diff options
Diffstat (limited to 'src/lib')
| -rw-r--r-- | src/lib/adc.c | 29 | ||||
| -rw-r--r-- | src/lib/adc.h | 26 | ||||
| -rw-r--r-- | src/lib/exti.c | 47 | ||||
| -rw-r--r-- | src/lib/exti.h | 51 | ||||
| -rw-r--r-- | src/lib/gpio.c | 48 | ||||
| -rw-r--r-- | src/lib/gpio.h | 71 | ||||
| -rw-r--r-- | src/lib/libmaple.h | 33 | ||||
| -rw-r--r-- | src/lib/libmaple_types.h | 42 | ||||
| -rw-r--r-- | src/lib/nvic.c | 41 | ||||
| -rw-r--r-- | src/lib/nvic.h | 62 | ||||
| -rw-r--r-- | src/lib/syscalls.c | 13 | ||||
| -rw-r--r-- | src/lib/systick.c | 50 | ||||
| -rw-r--r-- | src/lib/systick.h | 37 | ||||
| -rw-r--r-- | src/lib/timers.c | 44 | ||||
| -rw-r--r-- | src/lib/timers.h | 26 | ||||
| -rw-r--r-- | src/lib/usart.c | 322 | ||||
| -rw-r--r-- | src/lib/usart.h | 73 | ||||
| -rw-r--r-- | src/lib/util.c | 99 | ||||
| -rw-r--r-- | src/lib/util.cpp | 47 | ||||
| -rw-r--r-- | src/lib/util.h | 25 |
20 files changed, 991 insertions, 195 deletions
diff --git a/src/lib/adc.c b/src/lib/adc.c index bcdf874..7169824 100644 --- a/src/lib/adc.c +++ b/src/lib/adc.c @@ -1,3 +1,28 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:34:47 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file adc.c + * + * @brief Analog to digital converter routines + */ + #include "stm32f10x_rcc.h" #include "adc.h" #include <stdio.h> @@ -49,6 +74,7 @@ void adc_init(void) { ADC_SQR1 = 0; /* Up the sample conversion time to 55.5 cycles/sec, see note above */ + /* TODO: fix magic numbers */ ADC_SMPR1 = 0xB6DB6D; ADC_SMPR2 = 0x2DB6DB6D; @@ -66,3 +92,6 @@ void adc_init(void) { } +void adc_disable(void) { + CR2_ADON_BIT = 0; +} diff --git a/src/lib/adc.h b/src/lib/adc.h index 41f975e..d554b02 100644 --- a/src/lib/adc.h +++ b/src/lib/adc.h @@ -1,3 +1,28 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:35:10 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file adc.h + * + * @brief ADC prototypes and defines + */ + #ifndef _ADC_H_ #define _ADC_H_ #include <inttypes.h> @@ -40,6 +65,7 @@ extern "C"{ /* Initialize ADC1 to do one-shot conversions */ void adc_init(void); +void adc_disable(void); /* Perform a single conversion on ADC[0-16], * PRECONDITIONS: diff --git a/src/lib/exti.c b/src/lib/exti.c index 8e46bb1..bdaa204 100644 --- a/src/lib/exti.c +++ b/src/lib/exti.c @@ -1,5 +1,31 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:35:22 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file exti.c + * + * @brief External interrupt control routines + */ + +#include "libmaple.h" #include "exti.h" -#include "util.h" +#include "nvic.h" volatile static voidFuncPtr exti_handlers[NR_EXTI_CHANNELS]; @@ -22,7 +48,7 @@ void EXTI0_IRQHandler(void) { exti_handlers[EXTI0](); } - /* Clear pending bit*/ + /* Clear pending bit*/ clear_pending(EXTI0); } @@ -33,7 +59,7 @@ void EXTI1_IRQHandler(void) { exti_handlers[EXTI1](); } - /* Clear pending bit*/ + /* Clear pending bit*/ clear_pending(EXTI1); } @@ -44,7 +70,7 @@ void EXTI2_IRQHandler(void) { exti_handlers[EXTI2](); } - /* Clear pending bit*/ + /* Clear pending bit*/ clear_pending(EXTI2); } @@ -55,7 +81,7 @@ void EXTI3_IRQHandler(void) { exti_handlers[EXTI3](); } - /* Clear pending bit*/ + /* Clear pending bit*/ clear_pending(EXTI3); } @@ -66,7 +92,7 @@ void EXTI4_IRQHandler(void) { exti_handlers[EXTI4](); } - /* Clear pending bit*/ + /* Clear pending bit*/ clear_pending(EXTI4); } @@ -80,6 +106,7 @@ void EXTI9_5_IRQHandler(void) { /* Dispatch every handler if the pending bit is set */ for (i = 0; i < 5; i++) { if (pending & 0x1) { + ASSERT(exti_handlers[EXTI5 + i]); exti_handlers[EXTI5 + i](); clear_pending(EXTI5 + i); } @@ -97,6 +124,7 @@ void EXTI15_10_IRQHandler(void) { /* Dispatch every handler if the pending bit