...");
- bkp_init();
- comm.println("Done.");
-
- print_bkp_contents();
- write_to_bkp(10);
- print_bkp_contents();
-
- comm.println("Enabling backup writes.");
- bkp_enable_writes();
- write_to_bkp(20);
- print_bkp_contents();
-
- comm.println("Disabling backup writes.");
- bkp_disable_writes();
- write_to_bkp(30);
- print_bkp_contents();
-
- comm.println("Done testing backup registers; press button to enable "
- "independent watchdog (in order to cause a reset).");
- waitForButtonPress(0);
- iwdg_init(IWDG_PRE_4, 1);
- comm.println();
-}
-
-void loop() {
-}
-
-void print_bkp_contents() {
- comm.println("Backup data register contents:");
- char buf[100];
- for (int i = 1; i <= BKP_NR_DATA_REGS; i++) {
- snprintf(buf, sizeof buf, "DR%d: %d ", i, bkp_read(i));
- comm.print(buf);
- if (i % 5 == 0) comm.println();
- }
- comm.println();
-}
-
-void write_to_bkp(uint16 val) {
- comm.print("Attempting to write ");
- comm.print(val);
- comm.println(" to backup registers...");
- for (int i = 1; i <= BKP_NR_DATA_REGS; i++) {
- bkp_write(i, val);
- }
- comm.println("Done.");
-}
-
-__attribute__((constructor)) void premain() {
- init();
-}
-
-int main(void) {
- init();
- setup();
-
- while (1) {
- loop();
- }
- return 0;
-}
-
diff --git a/examples/test-dac.cpp b/examples/test-dac.cpp
deleted file mode 100644
index af188cc..0000000
--- a/examples/test-dac.cpp
+++ /dev/null
@@ -1,51 +0,0 @@
-/*
- * Simple DAC test.
- *
- * Author: Marti Bolivar <mbolivar@leaflabs.com>
- *
- * This file is released into the public domain.
- */
-
-#include <wirish/wirish.h>
-#include <libmaple/dac.h>
-
-uint16 count = 0;
-
-void setup() {
- pinMode(BOARD_LED_PIN, OUTPUT);
- digitalWrite(BOARD_LED_PIN, HIGH);
-
- Serial1.begin(9600);
- Serial1.println("**** Beginning DAC test");
-
- Serial1.print("Init... ");
- dac_init(DAC, DAC_CH1 | DAC_CH2);
- Serial1.println("Done.");
-}
-
-void loop() {
- toggleLED();
- delay(100);
-
- count += 100;
- if (count > 4095) {
- count = 0;
- }
-
- dac_write_channel(DAC, 1, 4095 - count);
- dac_write_channel(DAC, 2, count);
-}
-
-__attribute__((constructor)) void premain() {
- init();
-}
-
-int main(void) {
- setup();
-
- while (true) {
- loop();
- }
- return 0;
-}
-
diff --git a/examples/test-fsmc.cpp b/examples/test-fsmc.cpp
deleted file mode 100644
index 1621317..0000000
--- a/examples/test-fsmc.cpp
+++ /dev/null
@@ -1,122 +0,0 @@
-#include <stddef.h> // for ptrdiff_t
-
-#include <wirish/wirish.h>
-#include <libmaple/fsmc.h>
-
-#ifndef BOARD_maple_native
-#error "Sorry, this example only works on Maple Native."
-#endif
-
-// Start of FSMC SRAM bank 1
-static uint16 *const sram_start = (uint16*)0x60000000;
-// End of Maple Native SRAM chip address space (512K 16-bit words)
-static uint16 *const sram_end = (uint16*)0x60100000;
-
-void test_single_write(void);
-void test_all_addresses(void);
-
-void setup() {
- pinMode(BOARD_LED_PIN, OUTPUT);
- digitalWrite(BOARD_LED_PIN, HIGH);
-
- SerialUSB.read();
- SerialUSB.println("*** Beginning RAM chip test");
-
- test_single_write();
- test_all_addresses();
-
- SerialUSB.println("Tests pass, finished.");
- SerialUSB.println("***\n");
-}
-
-void loop() {
-}
-
-void test_single_write() {
- uint16 *ptr = sram_start;
- uint16 tmp;
-
- SerialUSB.print("Writing 0x1234... ");
- *ptr = 0x1234;
- SerialUSB.println("Done.");
-
- SerialUSB.print("Reading... ");
- tmp = *ptr;
- SerialUSB.print("Done: 0x");
- SerialUSB.println(tmp, HEX);
-
- if (tmp != 0x1234) {
- SerialUSB.println("Mismatch; abort.");
- ASSERT(0);
- }
-}
-
-void test_all_addresses() {
- uint32 start, end;
- uint16 count = 0;
- uint16 *ptr;
-
- SerialUSB.println("Now writing all memory addresses (unrolled loop)");
- start = micros();
- for (ptr = sram_start; ptr < sram_end;) {
- *ptr++ = count++;
- *ptr++ = count++;
- *ptr++ = count++;
- *ptr++ = count++;
- *ptr++ = count++;
- *ptr++ = count++;
- *ptr++ = count++;
- *ptr++ = count++;
- *ptr++ = count++;
- *ptr++ = count++;
- *ptr++ = count++;
- *ptr++ = count++;
- *ptr++ = count++;
- *ptr++ = count++;
- *ptr++ = count++;
- *ptr++ = count++;
- }
- end = micros();
- SerialUSB.print("Done. Elapsed time (us): ");
- SerialUSB.println(end - start);
-
- SerialUSB.println("Validating writes.");
- for (ptr = sram_start, count = 0; ptr < sram_end; ptr++, count++) {
- uint16 value = *ptr;
- if (value != count) {
- SerialUSB.print("mismatch: 0x");
- SerialUSB.print((uint32)ptr);
- SerialUSB.print(" = 0x");
- SerialUSB.print(value, HEX);
- SerialUSB.print(", should be 0x");
- SerialUSB.print(count, HEX);
- SerialUSB.println(".");
- ASSERT(0);
- }
- }
- SerialUSB.println("Done; all writes seem valid.");
-
- ptrdiff_t nwrites = sram_end - sram_start;
- double us_per_write = double(end-start) / double(nwrites);
- SerialUSB.print("Number of writes = ");
- SerialUSB.print(nwrites);
- SerialUSB.print("; avg. time per write = ");
- SerialUSB.print(us_per_write);
- SerialUSB.print(" us (");
- SerialUSB.print(1 / us_per_write);
- SerialUSB.println(" MHz)");
-}
-
-__attribute__((constructor)) void premain() {
- init();
-}
-
-int main(void) {
- setup();
-
- while (true) {
- loop();
- }
-
- return 0;
-}
diff --git a/examples/test-print.cpp b/examples/test-print.cpp
deleted file mode 100644
index bdc1894..0000000
--- a/examples/test-print.cpp
+++ /dev/null
@@ -1,184 +0,0 @@
-/*
- * print-test.cpp
- *
- * Tests the various Print methods. (For USBSerial; assuming that
- * writing a single character works, this should generalize to
- * HardwareSerial).
- *
- * This file is released into the public domain.
- */
-
-#include <wirish/wirish.h>
-#undef min
-#undef max
-
-// For snprintf()
-#include <stdio.h>
-// The <limits.h> that comes with newlib is missing LLONG_MAX, etc.