is set */ for (i = 0; i < 6; i++) { if (pending & 0x1) { + ASSERT(exti_handlers[EXTI10 + i]); exti_handlers[EXTI10 + i](); clear_pending(EXTI10 + i); } @@ -110,6 +138,7 @@ void exti_attach_interrupt(uint8_t channel, uint8_t port, voidFuncPtr handler, u ASSERT(port < NR_EXTI_PORTS); ASSERT(mode < NR_EXTI_MODES); ASSERT(EXTI0 == 0); + ASSERT(handler); /* Note: All of the following code assumes that EXTI0 = 0 */ @@ -128,7 +157,7 @@ void exti_attach_interrupt(uint8_t channel, uint8_t port, voidFuncPtr handler, u case EXTI7: REG_SET_MASK(AFIO_EXTICR2, BIT_MASK_SHIFT(port, (channel-4)*4)); break; - + case EXTI8: case EXTI9: case EXTI10: @@ -225,7 +254,7 @@ void exti_detach_interrupt(uint8_t channel) { case EXTI7: case EXTI8: case EXTI9: - /* Are there any other channels enabled? + /* Are there any other channels enabled? * If so, don't disable the interrupt handler */ if (GET_BITS(REG_GET(EXTI_IMR), 5, 9) == 0) { REG_SET(NVIC_ICER0, BIT(23)); @@ -237,7 +266,7 @@ void exti_detach_interrupt(uint8_t channel) { case EXTI13: case EXTI14: case EXTI15: - /* Are there any other channels enabled? + /* Are there any other channels enabled? * If so, don't disable the interrupt handler */ if (GET_BITS(REG_GET(EXTI_IMR), 10, 15) == 0) { REG_SET(NVIC_ICER1, BIT(8)); diff --git a/src/lib/exti.h b/src/lib/exti.h index ccae3a4..c728454 100644 --- a/src/lib/exti.h +++ b/src/lib/exti.h @@ -1,3 +1,28 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:35:33 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file exti.h + * + * @brief External interrupt control prototypes and defines + */ + #ifndef _EXTI_H_ #define _EXTI_H_ @@ -26,14 +51,14 @@ * * RM0008, page 107: "PD0, PD1 cannot be used for external interrupt/event generation * on 36, 48, 64-bin packages." - * + * * ---------------------------------------------------------------------------- * Pin to EXTI Line Mappings: - * EXTI0 EXTI1 EXTI2 EXTI3 EXTI4 + * EXTI0 EXTI1 EXTI2 EXTI3 EXTI4 * ---------------------------------------------------------------------------- * D2/PA0 D3/PA1 D1/PA2 D0/A6/PA3 D10/A10/PA4 * D26/EXT7/PB0 D27/EXT8/PB1 D16/A2/PC2 D17/A3/PC3 D18/A4/PC4 - * D14/A0/PC0 D15/PC1 D25/EXT5/PD2 + * D14/A0/PC0 D15/PC1 D25/EXT5/PD2 * * EXTI5 EXTI6 EXTI7 EXTI8 EXTI9 * ---------------------------------------------------------------------------- @@ -53,7 +78,7 @@ * D22/EXT3/PC15 * * - * The 16 EXTI interrupts are mapped to 7 interrupt handlers. + * The 16 EXTI interrupts are mapped to 7 interrupt handlers. * * EXTI Lines to Interrupt Mapping: * EXTI0 -> EXTI0 @@ -64,7 +89,7 @@ * EXTI[5-9] -> EXT9_5 * EXTI[10-15] -> EXT15_10 * - * + * * */ #define NR_EXTI_CHANNELS 16 @@ -84,21 +109,6 @@ #define AFIO_EXTICR3 (AFIO_EVCR + 0x10) #define AFIO_EXTICR4 (AFIO_EVCR + 0x14) -#define NVIC_EXTI1_OFFSET (NVIC_ISER0 + 0x07) -#define NVIC_EXTI9_5_OFFSET (NVIC_ISER0 + 0x17) - -/* NVIC Interrupt Enable registers */ -#define NVIC_ISER0 0xE000E100 -#define NVIC_ISER1 0xE000E104 -#define NVIC_ISER2 0xE000E108 -#define NVIC_ISER3 0xE000E10C - -/* NVIC Interrupt Clear registers */ -#define NVIC_ICER0 0xE000E180 -#define NVIC_ICER1 0xE000E184 -#define NVIC_ICER2 0xE000E188 -#define NVIC_ICER3 0xE000E18C - #define EXTI_RISING 0 #define EXTI_FALLING 1 #define EXTI_RISING_FALLING 2 @@ -125,7 +135,6 @@ #define EXTI_CONFIG_PORTC 2 #define EXTI_CONFIG_PORTD 3 -typedef void (*voidFuncPtr)(void); #ifdef __cplusplus extern "C"{ diff --git a/src/lib/gpio.c b/src/lib/gpio.c index db511c4..1e42d4d 100644 --- a/src/lib/gpio.c +++ b/src/lib/gpio.c @@ -1,7 +1,35 @@ -#include "wiring.h" +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:35:49 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file gpio.c + * + * @brief GPIO initialization