-#include <limits>
-
-using namespace std;
-
-#define BUF_SIZE 100
-char buf[BUF_SIZE];
-
-void test_numbers(void);
-void test_base_arithmetic(void);
-void test_floating_point(void);
-
-void print_separator(void);
-
-void setup() {
- while (!SerialUSB.available())
- continue;
- SerialUSB.read();
-}
-
-void loop() {
- SerialUSB.println("Testing Print methods.");
- print_separator();
-
- test_numbers();
- print_separator();
-
- test_base_arithmetic();
- print_separator();
-
- test_floating_point();
- print_separator();
-
- SerialUSB.println("Test finished.");
- while (true) {
- continue;
- }
-}
-
-void test_numbers(void) {
- SerialUSB.println("Numeric types:");
-
- SerialUSB.print("unsigned char: ");
- // prevent Print from treating it as an (extended) ASCII character:
- SerialUSB.println((uint32)numeric_limits<unsigned char>::max());
-
- SerialUSB.print("int: ");
- SerialUSB.print(numeric_limits<int>::min());
- SerialUSB.print(" -- ");
- SerialUSB.println(numeric_limits<int>::max());
-
- SerialUSB.print("unsigned int: ");
- SerialUSB.print(numeric_limits<unsigned int>::max());
- SerialUSB.println();
-
- SerialUSB.print("long: ");
- SerialUSB.print(numeric_limits<long>::min());
- SerialUSB.print(" -- ");
- SerialUSB.println(numeric_limits<long>::max());
-
- SerialUSB.print("long long: ");
- SerialUSB.print(numeric_limits<long long>::min());
- SerialUSB.print(" -- ");
- SerialUSB.println(numeric_limits<long long>::max());
-
- SerialUSB.print("unsigned long long: ");
- SerialUSB.println(numeric_limits<unsigned long long>::max());
-}
-
-void base_test(int base) {
- SerialUSB.print("\tuint8: ");
- SerialUSB.println(numeric_limits<uint8>::max(), base);
- SerialUSB.print("\tint: ");
- SerialUSB.print(numeric_limits<int>::max(), base);
- SerialUSB.print(", unsigned int: ");
- SerialUSB.println(numeric_limits<unsigned int>::max(), base);
- SerialUSB.print("\tlong: ");
- SerialUSB.print(numeric_limits<long>::max(), base);
- SerialUSB.print(", unsigned long: ");
- SerialUSB.println(numeric_limits<unsigned long>::max(), base);
- SerialUSB.print("\tlong long: ");
- SerialUSB.print(numeric_limits<long long>::max(), base);
- SerialUSB.print(", unsigned long long: ");
- SerialUSB.println(numeric_limits<unsigned long long>::max(), base);
-}
-
-void test_base_arithmetic(void) {
- SerialUSB.println("Base arithmetic:");
-
- SerialUSB.println("Binary:");
- base_test(BIN);
-
- SerialUSB.println("Octal:");
- base_test(OCT);
-
- SerialUSB.println("Decimal:");
- base_test(DEC);
-
- SerialUSB.println("Hexadecimal:");
- base_test(HEX);
-}
-
-void test_floating_point(void) {
- double dmax = numeric_limits<double>::max();
-
- SerialUSB.println("Floating point:");
-
- SerialUSB.print("println(-5.67): ");
- SerialUSB.print(-5.67);
- SerialUSB.print(". println(5.67, 5): ");
- SerialUSB.println(5.67, 5);
- SerialUSB.print("println((double)(LLONG_MAX - 10)): ");
- SerialUSB.print((double)(numeric_limits<long long>::max() - 10));
- SerialUSB.print("; from snprintf(): ");
- snprintf(buf, BUF_SIZE, "%.2f",
- (double)(numeric_limits<long long>::max() - 10));
- SerialUSB.println(buf);
- SerialUSB.print("println((double)LLONG_MAX / 2): ");
- SerialUSB.print((double)(numeric_limits<long long>::max()) / 2);
- SerialUSB.print("; from snprintf(): ");
- snprintf(buf, BUF_SIZE, "%.2f",
- (double)(numeric_limits<long long>::max()) / 2);
- SerialUSB.println(buf);
- SerialUSB.print("DBL_MAX: ");
- SerialUSB.print(dmax);
- SerialUSB.print("; from snprintf(): ");
- snprintf(buf, BUF_SIZE, "%g", dmax);
- SerialUSB.println(buf);
- SerialUSB.print("-DBL_MAX / 2: ");
- SerialUSB.print(-dmax / 2.0);
- SerialUSB.print("; from snprintf(): ");
- snprintf(buf, BUF_SIZE, "%g", -dmax / 2.0);
- SerialUSB.println(buf);
- SerialUSB.print("Double epsilon, round error: ");
- SerialUSB.print(numeric_limits<double>::epsilon());
- SerialUSB.print(", ");
- SerialUSB.println(numeric_limits<double>::round_error());
-
- SerialUSB.println();
-
- float fmax = numeric_limits<float>::max();
-
- SerialUSB.print("println(-5.67f): ");
- SerialUSB.println(-5.67f);
- SerialUSB.print("Float max: ");
- SerialUSB.println(fmax);
-}
-
-void print_separator(void) {
- SerialUSB.println();
- SerialUSB.println(" ** ");
- SerialUSB.println();
-}
-
-// 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() {
- init();
-}
-
-int main(void) {
- setup();
-
- while (1) {
- loop();
- }
- return 0;
-}
diff --git a/examples/test-ring-buffer-insertion.cpp b/examples/test-ring-buffer-insertion.cpp
deleted file mode 100644
index 2188b03..0000000
--- a/examples/test-ring-buffer-insertion.cpp
+++ /dev/null
@@ -1,114 +0,0 @@
-/*
- * Simple ring_buffer test.
- *
- * Does a basic test of functionality on rb_full_count(), rb_reset(),
- * rb_push_insert(), and rb_safe_insert().
- *
- * To test:
- *
- * - Connect a serial monitor to SerialUSB
- * - Press any key
- *
- * This file is released into the public domain.
- */
-
-#include <wirish/wirish.h>
-
-#include <libmaple/ring_buffer.h>
-
-#define BUF_SIZE 64
-ring_buffer ring_buf;
-ring_buffer *rb;
-uint8 rb_buffer[BUF_SIZE];
-
-void test_rb_push_insert(int num_bytes_to_insert);
-void test_rb_safe_insert(int num_bytes_to_insert);
-void test_rb_insertion_function(int num_bytes_to_insert,
- int (*insertion_fn)(ring_buffer*, uint8),
- const char insertion_fn_name[]);
-void print_rb_contents(void);
-
-void setup() {
- rb = &ring_buf;
- rb_init(rb, BUF_SIZE, rb_buffer);
-
- while (!SerialUSB.available())
- ;
-
- SerialUSB.println("Beginning test.");
- SerialUSB.println();
-}
-
-void loop() {
- test_rb_push_insert(63);
- SerialUSB.println("------------------------------");
- test_rb_push_insert(64);
- SerialUSB.println("------------------------------");
- test_rb_safe_insert(63);
- SerialUSB.println("------------------------------");
- test_rb_safe_insert(64);
- SerialUSB.println("------------------------------");
-
- SerialUSB.println();
- SerialUSB.println("Test finished.");
- while (true)
- ;
-}
-
-void test_rb_push_insert(int num_bytes_to_insert) {
- test_rb_insertion_function(num_bytes_to_insert,
- rb_push_insert,
- "rb_push_insert()");
-}
-
-void test_rb_safe_insert(int num_bytes_to_insert) {
- test_rb_insertion_function(num_bytes_to_insert,
- rb_safe_insert,
- "rb_safe_insert()");
-}
-
-void test_rb_insertion_function(int num_bytes_to_insert,
- int (*insertion_fn)(ring_buffer *, uint8),
- const char insertion_fn_name[]) {
- SerialUSB.println("resetting ring buffer.");
- rb_reset(rb);
- print_rb_contents();
-
- SerialUSB.print(insertion_fn_name);
- SerialUSB.print("-ing ");
- SerialUSB.print(num_bytes_to_insert);
- SerialUSB.println(" bytes.");
- for (uint8 i = 1; i <= num_bytes_to_insert; i++)
- insertion_fn(rb, i);
-
- uint16 count = rb_full_count(rb);
- SerialUSB.print("rb_full_count(rb) = ");
- SerialUSB.println(count);
-
- print_rb_contents();
-}
-
-void print_rb_contents() {
- uint16 count = rb_full_count(rb);
- SerialUSB.print("ring buffer contents: ");
- for (uint16 i = 0; i < count; i++) {
- SerialUSB.print((int)rb_remove(rb));
- if (i < count - 1) SerialUSB.print(", ");
- }
- SerialUSB.println();
-}
-
-// 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() {
- init();
-}
-
-int main(void) {
- setup();
-
- while (true) {
- loop();
- }
- return 0;
-}
diff --git a/examples/test-serial-flush.cpp b/examples/test-serial-flush.cpp
deleted file mode 100644
index 409d1f9..0000000
--- a/examples/test-serial-flush.cpp
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
- * Tests the "flush" Serial function.
- */
-
-#include <wirish/wirish.h>
-
-void setup() {
- Serial1.begin(9600);
- Serial1.println("Hello world!");
-}
-
-void loop() {
- Serial1.println("Waiting for multiple input...");
- while (Serial1.available() < 5)
- ;
- Serial1.println(Serial1.read());
- Serial1.println(Serial1.read());
- Serial1.flush();
-
- if (Serial1.available()) {
- Serial1.println("FAIL! Still had junk in the buffer...");
- }
-}
-
-// 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() {
- init();
-}
-
-int main(void) {
- setup();
-
- while (true) {
- loop();
- }
- return 0;
-}
diff --git a/examples/test-serialusb.cpp b/examples/test-serialusb.cpp
deleted file mode 100644
index 098e445..0000000
--- a/examples/test-serialusb.cpp
+++ /dev/null
@@ -1,126 +0,0 @@
-// Tests SerialUSB functionality.