routine + */ + +#ifndef _GPIO_H_ +#define _GPIO_H_ + +#endif +#include "libmaple.h" #include "stm32f10x_rcc.h" #include "gpio.h" -#include "util.h" void gpio_init(void) { /* Turn on clocks for GPIO */ @@ -12,3 +40,19 @@ void gpio_init(void) { ENABLE); } +void gpio_set_mode(GPIO_Port* port, uint8_t gpio_pin, uint8_t mode) { + uint32_t tmp; + uint32_t shift = POS(gpio_pin % 8); + GPIOReg CR; + + ASSERT(port); + ASSERT(gpio_pin < 16); + + CR = (gpio_pin < 8) ? &(port->CRL) : &(port->CRH); + + tmp = *CR; + tmp &= POS_MASK(shift); + tmp |= mode << shift; + + *CR = tmp; +} diff --git a/src/lib/gpio.h b/src/lib/gpio.h index 7620f96..bc9bdde 100644 --- a/src/lib/gpio.h +++ b/src/lib/gpio.h @@ -1,9 +1,30 @@ -#ifndef _GPIO_H -#define _GPIO_H +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:36:01 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ -#include <inttypes.h> -#include "util.h" +/** + * @file gpio.h + * + * @brief GPIO prototypes, defines, and inlined access functions + */ +#ifndef _GPIO_H +#define _GPIO_H /* Each of the GPIO port bits can be in the following modes (STM32 138/995): * Input floating @@ -13,15 +34,15 @@ * Output open-drain * Output push-pull * Alternate function push-pull - * Alternate function open-drain + * Alternate function open-drain * * - After reset, the alternate functions are not active and IO prts * are set to Input Floating mode */ -#define _GPIOA_BASE (GPIO_Port*)0x40010800 -#define _GPIOB_BASE (GPIO_Port*)0x40010C00 -#define _GPIOC_BASE (GPIO_Port*)0x40011000 -#define _GPIOD_BASE (GPIO_Port*)0x40011400 +#define GPIOA_BASE (GPIO_Port*)0x40010800 +#define GPIOB_BASE (GPIO_Port*)0x40010C00 +#define GPIOC_BASE (GPIO_Port*)0x40011000 +#define GPIOD_BASE (GPIO_Port*)0x40011400 /* Pin modes are set by [CNFx[1:0] : MODEx[1:0]] */ #define GPIO_SPEED_50MHZ (0x3) // Max output speed 50 MHz @@ -37,13 +58,13 @@ #define GPIO_MODE_INPUT_PD (0x02 << 2) #define GPIO_MODE_INPUT_PU (0x02 << 2) -#define INPUT_ANALOG GPIO_MODE_INPUT_ANALOG -#define INPUT_DIGITAL GPIO_MODE_INPUT_FLOATING -#define INPUT_FLOATING GPIO_MODE_INPUT_FLOATING -#define INPUT_PULLDOWN GPIO_MODE_INPUT_PD -#define INPUT_PULLUP GPIO_MODE_INPUT_PU -#define INPUT GPIO_MODE_INPUT_FLOATING -#define OUTPUT GPIO_MODE_OUTPUT_PP +//#define INPUT_ANALOG GPIO_MODE_INPUT_ANALOG +//#define INPUT_DIGITAL GPIO_MODE_INPUT_FLOATING +//#define INPUT_FLOATING GPIO_MODE_INPUT_FLOATING +//#define INPUT_PULLDOWN GPIO_MODE_INPUT_PD +//#define INPUT_PULLUP GPIO_MODE_INPUT_PU +//#define INPUT GPIO_MODE_INPUT_FLOATING +//#define OUTPUT GPIO_MODE_OUTPUT_PP typedef struct { volatile uint32_t CRL; // Port configuration register low @@ -65,23 +86,7 @@ extern "C"{ #endif void gpio_init(void); - -static inline void gpio_set_mode(GPIO_Port* port, uint8_t gpio_pin, uint8_t mode) { - uint32_t tmp; - uint32_t shift = POS(gpio_pin % 8); - GPIOReg CR; - - ASSERT(port); - ASSERT(gpio_pin < 16); - - CR = (gpio_pin < 8) ? &(port->CRL) : &(port->CRH); - - tmp = *CR; - tmp &= POS_MASK(shift); - tmp |= mode << shift; - - *CR = tmp; -} +void gpio_set_mode(GPIO_Port* port, uint8_t gpio_pin, uint8_t mode); static inline void gpio_write_bit(GPIO_Port *port, uint8_t gpio_pin, uint8_t val) { if (val){ diff --git a/src/lib/libmaple.h b/src/lib/libmaple.h new file mode 100644 index 0000000..dc9ffd2 --- /dev/null +++ b/src/lib/libmaple.h @@ -0,0 +1,33 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/19/09 02:37:22 EST + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file libmaple.h + * + * @brief general include file for libmaple + */ + +#ifndef _LIBMAPLE_H_ +#define _LIBMAPLE_H_ + +#include "libmaple_types.h" +#include "util.h" + +#endif + diff --git a/src/lib/libmaple_types.h b/src/lib/libmaple_types.h new file mode 100644 index 0000000..b798587 --- /dev/null +++ b/src/lib/libmaple_types.h @@ -0,0 +1,42 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/19/09 02:35:14 EST + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file libmaple_types.h + * + * @brief libmaple types + */ + +#ifndef _LIBMAPLE_TYPES_H_ +#define _LIBMAPLE_TYPES_H_ + +typedef unsigned char uint8; +typedef unsigned short uint16; +typedef unsigned int uint32; +typedef unsigned long long uint64; + +typedef signed char int8; +typedef short int16; +typedef int int32; +typedef long long int64; + +typedef void (*voidFuncPtr)(void); + +#endif + diff --git a/src/lib/nvic.c b/src/lib/nvic.c new file mode 100644 index 0000000..61e1d34 --- /dev/null +++ b/src/lib/nvic.c @@ -0,0 +1,41 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:36:19 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file nvic.c + * + * @brief Nested interrupt controller routines + */ + +#include "libmaple.h" +#include "nvic.h" +#include "systick.h" + +void nvic_disable_interrupts(void) { + /* Turn off all interrupts */ + REG_SET(NVIC_ICER0, 0xFFFFFFFF); + REG_SET(NVIC_ICER1, 0xFFFFFFFF); + + /* Turn off systick exception */ + REG_CLEAR_BIT(SYSTICK_CSR, 0); +} + +void nvic_set_vector_table(uint32_t *addr, uint32_t offset) { +// SCB->VTOR = NVIC_VectTab | (Offset & (u32)0x1FFFFF80); +} diff --git a/src/lib/nvic.h b/src/lib/nvic.h new file mode 100644 index 0000000..a2d5c24 --- /dev/null +++ b/src/lib/nvic.h @@ -0,0 +1,62 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:36:47 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file nvic.h + * + * @brief Nested interrupt controller defines and prototypes + */ + +#ifndef _NVIC_H_ +#define _NVIC_H_ + +#define NVIC_EXTI1_OFFSET (NVIC_ISER0 + 0x07) +#define NVIC_EXTI9_5_OFFSET (NVIC_ISER0 + 0x17) + +/* NVIC Interrupt Enable registers */ +#define NVIC_ISER0 0xE000E100 +#define NVIC_ISER1 0xE000E104 +#define NVIC_ISER2 0xE000E108 +#define NVIC_ISER3 0xE000E10C + +/* NVIC Interrupt Clear registers */ +#define NVIC_ICER0 0xE000E180 +#define NVIC_ICER1 0xE000E184 +#define NVIC_ICER2 0xE000E188 +#define NVIC_ICER3 0xE000E18C + +/* System control registers */ +#define SCB_VTOR 0xE000ED08 // Vector table offset register + +#define NVIC_VectTab_RAM ((u32)0x20000000) +#define NVIC_VectTab_FLASH ((u32)0x08000000) + +#ifdef __cplusplus +extern "C"{ +#endif + +void nvic_disable_interrupts(void); + +#ifdef __cplusplus +} +#endif + + +#endif + diff --git a/src/lib/syscalls.c b/src/lib/syscalls.c index 6095bd3..390cecd 100644 --- a/src/lib/syscalls.c +++ b/src/lib/syscalls.c @@ -1,5 +1,5 @@ +#include "libmaple.h" #include <sys/stat.h> -#include "stm32f10x_usart.h" /* _end is set in the linker command file */ extern caddr_t _end; @@ -72,8 +72,9 @@ int _lseek(int fd, off_t pos, int whence) unsigned char getch(void) { - while (!(USART2->SR & USART_FLAG_RXNE)); - return USART2->DR; +// while (!(USART2->SR & USART_FLAG_RXNE)); +// return USART2->DR; + return 0; } @@ -86,10 +87,10 @@ int _read(int fd, char *buf, size_t cnt) void putch(unsigned char c) { - if (c == '\n') putch('\r'); +// if (c == '\n') putch('\r'); - while (!(USART2->SR & USART_FLAG_TXE)); - USART2->DR = c; +// while (!