-
-#include <wirish/wirish.h>
-#include "usb_cdcacm.h"
-
-#define QUICKPRINT 0
-#define BIGSTUFF 1
-#define NUMBERS 2
-#define SIMPLE 3
-#define ONOFF 4
-
-uint32 state = 0;
-
-void setup() {
- /* Set up the LED to blink */
- pinMode(BOARD_LED_PIN, OUTPUT);
-
- /* Set up Serial2 for use as a debug channel */
- Serial2.begin(9600);
- Serial2.println("This is the debug channel. Press any key.");
- while (!Serial2.available())
- ;
- Serial2.read();
-}
-
-uint8 c1 = '-';
-
-void loop() {
- toggleLED();
- delay(1000);
-
- if (Serial2.available()) {
- Serial2.read();
- state++;
- }
-
- switch (state) {
- case QUICKPRINT:
- for (int i = 0; i < 30; i++) {
- usb_cdcacm_putc((char)c1, 1);
- SerialUSB.print('.');
- SerialUSB.print('|');
- }
- Serial2.println(SerialUSB.pending(), DEC);
- SerialUSB.println();
- break;
- case BIGSTUFF:
- SerialUSB.println("0123456789012345678901234567890123456789"
- "0123456789012345678901234567890123456789"
- "012345678901234567890");
- SerialUSB.println((int64)123456789, DEC);
- SerialUSB.println(3.1415926535);
- Serial2.println(SerialUSB.pending(), DEC);
- break;
- case NUMBERS:
- SerialUSB.println("Numbers! -----------------------------");
- Serial2.println("Numbers! -----------------------------");
- SerialUSB.println('1');
- Serial2.println('1');
- SerialUSB.println(1, DEC);
- Serial2.println(1, DEC);
- SerialUSB.println(-1, DEC);
- Serial2.println(-1, DEC);
- SerialUSB.println(3.14159265);
- Serial2.println(3.14159265);
- SerialUSB.println(123456789, DEC);
- Serial2.println(123456789, DEC);
- SerialUSB.println(-123456789, DEC);
- Serial2.println(-123456789, DEC);
- SerialUSB.println(65535, HEX);
- Serial2.println(65535, HEX);
- break;
- case SIMPLE:
- Serial2.println("Trying write('a')");
- SerialUSB.write('a');
- Serial2.println("Trying write(\"b\")");
- SerialUSB.write("b");
- Serial2.println("Trying print('c')");
- SerialUSB.print('c');
- Serial2.println("Trying print(\"d\")");
- SerialUSB.print("d");
- Serial2.println("Trying print(\"efg\")");
- SerialUSB.print("efg");
- Serial2.println("Trying println(\"hij\\n\\r\")");
- SerialUSB.print("hij\n\r");
- SerialUSB.write(' ');
- SerialUSB.println();
- Serial2.println("Trying println(123456789, DEC)");
- SerialUSB.println(123456789, DEC);
- Serial2.println("Trying println(3.141592)");
- SerialUSB.println(3.141592);
- Serial2.println("Trying println(\"DONE\")");
- SerialUSB.println("DONE");
- break;
- case ONOFF:
- Serial2.println("Shutting down...");
- SerialUSB.println("Shutting down...");
- SerialUSB.end();
- Serial2.println("Waiting 4 seconds...");
- delay(4000);
- Serial2.println("Starting up...");
- SerialUSB.begin();
- SerialUSB.println("Hello World!");
- Serial2.println("Waiting 4 seconds...");
- delay(4000);
- state++;
- break;
- default:
- state = 0;
- }
-}
-
-// 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() {
- init();
-}
-
-int main(void) {
- setup();
-
- while (true) {
- loop();
- }
- return 0;
-}
diff --git a/examples/test-servo.cpp b/examples/test-servo.cpp
deleted file mode 100644
index 6f6e3ba..0000000
--- a/examples/test-servo.cpp
+++ /dev/null
@@ -1,152 +0,0 @@
-/*
- * Basic Servo library test program.
- *
- * Setup:
- *
- * - Connect a potentiometer to POT_PIN (default pin 15)
- * - Connect an oscilloscope to SERVO_PIN1 (default pin 5) and
- * SERVO_PIN2 (default pin 6).
- * - Connect a serial monitor to SerialUSB
- *
- * The potentiometer controls the target angle for each of two Servo
- * objects, one with angles in [-90, 90], and another in [0, 180].
- * Servo pulse width range is [1000, 2000].
- *
- * Serial2 will tell you what inputs it's giving to each servo object,
- * and some information it gets back. Pressing the button
- * detaches/reattaches the Servo objects.
- *
- * Tests you should perform:
- *
- * - Check calculated pulse widths for each servo's target angle
- * - Check that calculated pulse widths match actual pulse widths
- * - Check that the period of the pulse train is roughly 20 ms
- * - Check that the pulses stop when detached, and resume when reattached
- * - Check that Servo::write() and Servo::read() round-trip properly
- *
- * This file is released into the public domain.
- */
-
-#include <stdio.h>
-
-#include <wirish/wirish.h>
-
-#include "libraries/Servo/Servo.h"
-
-#define POT_PIN 15
-
-#define MIN_PW 1000
-#define MAX_PW 2000
-
-#define SERVO_PIN1 5
-#define MIN_ANGLE1 0
-#define MAX_ANGLE1 180
-
-#define SERVO_PIN2 6
-#define MIN_ANGLE2 (-90)
-#define MAX_ANGLE2 90
-
-Servo servo1;
-Servo servo2;
-
-#define BUF_SIZE 100
-char buf[BUF_SIZE];
-
-#define print_buf(fmt, ...) do { \
- snprintf(buf, BUF_SIZE, fmt, __VA_ARGS__); \
- Serial2.println(buf); } while (0)
-
-int averageAnalogReads(int);
-void attach();
-void detach();
-
-void setup() {
- pinMode(POT_PIN, INPUT_ANALOG);
- pinMode(BOARD_BUTTON_PIN, INPUT);
- pinMode(BOARD_LED_PIN, OUTPUT);
-
- Serial2.begin(9600);
-
- servo1.attach(SERVO_PIN1, MIN_PW, MAX_PW, MIN_ANGLE1, MAX_ANGLE1);
- servo2.attach(SERVO_PIN2, MIN_PW, MAX_PW, MIN_ANGLE2, MAX_ANGLE2);
-
- ASSERT(servo1.attachedPin() == SERVO_PIN1);
- ASSERT(servo2.attachedPin() == SERVO_PIN2);
-}
-
-void loop() {
- delay(250);
- toggleLED();
-
- if (isButtonPressed()) {
- if (servo1.attached()) detach();
- else attach();
- }
-
- if (!servo1.attached()) return;
-
- int32 average = averageAnalogReads(250);
- int16 angle1 = (int16)map(average, 0, 4095, MIN_ANGLE1, MAX_ANGLE1);
- int16 angle2 = (int16)map(average, 0, 4095, MIN_ANGLE2, MAX_ANGLE2);
-
- print_buf("pot reading = %d, angle 1 = %d, angle 2 = %d.",
- average, angle1, angle2);
-
- servo1.write(angle1);
- servo2.write(angle2);
-
- int16 read1 = servo1.read();
- int16 read2 = servo2.read();
-
- print_buf("write/read angle 1: %d/%d, angle 2: %d/%d",
- angle1, read1, angle2, read2);
-
- ASSERT(abs(angle1 - read1) <= 1);
- ASSERT(abs(angle2 - read2) <= 1);
-
- print_buf("pulse width 1: %d, pulse width 2: %d",
- servo1.readMicroseconds(), servo2.readMicroseconds());
-
- Serial2.println("\n--------------------------\n");
-}
-
-int32 averageAnalogReads(int n) {
- uint64 total = 0;
-
- for (int i = 0; i < n; i++) {
- total += analogRead(POT_PIN);
- }
-
- return (int32)(total / n);
-}
-
-void attach() {
- Serial2.println("attaching");
- servo1.attach(SERVO_PIN1);
- servo2.attach(SERVO_PIN2);
- ASSERT(servo1.attachedPin() == SERVO_PIN1);
- ASSERT(servo2.attachedPin() == SERVO_PIN2);
-}
-
-void detach() {
- Serial2.println("detaching");
- servo1.detach();
- servo2.detach();
- ASSERT(!servo1.attached());
- ASSERT(!servo2.attached());
-}
-
-// 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() {
- init();
-}
-
-int main(void) {
- setup();
-
- while (true) {
- loop();
- }
- return 0;
-}
diff --git a/examples/test-session.cpp b/examples/test-session.cpp
deleted file mode 100644
index 284b4b0..0000000
--- a/examples/test-session.cpp
+++ /dev/null
@@ -1,938 +0,0 @@
-// Interactive Test Session for LeafLabs Maple
-// Copyright (c) 2010 LeafLabs LLC.
-//
-// Useful for testing Maple features and troubleshooting.
-// Communicates over SerialUSB.