(USART2->SR & USART_FLAG_TXE)); +// USART2->DR = c; } void cgets(char *s, int bufsize) diff --git a/src/lib/systick.c b/src/lib/systick.c index f328ae0..47be69e 100644 --- a/src/lib/systick.c +++ b/src/lib/systick.c @@ -1,30 +1,52 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:37:24 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file systick.c + * + * @brief System timer interrupt handler and initialization routines + */ + +#include "libmaple.h" #include "systick.h" #define MILLIS_INC 1 -volatile uint32_t systick_timer_overflow_count = 0; volatile uint32_t systick_timer_millis = 0; -static uint8_t systick_timer_fract = 0; void systick_init(void) { /* Set the reload counter to tick every 1ms */ - SYSTICK_RELOAD = MAPLE_RELOAD_VAL; + REG_SET_MASK(SYSTICK_RELOAD, MAPLE_RELOAD_VAL); +// SYSTICK_RELOAD = MAPLE_RELOAD_VAL; /* Clock the system timer with the core clock * and turn it on, interrrupt every 1ms to keep track of millis()*/ - SYSTICK_CSR = SYSTICK_SRC_HCLK | - SYSTICK_ENABLE | - SYSTICK_TICKINT; + REG_SET(SYSTICK_CSR, SYSTICK_SRC_HCLK | + SYSTICK_ENABLE | + SYSTICK_TICKINT); +// SYSTICK_CSR = SYSTICK_SRC_HCLK | +// SYSTICK_ENABLE | +// SYSTICK_TICKINT; } -void SysTickHandler(void) -{ - uint32_t m = systick_timer_millis; - uint8_t f = systick_timer_fract; - - m += MILLIS_INC; - systick_timer_millis = m; - systick_timer_overflow_count++; +void SysTickHandler(void) { + systick_timer_millis++; } diff --git a/src/lib/systick.h b/src/lib/systick.h index 42d33d0..3d846ef 100644 --- a/src/lib/systick.h +++ b/src/lib/systick.h @@ -1,15 +1,40 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:37:37 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file systick.h + * + * @brief Various system timer definitions + */ + #ifndef _SYSTICK_H_ #define _SYSTICK_H_ -#include <inttypes.h> -#include "util.h" + +#include "libmaple.h" /* To the ARM technical manual... there's nearly nothing on the systick * timer in the stm32 manual */ -#define SYSTICK_CSR *(volatile int*)0xE000E010 // Control and status register -#define SYSTICK_RELOAD *(volatile int*)0xE000E014 // Reload value register -#define SYSTICK_CNT *(volatile int*)0xE000E018 // Current value register -#define SYSTICK_CALIB *(volatile int*)0xE000E01C // Calibration value register +#define SYSTICK_CSR 0xE000E010 // Control and status register +#define SYSTICK_RELOAD 0xE000E014 // Reload value register +#define SYSTICK_CNT 0xE000E018 // Current value register +#define SYSTICK_CALIB 0xE000E01C // Calibration value register #define SYSTICK_SRC_HCLK BIT(2) // Use core clock #define SYSTICK_TICKINT BIT(1) // Interrupt on systick countdown diff --git a/src/lib/timers.c b/src/lib/timers.c index 401b267..2161d84 100644 --- a/src/lib/timers.c +++ b/src/lib/timers.c @@ -1,7 +1,31 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:37:54 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file timers.c + * + * @brief General timer routines + */ + +#include "libmaple.h" #include "stm32f10x_rcc.h" -#include "wiring.h" #include "timers.h" -#include "util.h" typedef struct { volatile uint16_t CR1; @@ -112,3 +136,19 @@ void timer_init(uint8_t timer_num, uint16_t prescale) { timer->EGR = 1; // Initialize update event and shadow registers timer->CR1 |= 1; // Enable timer } + +void timers_disable(void) { + Timer *timer; + int i; + Timer *timers[4] = { + (Timer*)TIMER1_BASE, + (Timer*)TIMER2_BASE, + (Timer*)TIMER3_BASE, + (Timer*)TIMER4_BASE, + }; + + for (i = 0; i < 4; i++) { + timer = timers[i]; + timer->CR1 = 0; + } +} diff --git a/src/lib/timers.h b/src/lib/timers.h index 27e5999..9147fd4 100644 --- a/src/lib/timers.h +++ b/src/lib/timers.h @@ -1,3 +1,28 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:38:10 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file timers.h + * + * @brief Timer prototypes and various definitions + */ + /* Note to self: * The timer clock frequencies are automatically fixed by hardware. * There are two cases: @@ -91,6 +116,7 @@ typedef volatile uint32_t* TimerCCR; * prescale -> {1-65535} * */ void timer_init(uint8_t, uint16_t); +void timers_disable(void); /* Turn on PWM with duty_cycle on the specified channel in timer. * This