-
-#include <string.h>
-
-#include <wirish/wirish.h>
-
-// ASCII escape character
-#define ESC ((uint8)27)
-
-// Default USART baud rate
-#define BAUD 9600
-
-// Number of times to sample a pin per ADC noise measurement
-#define N_ADC_NOISE_MEASUREMENTS 40
-
-uint8 gpio_state[BOARD_NR_GPIO_PINS];
-
-const char* dummy_data = ("123456789012345678901234567890\r\n"
- "123456789012345678901234567890\r\n");
-
-// Commands
-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_serial1_echo(void);
-void cmd_gpio_monitoring(void);
-void cmd_sequential_adc_reads(void);
-void cmd_gpio_qa(void);
-void cmd_sequential_gpio_toggling(void);
-void cmd_gpio_toggling(void);
-void cmd_sequential_debug_gpio_toggling(void);
-void cmd_debug_gpio_toggling(void);
-void cmd_but_test(void);
-void cmd_sequential_pwm_test(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 serial_baud_test(HardwareSerial **serials, int n, unsigned baud);
-void serial_echo_test(HardwareSerial *serial, 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(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("> ");
-
-}
-
-void loop () {
- toggleLED();
- delay(250);
-
- while (SerialUSB.available()) {
- uint8 input = SerialUSB.read();
- SerialUSB.println((char)input);
-
- switch(input) {
- case '\r':
- break;
-
- case ' ':
- SerialUSB.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 'E':
- cmd_serial1_echo();
- break;
-
- case '.':
- while (!SerialUSB.available()) {
- Serial1.print(".");
- Serial2.print(".");
- Serial3.print(".");
- SerialUSB.print(".");
- }
- break;
-
- case 'd':
- SerialUSB.println("Disabling USB. Press BUT to re-enable.");
- SerialUSB.end();
- pinMode(BOARD_BUTTON_PIN, INPUT);
- while (!isButtonPressed())
- ;
- SerialUSB.begin();
- break;
-
- case 'n':
- cmd_adc_stats();
- break;
-
- case 'N':
- cmd_stressful_adc_stats();
- break;
-
- case 'e':
- cmd_everything();
- break;
-
- case 'W':
- while (!SerialUSB.available()) {
- Serial1.print(dummy_data);
- Serial2.print(dummy_data);
- Serial3.print(dummy_data);
- }
- break;
-
- case 'U': {
- SerialUSB.println("Dumping data to USB. Press any key.");
- int nprints = 0;
- int start = millis();
- while (!SerialUSB.available()) {
- SerialUSB.print(dummy_data);
- nprints++;
- }
- int elapsed = millis() - start;
- SerialUSB.read(); // consume available character
- size_t nbytes = nprints * strlen(dummy_data);
- SerialUSB.println();
- SerialUSB.print("Sent ");
- SerialUSB.print(nbytes);
- SerialUSB.print(" bytes (");
- SerialUSB.print((nbytes / (double)elapsed) * (1000.0 / 1024.0));
- SerialUSB.println(" kB/sec)");
- }
- break;
-
- case 'g':
- cmd_sequential_gpio_toggling();
- break;
-
- case 'G':
- cmd_gpio_toggling();
- break;
-
- case 'j':
- cmd_sequential_debug_gpio_toggling();
- break;
-
- case 'J':
- cmd_debug_gpio_toggling();
- break;
-
- case 'B':
- cmd_but_test();
- break;
-
- case 'f':
- SerialUSB.println("Wiggling D4 as fast as possible in bursts. "
- "Press any key.");
- pinMode(4, OUTPUT);
- while (!SerialUSB.available()) {
- fast_gpio(4);
- delay(1);
- }
- break;
-
- case 'p':
- cmd_sequential_pwm_test();
- break;
-
- case '_':
- 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':
- cmd_servo_sweep();
- 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':
- cmd_gpio_monitoring();
- break;
-
- case 'a':
- cmd_sequential_adc_reads();
- break;
-
- case 'b':
- cmd_board_info();
- break;
-
- case '+':
- cmd_gpio_qa();
- break;
-
- default: // -------------------------------
- SerialUSB.print("Unexpected byte: 0x");
- SerialUSB.print((int)input, HEX);
- SerialUSB.println(", press h for help.");
- }
-
- SerialUSB.print("> ");
- }
-}
-
-// -- Commands ----------------------------------------------------------------
-
-void cmd_print_help(void) {
- SerialUSB.println("");
- SerialUSB.println("Command Listing");
- SerialUSB.println("\t?: print this menu");
- SerialUSB.println("\td: Disable SerialUSB (press button to re-enable)");
- 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 over USB"
- " and measure data rate");
- SerialUSB.println("\tg: toggle GPIOs sequentially");
- SerialUSB.println("\tG: toggle GPIOs at the same time");
- SerialUSB.println("\tj: toggle debug port GPIOs sequentially");
- SerialUSB.println("\tJ: toggle debug port GPIOs simultaneously");
- SerialUSB.println("\tB: test the built-in button");
- 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 at various "
- "baud rates");
- SerialUSB.println("\tE: echo data on USART1 at various baud 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) {
- SerialUSB.println("Taking ADC noise stats. Press ESC to stop, "
- "'R' to repeat same pin, anything else for next pin.");
-
- uint32 i = 0;
- while (i < BOARD_NR_ADC_PINS) {
- measure_adc_noise(boardADCPins[i]);
-
- SerialUSB.println("----------");
- uint8 c = SerialUSB.read();
- if (c == ESC) {
- break;
- } else if (c != 'r' && c != 'R') {
- i++;
- }
- }
-}
-
-void cmd_stressful_adc_stats(void) {
- SerialUSB.println("Taking ADC noise stats under duress. Press ESC to "
- "stop, 'R' to repeat same pin, anything else for next "
- "pin.");
-
- uint32 i = 0;
- while (i < BOARD_NR_ADC_PINS) {
- // use PWM to create digital noise
- for (uint32 j = 0; j < BOARD_NR_PWM_PINS; j++) {
- if (boardADCPins[i] != boardPWMPins[j]) {
- pinMode(boardPWMPins[j], PWM);
- pwmWrite(boardPWMPins[j], 1000 + i);
- }
- }
-
- measure_adc_noise(boardADCPins[i]);
-
- // turn off the noise
- for (uint32 j = 0; j < BOARD_NR_PWM_PINS; j++) {
- if (boardADCPins[i] != boardPWMPins[j]) {
- pinMode(boardPWMPins[j], OUTPUT);
- digitalWrite(boardPWMPins[j], LOW);
- }
- }
-
- SerialUSB.println("----------");
- uint8 c = SerialUSB.read();
- if (c == ESC) {
- break;
- } else if (c != 'r' && c != 'R') {
- i++;
- }
- }
-}
-
-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
- SerialUSB.println("Unimplemented.");
-}
-
-void cmd_serial1_serial3(void) {
- HardwareSerial *serial_1_and_3[] = {&Serial1, &Serial3};
-
- SerialUSB.println("Testing 57600 baud on USART1 and USART3. "
- "Press any key to stop.");
- serial_baud_test(serial_1_and_3, 2, 57600);
- SerialUSB.read();
-
- SerialUSB.println("Testing 115200 baud on USART1 and USART3. "
- "Press any key to stop.");
- serial_baud_test(serial_1_and_3, 2, 115200);
- SerialUSB.read();
-
- SerialUSB.println("Testing 9600 baud on USART1 and USART3. "
- "Press any key to stop.");
- serial_baud_test(serial_1_and_3, 2, 9600);
- SerialUSB.read();
-
- SerialUSB.println("Resetting USART1 and USART3...");
- Serial1.begin(BAUD);
- Serial3.begin(BAUD);
-}
-
-void cmd_serial1_echo(void) {
- SerialUSB.println("Testing serial echo at various baud rates. "
- "Press any key for next baud rate, or ESC to quit "
- "early.");
- while (!SerialUSB.available())
- ;
-
- if (SerialUSB.read() == ESC) return;
- SerialUSB.println("Testing 115200 baud on USART1.");
- serial_echo_test(&Serial1, 115200);
-
- if (SerialUSB.read() == ESC) return;
- SerialUSB.println("Testing 57600 baud on USART1.");
- serial_echo_test(&Serial1, 57600);
-
- if (SerialUSB.read() == ESC) return;
- SerialUSB.println("Testing 9600 baud on USART1.");
- serial_echo_test(&Serial1, 9600);
-}
-
-void cmd_gpio_monitoring(void) {
- 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 (!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]) {
- 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 = 0; i < BOARD_NR_GPIO_PINS; i++) {
- if (boardUsesPin(i))
- continue;
- pinMode(i, OUTPUT);
- }
-}
-
-void cmd_sequential_adc_reads(void) {
- 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(boardADCPins[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(" ");
- }
- }
- SerialUSB.print("| ");
- for (int j = 0; j < 12; j++) {
- if (sample & (1 << (11 - j))) {
- SerialUSB.print("1");
- } else {
- SerialUSB.print("0");
- }
- }
- 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;
- }
- }
- 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) {
- 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);
- }
-
- 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;
- }
- 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;
- }
-
- pin_ok = pin_ok && test_single_pin_is_high(not_a_pin, "is still HIGH");
-
- if (pin_ok) {
- SerialUSB.println(": ok");
- }
-
- all_pins_ok = all_pins_ok && pin_ok;
- }
-
- 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, LOW);
- gpio_state[i] = 0;
- }
-}
-
-void cmd_sequential_gpio_toggling(void) {
- 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 (!SerialUSB.available());
-
- digitalWrite(i, LOW);
- if (SerialUSB.read() == ESC)
- break;
- }
-}
-
-void cmd_gpio_toggling(void) {
- 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 (!SerialUSB.available()) {
- for (uint32 i = 0; i < BOARD_NR_GPIO_PINS; i++) {
- if (boardUsesPin(i))
- continue;
- togglePin(i);
- }
- }
-
- for (uint32 i = 0; i < BOARD_NR_GPIO_PINS; i++) {
- if (boardUsesPin(i))
- continue;
- digitalWrite(i, LOW);
- }
-}
-
-uint8 debugGPIOPins[] = {BOARD_JTMS_SWDIO_PIN,
- BOARD_JTCK_SWCLK_PIN,
- BOARD_JTDI_PIN,
- BOARD_JTDO_PIN,
- BOARD_NJTRST_PIN};
-
-#define N_DEBUG_PINS 5
-
-void cmd_sequential_debug_gpio_toggling(void) {
- SerialUSB.println("Toggling all debug (JTAG/SWD) pins sequentially. "
- "This will permanently disable debug port "
- "functionality.");
- disableDebugPorts();
-
- for (int i = 0; i < N_DEBUG_PINS; i++) {
- pinMode(debugGPIOPins[i], OUTPUT);
- }
-
- for (int i = 0; i < N_DEBUG_PINS; i++) {
- int pin = debugGPIOPins[i];
- SerialUSB.print("Toggling pin ");
- SerialUSB.print(pin, DEC);
- SerialUSB.println("...");
-
- pinMode(pin, OUTPUT);
- do {
- togglePin(pin);
- } while (!SerialUSB.available());
-
- digitalWrite(pin, LOW);
- if (SerialUSB.read() == ESC)
- break;
- }
-
- for (int i = 0; i < N_DEBUG_PINS; i++) {
- digitalWrite(debugGPIOPins[i], 0);
- }
-}
-
-void cmd_debug_gpio_toggling(void) {
- SerialUSB.println("Toggling debug GPIO simultaneously. "
- "This will permanently disable JTAG and Serial Wire "
- "debug port functionality. "
- "Press any key to stop.");
- disableDebugPorts();
-
- for (uint32 i = 0; i < N_DEBUG_PINS; i++) {
- pinMode(debugGPIOPins[i], OUTPUT);
- }
-
- while (!SerialUSB.available()) {
- for (uint32 i = 0; i < N_DEBUG_PINS; i++) {
- togglePin(debugGPIOPins[i]);
- }
- }
-
- for (uint32 i = 0; i < N_DEBUG_PINS; i++) {
- digitalWrite(debugGPIOPins[i], LOW);
- }
-}
-
-void cmd_but_test(void) {
- SerialUSB.println("Press the button to test. Press any key to stop.");
- pinMode(BOARD_BUTTON_PIN, INPUT);
-
- while (!SerialUSB.available()) {
- if (isButtonPressed()) {
- uint32 tstamp = millis();
- SerialUSB.print("Button press detected, timestamp: ");
- SerialUSB.println(tstamp);
- }
- }
- SerialUSB.read();
-}
-
-void cmd_sequential_pwm_test(void) {
- SerialUSB.println("Sequentially testing PWM on all unused pins. "
- "Press any key for next pin, ESC to stop.");
-
- 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);
- }
-
- pinMode(boardPWMPins[i], OUTPUT);
- digitalWrite(boardPWMPins[i], 0);
- if (SerialUSB.read() == ESC)
- break;
- }
-}
-
-void cmd_servo_sweep(void) {
- SerialUSB.println("Testing all PWM headers with a servo sweep. "
- "Press any key to stop.");
- SerialUSB.println();
-
- disable_usarts();
- init_all_timers(21);
-
- 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
- int rate = 4096;
- while (!SerialUSB.available()) {
- rate += 20;
- 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 = 0; i < BOARD_NR_PWM_PINS; i++) {
- if (boardUsesPin(i))
- continue;
- pinMode(boardPWMPins[i], OUTPUT);
- }
- init_all_timers(1);
- enable_usarts();
-}
-
-void cmd_board_info(void) { // TODO print more information
- SerialUSB.println("Board information");
- SerialUSB.println("=================");
-
- SerialUSB.print("* Clock speed (MHz): ");
- 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) {
- const int N = 1000;
- uint16 x;
- 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 sample = 0; sample < N_ADC_NOISE_MEASUREMENTS; sample++) {
- for (int i = 1; i <= N; i++) {
- x = analogRead(pin);
- delta = x - mean;
- mean += delta / i;
- M2 = M2 + delta * (x - mean);
- }
- SerialUSB.print("header: D");
- SerialUSB.print(pin, DEC);
- SerialUSB.print("\tn: ");
- SerialUSB.print(N, DEC);
- SerialUSB.print("\tmean: ");
- SerialUSB.print(mean);
- SerialUSB.print("\tvariance: ");
- SerialUSB.println(M2 / (float)(N-1));
- }
-
- 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 serial_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);
- }
- }
- }
-}
-
-void serial_echo_test(HardwareSerial *serial, unsigned baud) {
- serial->begin(baud);
- while (!SerialUSB.available()) {
- if (!serial->available())
- continue;
- serial->print(serial->read());
- }
-}
-
-static uint16 init_all_timers_prescale = 0;
-
-static void set_prescale(timer_dev *dev) {
- timer_set_prescaler(dev, init_all_timers_prescale);
-}
-
-void init_all_timers(uint16 prescale) {
- init_all_timers_prescale = prescale;
- timer_foreach(set_prescale);
-}
-
-void enable_usarts(void) {
- Serial1.begin(BAUD);
- Serial2.begin(BAUD);
- Serial3.begin(BAUD);
-#if defined(STM32_HIGH_DENSITY) && !defined(BOARD_maple_RET6)
- Serial4.begin(BAUD);
- Serial5.begin(BAUD);
-#endif
-}
-
-void disable_usarts(void) {
- Serial1.end();
- Serial2.end();
- Serial3.end();
-#if defined(STM32_HIGH_DENSITY) && !defined(BOARD_maple_RET6)
- Serial4.end();
- Serial5.end();
-#endif
-}
-
-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() {
- init();
-}
-
-int main(void) {
- setup();
-
- while (1) {
- loop();
- }
- return 0;
-}
diff --git a/examples/test-spi-roundtrip.cpp b/examples/test-spi-roundtrip.cpp
deleted file mode 100644
index ddc9875..0000000
--- a/examples/test-spi-roundtrip.cpp
+++ /dev/null
@@ -1,192 +0,0 @@
-/*
- * Polling SPI loopback test.
- *
- * Bob is nowhere to be found, so Alice decides to talk to herself.
- *
- * Instructions: Connect SPI2 (Alice) to herself (i.e., MISO to MOSI).
- * Connect to Alice via SerialUSB. Press any key to start.
- *
- * Alice will talk to herself for a little while. The sketch will
- * report if Alice can't hear anything she says. She'll then start
- * talking forever at various frequencies, bit orders, and modes. Use
- * an oscilloscope to make sure she's not trying to lie about any of
- * those things.
- *
- * This file is released into the public domain.
- *
- * Author: Marti Bolivar <mbolivar@leaflabs.com>
- */
-
-#include <wirish/wirish.h>
-
-HardwareSPI alice(2);
-
-#define NFREQS 8
-const SPIFrequency spi_freqs[] = {
- SPI_140_625KHZ,
- SPI_281_250KHZ,
- SPI_562_500KHZ,
- SPI_1_125MHZ,
- SPI_2_25MHZ,
- SPI_4_5MHZ,
- SPI_9MHZ,
- SPI_18MHZ,
-};
-
-#define TEST_BUF_SIZE 10
-uint8 test_buf[TEST_BUF_SIZE] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9};
-
-void bad_assert(const char* file, int line, const char* exp) {
- SerialUSB.println();
- SerialUSB.print("ERROR: FAILED ASSERT(");
- SerialUSB.print(exp);
- SerialUSB.print("): ");
- SerialUSB.print(file);
- SerialUSB.print(": ");
- SerialUSB.println(line);
- throb();
-}
-
-#undef ASSERT
-#define ASSERT(exp) \
- if (exp) { \
- } else { \
- bad_assert(__FILE__, __LINE__, #exp); \
- }
-
-void haveConversation(uint32 bitOrder);
-void soliloquies(uint32 bitOrder);
-
-void setup() {
- pinMode(BOARD_LED_PIN, OUTPUT);
- SerialUSB.read();
-}
-
-void loop() {
- SerialUSB.println("** Having a conversation, MSB first");
- haveConversation(MSBFIRST);
-
- SerialUSB.println("** Having a conversation, LSB first");
- haveConversation(LSBFIRST);
-
- SerialUSB.println();
- SerialUSB.println("*** All done! It looks like everything worked.");
- SerialUSB.println();
-
- SerialUSB.println("** Alice will now wax eloquent in various styles. "
- "Press any key for the next configuration.");
- soliloquies(MSBFIRST);
- soliloquies(LSBFIRST);
-
- while (true)
- ;
-}
-
-void printFrequencyString(SPIFrequency frequency);
-void chat(SPIFrequency frequency, uint32 bitOrder, uint32 mode);
-
-void haveConversation(uint32 bitOrder) {
- for (int f = 0; f < NFREQS; f++) {
- for (int mode = 0; mode < 4; mode++) {
- chat(spi_freqs[f], bitOrder, mode);
- delay(10);
- }
- }
-}
-
-void chat(SPIFrequency frequency, uint32 bitOrder, uint32 mode) {
- SerialUSB.print("Having a chat.\tFrequency: ");
- printFrequencyString(frequency);
- SerialUSB.print(",\tbitOrder: ");
- SerialUSB.print(bitOrder == MSBFIRST ? "MSB" : "LSB");
- SerialUSB.print(",\tmode: ");
- SerialUSB.print(mode);
- SerialUSB.print(".");
-
- SerialUSB.print(" [1] ");
- alice.begin(frequency, bitOrder, mode);
-
- SerialUSB.print(" [2] ");
- uint32 txed = 0;
- while (txed < TEST_BUF_SIZE) {
- ASSERT(alice.transfer(test_buf[txed]) == test_buf[txed]);
- txed++;
- }
-
- SerialUSB.print(" [3] ");
- alice.end();
-
- SerialUSB.println(" ok.");
-}
-
-void soliloquy(SPIFrequency freq, uint32 bitOrder, uint32 mode);
-
-void soliloquies(uint32 bitOrder) {
- for (int f = 0; f < NFREQS; f++) {
- for (int mode = 0; mode < 4; mode++) {
- soliloquy(spi_freqs[f], bitOrder, mode);
- }
- }
-}
-
-void soliloquy(SPIFrequency frequency, uint32 bitOrder, uint32 mode) {
- const uint8 repeat = 0xAE;
- SerialUSB.print("Alice is giving a soliloquy (repeating 0x");
- SerialUSB.print(repeat, HEX);
- SerialUSB.print("). Frequency: ");
- printFrequencyString(frequency);
- SerialUSB.print(", bitOrder: ");
- SerialUSB.print(bitOrder == MSBFIRST ? "big-endian" : "little-endian");
- SerialUSB.print(", SPI mode: ");
- SerialUSB.println(mode);
-
- alice.begin(frequency, bitOrder, mode);
- while (!SerialUSB.available()) {
- alice.write(repeat);
- delayMicroseconds(200);
- }
- SerialUSB.read();
-}
-
-void printFrequencyString(SPIFrequency frequency) {
- switch (frequency) {
- case SPI_18MHZ:
- SerialUSB.print("18 MHz");
- break;
- case SPI_9MHZ:
- SerialUSB.print("9 MHz");
- break;
- case SPI_4_5MHZ:
- SerialUSB.print("4.5 MHz");
- break;
- case SPI_2_25MHZ:
- SerialUSB.print("2.25 MHZ");
- break;
- case SPI_1_125MHZ:
- SerialUSB.print("1.125 MHz");
- break;
- case SPI_562_500KHZ:
- SerialUSB.print("562.500 KHz");
- break;
- case SPI_281_250KHZ:
- SerialUSB.print("281.250 KHz");
- break;
- case SPI_140_625KHZ:
- SerialUSB.print("140.625 KHz");
- break;
- }
-}
-
-// 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() {
- init();
-}
-
-int main(void) {
- setup();
- while (true) {
- loop();
- }
- return 0;
-}
diff --git a/examples/test-systick.cpp b/examples/test-systick.cpp
deleted file mode 100644
index 356f302..0000000
--- a/examples/test-systick.cpp
+++ /dev/null
@@ -1,49 +0,0 @@
-// Tests the SysTick enable/disable functions
-
-#include <wirish/wirish.h>
-#include <libmaple/systick.h>
-
-void setup() {
- pinMode(BOARD_LED_PIN, OUTPUT);
- pinMode(BOARD_BUTTON_PIN, INPUT);
-}
-
-bool disable = true;
-long time = 0;
-
-void loop() {
- volatile int i = 0;
- toggleLED();
-
- // An artificial delay
- for(i = 0; i < 150000; i++)
- ;
-
- if (isButtonPressed()) {
- if (disable) {
- systick_disable();
- SerialUSB.println("Disabling SysTick");
- } else {
- SerialUSB.println("Re-enabling SysTick");
- systick_enable();
- }
- disable = !disable;
- }
-
- SerialUSB.println(millis());
-}
-
-// 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() {
- init();
-}
-
-int main(void) {
- setup();
-
- while (true) {
- loop();
- }
- return 0;
-}
diff --git a/examples/test-timers.cpp b/examples/test-timers.cpp
deleted file mode 100644
index e646916..0000000
--- a/examples/test-timers.cpp
+++ /dev/null
@@ -1,537 +0,0 @@
-//
-// This is a mostly Wirish-free timer test. Wirish usage is minimized
-// because this is a test of the C timer interface in
-// <libmaple/timer.h>, so it's good if it can be made to work even
-// when most or all of Wirish is missing. Because of that, you may
-// need to customize the following output configuration:
-//
-// Output is printed:
-// - on COMM_USART,
-// - via TX pin on port COMM_USART_PORT, bit COMM_USART_TX_BIT
-// - via RX pin on port COMM_USART_PORT, bit COMM_USART_RX_BIT
-// - at COMM_USART_BAUD baud.
-#define COMM_USART USART6
-#define COMM_USART_BAUD 115200
-#define COMM_USART_PORT GPIOG
-#define COMM_USART_TX_BIT 14
-#define COMM_USART_RX_BIT 9
-// Other optional configuration below.
-
-#include <libmaple/libmaple.h>
-#include <libmaple/gpio.h>
-#include <libmaple/usart.h>
-#include <libmaple/systick.h>
-#include <libmaple/timer.h>
-#include <wirish/boards.h>
-
-//
-// Configuration
-//
-
-// More output if true
-static bool verbose = true;
-
-// Timers to test
-// FIXME use feature test macros for smaller MCUs
-static timer_dev *timers[] = {
- // Available on all currently supported MCUs
- TIMER1, TIMER2, TIMER3, TIMER4,
- // Available on F1 (HD and up), F2
- TIMER5, TIMER6, TIMER7, TIMER8,
- // Available on F1 (XL), F2
- TIMER9, TIMER10, TIMER11, TIMER12, TIMER13, TIMER14,
-};
-
-//
-// Test routines
-//
-
-typedef void (*timer_test_t)(timer_dev *);
-
-static void runTest(const char description[], timer_test_t test);
-static void runTests(void);
-
-static void testGetAndSetCount(timer_dev*);
-static void testPauseAndResume(timer_dev*);
-static void testTimerChannels(timer_dev*);
-
-//
-// Helpers
-//
-
-static void initTimer(timer_dev *dev);
-static int timerNumber(timer_dev *dev);
-// Hack: a systick-based delay, useful until delay_us() is fixed
-static void _delay(uint32 msec);
-// Wirish-less USART initialization routine
-static void init_usart(usart_dev *dev, gpio_dev *gdev, uint8 tx, uint8 rx);
-// Return whether or not the timer has capture/compare channel `ch'.
-// TODO: does something like this belong in the standard timer library?
-static bool timer_has_cc_ch(timer_dev *dev, int ch);
-
-// Printing routines and variants for verbose mode
-static void putstr(const char str[]);
-static void println(void);
-static void putstrln(const char str[]);
-static void putudec(uint32 val);
-static void puttimn(timer_dev *dev);
-static void v_putstr(const char str[]);
-static void v_println();
-static void v_putstrln(const char str[]);
-static void v_putudec(uint32 val);
-static void v_puttimn(timer_dev *dev);
-// Used to visually separate output from different tests
-static void printBanner(void);
-
-//
-// Handler state
-//
-
-static int count1 = 0;
-static int count2 = 0;
-static int count3 = 0;
-static int count4 = 0;
-static int timer_num; // Current timer we're considering
-
-//
-// Timer capture/compare interrupt handlers
-//
-// These are shared between timers. The global variable timer_num
-// controls which timer they affect.
-//
-
-static void handler1(void);
-static void handler2(void);
-static void handler3(void);
-static void handler4(void);
-static voidFuncPtr handlers[] = {handler1, handler2, handler3, handler4};
-
-//
-// setup() and loop()
-//
-
-void setup() {
- init_usart(COMM_USART, COMM_USART_PORT,
- COMM_USART_TX_BIT, COMM_USART_RX_BIT);
- _delay(5);
- println();
- printBanner();
- putstr("Initializing timers...\r\n");
- timer_foreach(initTimer);
- putstr("Done. Running tests.\r\n");
- runTests();
- printBanner();
- putstr("Done testing timers.\r\n");
-}
-
-void loop() {
-}
-
-//
-// Test routine implementations
-//
-
-static void runTests(void) {
- runTest("timer_get_count()/timer_set_count()", testGetAndSetCount);
- runTest("timer_pause()/timer_resume()", testPauseAndResume);
- runTest("capture/compare channels and interrupts",
- testTimerChannels);
-}
-
-static void runTest(const char description[], timer_test_t test) {
- printBanner();
- putstr("Testing ");
- putstr(description);
- putstrln(".");
- timer_foreach(test);
-}
-
-static void testGetAndSetCount(timer_dev *dev) {
- unsigned before, after;
- unsigned val_to_set = 1234;
-
- timer_pause(dev);
- before = timer_get_count(dev);
- timer_set_count(dev, val_to_set);
- after = timer_get_count(dev);
- timer_resume(dev);
-
- if (after != val_to_set) {
- puttimn(dev);
- putstr(": ");
- putstr("*** FAIL: get/set count for ");
- puttimn(dev);
- putstr(".");
- putstr("Start count = ");
- putudec(before);
- putstr(". Count set to ");
- putudec(val_to_set);
- putstr(", and now count is = ");
- putudec(after);
- println();
- } else if (verbose) {
- puttimn(dev);
- putstr(": ");
- putstrln("[ok]");
- }
-}
-
-// This hack works on all currently supported STM32 series, but you
-// may need to do something smarter in the future. The assertions
-// ensure that our assumptions hold for your target.
-static timer_dev *getDifferentTimerOnSameBusAs(timer_dev *dev) {
- rcc_clk_domain dev_domain = rcc_dev_clk(dev->clk_id);
- ASSERT(RCC_APB1 == dev_domain || RCC_APB2 == dev_domain);
- ASSERT(rcc_dev_clk(TIMER1->clk_id) == RCC_APB2);
- ASSERT(rcc_dev_clk(TIMER2->clk_id) == RCC_APB1);
- ASSERT(rcc_dev_clk(TIMER8->clk_id) == RCC_APB2);
- ASSERT(rcc_dev_clk(TIMER3->clk_id) == RCC_APB1);
-
- if (dev->clk_id == RCC_TIMER1) {
- return TIMER8;
- }
- if (dev->clk_id == RCC_TIMER2) {
- return TIMER3;
- }
- return dev_domain == RCC_APB2 ? TIMER1 : TIMER2;
-}
-
-// Rough test of pause and resume.
-//
-// Approximately half the time, dev is in the "pause" state and the
-// timer doesn't increment, while another timer (`base_dev') on the
-// same bus continues. dev and base_dev have identical start counts
-// and prescalers.
-//
-// Since dev and base_dev share a bus (and thus a base clock), and we
-// configure them to have the same prescaler and start count, the
-// ratio of their end counts should be approximately 1 : 2. We check
-// to make sure this is true, up to tolerance `epsilon'.
-static void testPauseAndResume(timer_dev *dev) {
- timer_dev *base_dev = getDifferentTimerOnSameBusAs(dev);
- unsigned start_count = 0, reload = 65535;
- // This prescaler should be enough to ensure that we don't
- // overflow, while still giving us a reasonably large number of
- // timer ticks.
- uint16 prescaler = CYCLES_PER_MICROSECOND * 50;
- double epsilon = .02;
-
- if (rcc_dev_clk(base_dev->clk_id) != rcc_dev_clk(dev->clk_id)) {
- putstrln("*** ERROR: cannot run test. Bus info is messed up.");
- return;
- }
-
- // Pause and set up timers
- timer_pause(base_dev);
- timer_pause(dev);
- timer_set_count(base_dev, start_count);
- timer_set_count(dev, start_count);
- timer_set_reload(base_dev, reload);
- timer_set_reload(dev, reload);
- timer_set_prescaler(base_dev, prescaler);
- timer_set_prescaler(dev, prescaler);
- timer_generate_update(base_dev);
- timer_generate_update(dev);
-
- // Resume the timers and run the test
- ASSERT(timer_get_count(base_dev) == start_count);
- ASSERT(timer_get_count(dev) == start_count);
- timer_resume(base_dev);
- timer_resume(dev);
- _delay(1000);
- timer_pause(dev);
- _delay(1000);
- timer_pause(base_dev);
-
- // Check the results
- unsigned dev_count = timer_get_count(dev);
- unsigned base_count = timer_get_count(base_dev);
- double count_ratio = ((double)dev_count / base_count);
- bool fail = false;
- if (count_ratio > 0.5 + epsilon || count_ratio < 0.5 - epsilon) {
- fail = true;
- }
- if (fail || verbose) {
- puttimn(dev);
- putstr(" vs. ");
- puttimn(base_dev);
- putstr(": ");
- if (fail) putstr("*** FAIL: ");
- else putstr("[ok] ");
- putstr("(dev = ");
- putudec(dev_count);
- putstr(") / (base = ");
- putudec(base_count);
- putstr(") = ");
- // hack hack hack
- putudec((int)count_ratio);
- count_ratio -= (int)count_ratio;
- putstr(".");
- int cr_x_100 = (int)(count_ratio * 100);
- int hundredths = cr_x_100 % 10;
- cr_x_100 /= 10;
- int tenths = cr_x_100 % 10;
- putudec(tenths);
- putudec(hundredths);
- println();
- }
-}
-
-// This function touches every capture/compare channel of a given
-// timer. The channel counts should be equal within a timer
-// regardless of other interrupts on the system (note that this
-// doesn't really test timers with only a single capture/compare
-// channel; for that, you'll want to do visual inspection of timers
-// that share a bus, in verbose mode).
-static void testTimerChannels(timer_dev *dev) {
- switch (dev->type) {
- case TIMER_BASIC:
- v_putstr("Skipping basic timer ");
- v_puttimn(dev);
- v_println();
- return;
- case TIMER_ADVANCED:
- case TIMER_GENERAL:
- // Set up
- v_puttimn(dev);
- v_println();
- v_putstr("\tchannels: ");
-
- timer_num = timerNumber(dev);
- timer_pause(dev);
- count1 = 0;
- count2 = 0;
- count3 = 0;
- count4 = 0;
- timer_set_reload(dev, 0xFFFF);
- timer_set_prescaler(dev, 1);
- for (int c = 1; c <= 4; c++) {
- if (timer_has_cc_ch(dev, c)) {
- v_putudec(c);
- v_putstr("\t");
- timer_set_compare(dev, c, 0xFFFF);
- timer_set_mode(dev, c, TIMER_OUTPUT_COMPARE);
- timer_attach_interrupt(dev, c, handlers[c - 1]);
- }
- }
- v_println();
-
- // Run test
- timer_generate_update(dev);
- timer_resume(dev);
- _delay(250);
- timer_pause(dev);
-
- // Print results
- v_putstr("\tcounts: ");
- bool fail = false;
- bool mismatched[4] = {false, false, false, false};
- int counts[4];
- counts[0] = count1;
- counts[1] = count2;
- counts[2] = count3;
- counts[3] = count4;
- bool first = true;
- int first_count = -1;
- for (int c = 1; c <= 4; c++) {
- if (timer_has_cc_ch(dev, c)) {
- if (first) {
- first_count = counts[c - 1];
- first = false;
- }
- if (!first && (counts[c - 1] != first_count)) {
- mismatched[c - 1] = true;
- fail = true;
- }
- v_putudec(counts[c - 1]);
- v_putstr("\t");
- }
- }
- v_println();
- if (fail) {
- for (int i = 0; i < 4; i++) {
- if (mismatched[i]) {
- putstr("*** FAIL: mismatch on ");
- puttimn(dev);
- putstr(", channel ");
- putudec(i + 1);
- putstr(": expected ");
- putudec(first_count);
- putstr(", got ");
- putudec(counts[i]);
- println();
- }
- }
- } else {
- puttimn(dev);
- putstrln(" [ok]");
- }
- v_println();
-
- // Clean up
- for (int c = 1; c <= 4; c++) {
- if (timer_has_cc_ch(dev, c)) {
- timer_set_mode(dev, c, TIMER_DISABLED);
- }
- }
- break;
- }
-}
-
-//
-// Helper implementations
-//
-
-static void _delay(uint32 msec) {
- uint32 end = systick_uptime() + msec;
- while (systick_uptime() < end)
- ;
-}
-
-static void init_usart(usart_dev *dev, gpio_dev *gdev, uint8 tx, uint8 rx) {
- usart_config_gpios_async(dev, gdev, rx, gdev, tx, 0);
- usart_init(dev);
- usart_set_baud_rate(dev, USART_USE_PCLK, COMM_USART_BAUD);
- usart_enable(dev);
-}
-
-static bool timer_has_cc_ch(timer_dev *dev, int ch) {
- ASSERT(1 <= ch && ch <= 4);
- if (dev->type == TIMER_BASIC)
- return false;
- int tn = timerNumber(dev);
- return (// TIM1-5 and 8 have all four channels
- (tn <= 5 || tn == 8) ||
- // TIM9 and 12 only have channels 1 and 2
- ((tn == 9 || tn == 12) && ch <= 2) ||
- // All other general purpose timers only have channel 1
- (ch == 1));
-}
-
-static void putstr(const char str[]) {
- usart_putstr(COMM_USART, str);
-}
-
-static void println(void) {
- putstr("\r\n");
-}
-
-static void putstrln(const char str[]) {
- putstr(str);
- println();
-}
-
-static void putudec(uint32 val) {
- usart_putudec(COMM_USART, val);
-}
-
-static void puttimn(timer_dev *dev) {
- putstr("TIM");
- putudec(timerNumber(dev));
-}
-
-static void v_putstr(const char str[]) {
- if (verbose) putstr(str);
-}
-
-static void v_println() {
- if (verbose) println();
-}
-
-__attribute__((unused)) /* (shut up, gcc) */
-static void v_putstrln(const char str[]) {
- if (verbose) putstrln(str);
-}
-
-static void v_putudec(uint32 val) {
- if (verbose) putudec(val);
-}
-
-static void v_puttimn(timer_dev *dev) {
- if (verbose) puttimn(dev);
-}
-
-// Used to visually separate output from different tests
-static void printBanner(void) {
- putstrln("-----------------------------------------------------");
-}
-
-static void initTimer(timer_dev *dev) {
- v_puttimn(dev);
- timer_init(dev);
- switch (dev->type) {
- case TIMER_ADVANCED:
- case TIMER_GENERAL:
- v_putstr(" channels ");
- for (int c = 1; c <= 4; c++) {
- if (timer_has_cc_ch(dev, c)) {
- v_putudec(c);
- v_putstr(" ");
- timer_set_mode(dev, c, TIMER_OUTPUT_COMPARE);
- }
- }
- break;
- case TIMER_BASIC:
- break;
- }
- v_println();
-}
-
-static int timerNumber(timer_dev *dev) {
- switch (dev->clk_id) {
- case RCC_TIMER1: return 1;
- case RCC_TIMER2: return 2;
- case RCC_TIMER3: return 3;
- case RCC_TIMER4: return 4;
- case RCC_TIMER5: return 5;
- case RCC_TIMER6: return 6;
- case RCC_TIMER7: return 7;
- case RCC_TIMER8: return 8;
- case RCC_TIMER9: return 9;
- case RCC_TIMER10: return 10;
- case RCC_TIMER11: return 11;
- case RCC_TIMER12: return 12;
- case RCC_TIMER13: return 13;
- case RCC_TIMER14: return 14;
- default:
- ASSERT(0);
- return 0;
- }
-}
-
-//
-// IRQ Handlers
-//
-
-static void handler1(void) {
- count1++;
-}
-
-static void handler2(void) {
- count2++;
-}
-
-static void handler3(void) {
- count3++;
-}
-
-static void handler4(void) {
- count4++;
-}
-
-//
-// init() and main()
-//
-
-__attribute__((constructor)) void premain() {
- init();
-}
-
-int main(void) {
- setup();
-
- while (true) {
- loop();
- }
- return 0;
-}
diff --git a/examples/test-usart-dma.cpp b/examples/test-usart-dma.cpp
deleted file mode 100644
index d10dc68..0000000
--- a/examples/test-usart-dma.cpp
+++ /dev/null
@@ -1,211 +0,0 @@
-/**
- * @file examples/test-usart-dma.cpp
- * @author Marti Bolivar <mbolivar@leaflabs.com>
- *
- * Simple test of DMA used with a USART receiver.
- *
- * Configures a USART receiver for use with DMA. Received bytes are
- * placed into a buffer, with an interrupt firing when the buffer is
- * full. At that point, the USART transmitter will print the contents
- * of the byte buffer. The buffer is continually filled and refilled
- * in this manner.
- *
- * This example isn't very robust; don't use it in production. In
- * particular, since the buffer keeps filling (DMA_CIRC_MODE is set),
- * if you keep sending characters after filling the buffer, you'll
- * overwrite earlier bytes; this may happen before those earlier bytes
- * are done printing. (Typing quickly and seeing how it affects the
- * output is a fun way to make sense of how the interrupts and the
- * main thread of execution interleave.)
- *
- * This code is released into the public domain.
- */
-
-#include <libmaple/dma.h>
-#include <libmaple/usart.h>
-#include <libmaple/gpio.h>
-
-#include <wirish/wirish.h>
-
-/*
- * Configuration and state
- */
-
-// Serial port and DMA configuration. You can change these to suit
-// your purposes.
-HardwareSerial *serial = &Serial2;
-#define USART_DMA_DEV DMA1
-#if STM32_MCU_SERIES == STM32_SERIES_F1
-// On STM32F1 microcontrollers (like what's on Maple and Maple Mini),
-// dma tubes are channels.
-#define USART_RX_DMA_TUBE DMA_CH6
-#elif (STM32_MCU_SERIES == STM32_SERIES_F2 || \
- STM32_MCU_SERIES == STM32_SERIES_F4)
-// On STM32F2 and STM32F4 microcontrollers (Maple 2 will have an F4),
-// dma tubes are streams.
-#define USART_RX_DMA_TUBE DMA_S5
-#else
-#error "unsupported stm32 series"
-#endif
-// The serial port will make a DMA request each time it receives data.
-// This is the dma_request_src we use to tell the DMA tube to handle
-// that DMA request.
-#define USART_DMA_REQ_SRC DMA_REQ_SRC_USART2_RX
-#define BAUD 9600
-
-// This will store the DMA configuration for USART RX.
-dma_tube_config tube_config;
-
-// This will store received USART characters.
-#define BUF_SIZE 20
-char rx_buf[BUF_SIZE];
-
-// The interrupt handler, rx_dma_irq(), sets this to 1.
-volatile uint32 irq_fired = 0;
-// Used to store DMA interrupt status register (ISR) bits inside
-// rx_dma_irq(). This helps explain what's going on inside loop(); see
-// comments below.
-volatile uint32 isr = 0;
-
-/*
- * Helper functions
- */
-
-// This is our DMA interrupt handler.
-void rx_dma_irq(void) {
- irq_fired = 1;
- isr = dma_get_isr_bits(USART_DMA_DEV, USART_RX_DMA_TUBE);
-}
-
-// Configure the USART receiver for use with DMA:
-// 1. Turn it on.
-// 2. Set the "DMA request on RX" bit in USART_CR3 (USART_CR3_DMAR).
-void setup_usart(void) {
- serial->begin(BAUD);
- usart_dev *serial_dev = serial->c_dev();
- serial_dev->regs->CR3 = USART_CR3_DMAR;
-}
-
-// Set up our dma_tube_config structure. (We could have done this
-// above, when we declared tube_config, but having this function makes
-// it easier to explain what's going on).
-void setup_tube_config(void) {
- // We're receiving from the USART data register. serial->c_dev()
- // returns a pointer to the libmaple usart_dev for that serial
- // port, so this is a pointer to its data register.
- tube_config.tube_src = &serial->c_dev()->regs->DR;
- // We're only interested in the bottom 8 bits of that data register.
- tube_config.tube_src_size = DMA_SIZE_8BITS;
- // We're storing to rx_buf.
- tube_config.tube_dst = rx_buf;
- // rx_buf is a char array, and a "char" takes up 8 bits on STM32.
- tube_config.tube_dst_size = DMA_SIZE_8BITS;
- // Only fill BUF_SIZE - 1 characters, to leave a null byte at the end.
- tube_config.tube_nr_xfers = BUF_SIZE - 1;
- // Flags:
- // - DMA_CFG_DST_INC so we start at the beginning of rx_buf and
- // fill towards the end.
- // - DMA_CFG_CIRC so we go back to the beginning and start over when
- // rx_buf fills up.
- // - DMA_CFG_CMPLT_IE to turn on interrupts on transfer completion.
- tube_config.tube_flags = DMA_CFG_DST_INC | DMA_CFG_CIRC | DMA_CFG_CMPLT_IE;
- // Target data: none. It's important to set this to NULL if you
- // don't have any special (microcontroller-specific) configuration
- // in mind, which we don't.
- tube_config.target_data = NULL;
- // DMA request source.
- tube_config.tube_req_src = USART_DMA_REQ_SRC;
-}
-
-// Configure the DMA controller to serve DMA requests from the USART.
-void setup_dma_xfer(void) {
- // First, turn it on.
- dma_init(USART_DMA_DEV);
- // Next, configure it by calling dma_tube_cfg(), and check to make
- // sure it succeeded. DMA tubes have many restrictions on their
- // configuration, and there are configurations which work on some
- // types of STM32 but not others. libmaple tries hard to make
- // things just work, but checking the return status is important!
- int status = dma_tube_cfg(USART_DMA_DEV, USART_RX_DMA_TUBE, &tube_config);
- ASSERT(status == DMA_TUBE_CFG_SUCCESS);
- // Now we'll perform any other configuration we want. For this
- // example, we attach an interrupt handler.
- dma_attach_interrupt(USART_DMA_DEV, USART_RX_DMA_TUBE, rx_dma_irq);
- // Turn on the DMA tube. It will now begin serving requests.
- dma_enable(USART_DMA_DEV, USART_RX_DMA_TUBE);
-}
-
-/*
- * setup() and loop()
- */
-
-void setup(void) {
- pinMode(BOARD_LED_PIN, OUTPUT);
- setup_tube_config();
- setup_dma_xfer();
- setup_usart();
-}
-
-void loop(void) {
- toggleLED();
- delay(100);
-
- // See if the interrupt handler got called since the last time we
- // checked.
- if (irq_fired) {
- serial->println("** IRQ **");
- // Notice how the interrupt status register (ISR) bits show
- // transfer complete _and_ half-complete here, but the ISR
- // bits we print next will be zero. That's because the
- // variable "isr" gets set _inside_ rx_dma_irq(). After it
- // exits, libmaple cleans up by clearing the tube's ISR
- // bits. (If it didn't, and we forgot to, the interrupt would
- // repeatedly fire forever.)
- serial->print("ISR bits: 0x");
- serial->println(isr, HEX);
- irq_fired = 0;
- }
-
- // Print the ISR bits.
- //
- // Notice that the "transfer half-complete" ISR flag gets set when
- // we reach the rx_buf half-way point. This is true even though we
- // don't tell the DMA controller to interrupt us on a
- // half-complete transfer. That is, the ISR bits get set at the
- // right times no matter what; we just don't get interrupted
- // unless we asked. (If an error or other problem occurs, the
- // relevant ISR bits will get set in the same way).
- serial->print("[");
- serial->print(millis());
- serial->print("]\tISR bits: 0x");
- uint8 isr_bits = dma_get_isr_bits(USART_DMA_DEV, USART_RX_DMA_TUBE);
- serial->print(isr_bits, HEX);
-
- // Print the contents of rx_buf. If you keep typing after it fills
- // up, the new characters will overwrite the old ones, thanks to
- // DMA_CIRC_MODE.
- serial->print("\tCharacter buffer contents: '");
- serial->print(rx_buf);
- serial->println("'");
- if (isr_bits == 0x7) {
- serial->println("** Clearing ISR bits.");
- dma_clear_isr_bits(USART_DMA_DEV, USART_RX_DMA_TUBE);
- }
-}
-
-// ------- init() 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() {
- init();
-}
-
-int main(void) {
- setup();
-
- while (true) {
- loop();
- }
- return 0;
-}
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