function takes in a pointer to the corresponding CCR diff --git a/src/lib/usart.c b/src/lib/usart.c index c1a7f43..a06690e 100644 --- a/src/lib/usart.c +++ b/src/lib/usart.c @@ -1,44 +1,332 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:38:26 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file usart.c + * + * @brief USART control routines + */ + +#include "libmaple.h" #include "stm32f10x_rcc.h" #include "usart.h" +#include "nvic.h" -static inline void usart_putc(usart_port *port, uint8_t ch) { - port->DR = ch; +#define USART1_BASE 0x40013800 +#define USART2_BASE 0x40004400 +#define USART3_BASE 0x40004800 - /* Wait till TXE = 1 */ - while ((port->SR & USART_TXE) == 0) - ; +#define USART_UE BIT(13) +#define USART_M BIT(12) +#define USART_TE BIT(3) +#define USART_RE BIT(2) +#define USART_RXNEIE BIT(5) // read data register not empty interrupt enable +#define USART_TXE BIT(7) +#define USART_TC BIT(6) + +#define USART_STOP_BITS_1 BIT_MASK_SHIFT(0b0, 12) +#define USART_STOP_BITS_05 BIT_MASK_SHIFT(0b01, 12) +#define USART_STOP_BITS_2 BIT_MASK_SHIFT(0b02, 12) +#define USART_STOP_BITS_15 BIT_MASK_SHIFT(0b02, 12) + +#define USART1_CLK 72000000UL +#define USART2_CLK 36000000UL +#define USART3_CLK 36000000UL + +#define USART_RECV_BUF_SIZE 64 + +/* Ring buffer notes: + * The buffer is empty when head == tail. + * The buffer is full when the head is one byte in front of the tail + * The total buffer size must be a power of two + * Note, one byte is necessarily left free with this scheme */ +typedef struct usart_ring_buf { + uint32 head; + uint32 tail; + uint8 buf[USART_RECV_BUF_SIZE]; +} usart_ring_buf; + +static usart_ring_buf ring_buf1; +static usart_ring_buf ring_buf2; +static usart_ring_buf ring_buf3; + +typedef struct usart_port { + volatile uint32 SR; // Status register + volatile uint32 DR; // Data register + volatile uint32 BRR; // Baud rate register + volatile uint32 CR1; // Control register 1 + volatile uint32 CR2; // Control register 2 + volatile uint32 CR3; // Control register 3 + volatile uint32 GTPR; // Guard time and prescaler register +} usart_port; + + +/* Don't overrun your buffer, seriously */ +void USART2_IRQHandler(void) { + /* Read the data */ + ring_buf2.buf[ring_buf2.tail++] = (uint8_t)(((usart_port*)(USART2_BASE))->DR); + ring_buf2.tail %= USART_RECV_BUF_SIZE; } -int32_t usart_init(uint8_t usart_num) { - ASSERT((usart_num < NR_USARTS) && (usart_num > 0)); + +/** + * @brief Enable a USART in single buffer transmission mode, multibuffer + * receiver mode. + * + * @param usart_num USART to be initialized + * @param baud Baud rate to be set at + * @param recvBuf buf buffer for receiver + * @param len size of recvBuf + * + * @sideeffect Turns on the specified USART + */ +void usart_init(uint8 usart_num, uint32 baud) { + ASSERT((usart_num <= NR_USARTS) && (usart_num > 0)); + ASSERT(baud && (baud < USART_MAX_BAUD)); + usart_port *port; - uint32_t clk_speed; + usart_ring_buf *ring_buf; + + uint32 clk_speed; + uint32 integer_part; + uint32 fractional_part; + uint32 tmp; switch (usart_num) { case 1: - port = USART1_BASE; + port = (usart_port*)USART1_BASE; + ring_buf = &ring_buf1; clk_speed = USART1_CLK; break; case 2: - port = USART2_BASE; + port = (usart_port*)USART2_BASE; + ring_buf = &ring_buf2; clk_speed = USART2_CLK; RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); break; case 3: - port = USART3_BASE; + port = (usart_port*)USART3_BASE; + ring_buf = &ring_buf3; + clk_speed = USART3_CLK; break; default: /* should never get here */ ASSERT(0); } - uint32_t baud = 9600; - uint32_t usartdiv = clk_speed / baud; + + /* Initialize ring buffer */ + ring_buf->head = 0; + ring_buf->tail = 0; /* Set baud rate */ - port->BRR = BIT_MASK_SHIFT(B9600_MANTISSA, 4) | B9600_FRACTION; + integer_part = ((25 * clk_speed) / (4 * baud)); + tmp = (integer_part / 100) << 4; + + fractional_part = integer_part - (100 * (tmp >> 4)); + tmp |= (((fractional_part * 16) + 50) / 100) & ((uint8)0x0F); + + port->BRR = (uint16_t)tmp; + + port->CR1 = USART_TE | // transmitter enable + USART_RE | // receiver enable + USART_RXNEIE; // receive interrupt enable + + /* Turn it on in the nvic */ + REG_SET(NVIC_ISER1, BIT(6)); + + /* Enable the USART and set mode to 8n1 */ + port->CR1 |= USART_UE; +} + + +/** + * @brief Turn off a USART. + * + * @param USART to be disabled + * + * @sideeffect Turns off the specified USART + */ +void usart_disable(uint8 usart_num) { + ASSERT((usart_num <= NR_USARTS) && (usart_num > 0)); + usart_port *port; + + switch (usart_num) { + case 1: + port = (usart_port*)USART1_BASE; + break; + case 2: + port = (usart_port*)USART2_BASE; + break; + case 3: + port = (usart_port*)USART3_BASE; + break; + default: + /* should never get here */ + ASSERT(0); + } + + /* Is this usart enabled? */ + if (!(port->SR & USART_UE)) + return; + + /* TC bit must be high before disabling the usart */ + while ((port->SR & USART_TC) == 0) + ; + + /* Disable UE */ + port->CR1 = 0; +} + + +/** + * @brief Print a null terminated string to the specified USART + * + * @param[in] usart_num USART to send on + * @param[in] str String to send + */ +void usart_putstr(uint8 usart_num, const char* str) { + ASSERT((usart_num <= NR_USARTS) && (usart_num > 0)); + char ch; + + while((ch = *(str++)) != '\0') { + usart_putc(usart_num, ch); + } +} + +/** + * @brief Print an unsigned integer to the specified usart + * + * @param[in] usart_num usart to send on + * @param[in] val number to print + */ +void usart_putudec(uint8 usart_num, uint32 val) { + ASSERT((usart_num <= NR_USARTS) && (usart_num > 0)); + char digits[12]; + int i; + + i = 0; + do { + digits[i++] = val % 10 + '0'; + val /= 10; + } while (val > 0); + while (--i >= 0) { + usart_putc(usart_num, digits[i]); + } + +} - /* Enable the USART and set 8n1 (M bit clear) enable transmitter*/ - port->CR1 = USART_UE | USART_TE; - return 0; +/** + * @brief Return one character from the receive buffer. Assumes + * that there is data available. + * + * @param[in] usart_num number of the usart to read from + * + * @return character from ring buffer + * + * @sideeffect may update the head pointer of the recv buffer + */ +uint8 usart_getc(uint8 usart_num) { + uint8 ch; + usart_ring_buf *rb; + + switch (usart_num) { + case 1: + rb = &ring_buf1; + break; + case 2: + rb = &ring_buf2; + break; + case 3: + rb = &ring_buf3; + break; + default: + ASSERT(0); + } + + /* Make sure there's actually data to be read */ + ASSERT(rb->head != rb->tail); + + /* Read the data and check for wraparound */ + ch = rb->buf[rb->head++]; + rb->head %= USART_RECV_BUF_SIZE; + + return ch; } + +uint32 usart_data_available(uint8 usart_num) { + usart_ring_buf *rb; + + switch (usart_num) { + case 1: + rb = &ring_buf1; + break; + case 2: + rb = &ring_buf2; + break; + case 3: + rb = &ring_buf3; + break; + default: + ASSERT(0); + } + + return rb->tail - rb->head; +} + + + +/** + * @brief Output a character out the uart + * + * @param[in] usart_num usart number to output on + * @param[in] ch character to send + * + */ +void usart_putc(uint8 usart_num, uint8 ch) { + ASSERT((usart_num <= NR_USARTS) && (usart_num > 0)); + usart_port *port; + + switch (usart_num) { + case 1: + port = (usart_port*)USART1_BASE; + break; + case 2: + port = (usart_port*)USART2_BASE; + break; + case 3: + port = (usart_port*)USART3_BASE; + break; + default: + /* Should never get here */ + ASSERT(0); + } + + if (ch == '\n') { + usart_putc(usart_num, '\r'); + } + + port->DR = ch; + + /* Wait for transmission to complete */ + while ((port->SR & USART_TXE) == 0) + ; +} + + diff --git a/src/lib/usart.h b/src/lib/usart.h index 30f7dc1..4d0c586 100644 --- a/src/lib/usart.h +++ b/src/lib/usart.h @@ -1,7 +1,30 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:38:35 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file usart.h + * + * @brief USART Definitions + */ + #ifndef _USART_H_ #define _USART_H_ -#include <inttypes.h> -#include <util.h> /* Transmit procedure: * 1. Enable the USART by writing the UE bit in USART_CR1 register to 1. @@ -77,50 +100,24 @@ * 921600 923.076 2.4375 0.16% 4.875 0.16% * 225000 2250 1 0% 2 0% * - * USART_BRR[15:4] = mantissa - * USART_BRR[3:0] = fraction - * 111010 - * 0110 * */ #define NR_USARTS 0x3 -//#define USART1_BASE 0x40013800 -//#define USART2_BASE 0x40004400 -//#define USART3_BASE 0x40004800 - -#define USART_UE BIT(13) -#define USART_M BIT(12) -#define USART_TE BIT(3) -#define USART_TXE BIT(7) -#define USART_STOP_BITS_1 BIT_MASK_SHIFT(0b0, 12) -#define USART_STOP_BITS_05 BIT_MASK_SHIFT(0b01, 12) -#define USART_STOP_BITS_2 BIT_MASK_SHIFT(0b02, 12) -#define USART_STOP_BITS_15 BIT_MASK_SHIFT(0b02, 12) - -#define USART1_CLK 72000000UL -#define USART2_CLK 36000000UL -#define USART3_CLK 36000000UL - -#define B9600_MANTISSA 0xEA -#define B9600_FRACTION 0x06 - - -typedef struct usart_port { - volatile uint32_t SR; - volatile uint32_t DR; - volatile uint32_t BRR; - volatile uint32_t CR1; - volatile uint32_t CR2; - volatile uint32_t CR3; - volatile uint32_t GTPR; -} usart_port; - #ifdef __cplusplus extern "C"{ #endif -int32_t usart_init(uint8_t); +#define USART_MAX_BAUD 225000 + +void usart_init(uint8 usart_num, uint32 baud); +void usart_disable(uint8 usart_num); + +void usart_putstr(uint8 usart_num, const char*); +void usart_putudec(uint8 usart_num, uint32 val); +void usart_putc(uint8 usart_num, uint8 ch); +uint32 usart_data_available(uint8 usart_num); +uint8 usart_getc(uint8 usart_num); #ifdef __cplusplus } // extern "C" diff --git a/src/lib/util.c b/src/lib/util.c new file mode 100644 index 0000000..c75031f --- /dev/null +++ b/src/lib/util.c @@ -0,0 +1,99 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:38:44 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file util.h + * + * @brief Utility procedures for debugging, mostly an error LED fade and + * messages dumped over a uart for failed asserts. + */ + +#include "libmaple.h" +#include "usart.h" +#include "gpio.h" +#include "nvic.h" +#include "adc.h" +#include "timers.h" + +#define ERROR_LED_PORT GPIOA_BASE +#define ERROR_LED_PIN 5 +#define ERROR_USART_NUM 2 +#define ERROR_USART_BAUD 9600 +#define ERROR_TX_PIN 2 +#define ERROR_TX_PORT GPIOA_BASE + +/* Error assert + fade */ +void _fail(const char* file, int line, const char* exp) { + int32_t slope = 1; + int32_t CC = 0x0000; + int32_t TOP_CNT = 0x02FF; + int32_t i = 0; + + /* Turn off interrupts */ + nvic_disable_interrupts(); + + /* Turn off timers */ + timers_disable(); + + /* Turn off ADC */ + adc_disable(); + + /* Turn off all usarts */ + usart_disable(1); + usart_disable(2); + usart_disable(3); + + /* Initialize the error usart */ + gpio_set_mode(ERROR_TX_PORT, ERROR_TX_PIN, GPIO_MODE_AF_OUTPUT_PP); + usart_init(ERROR_USART_NUM, ERROR_USART_BAUD); + + /* Print failed assert message */ + usart_putstr(ERROR_USART_NUM, "ERROR: FAILED ASSERT("); + usart_putstr(ERROR_USART_NUM, exp); + usart_putstr(ERROR_USART_NUM, "): "); + usart_putstr(ERROR_USART_NUM, file); + usart_putstr(ERROR_USART_NUM, ": "); + usart_putudec(ERROR_USART_NUM, line); + usart_putc(ERROR_USART_NUM, '\n'); + + /* Turn on the error LED */ + gpio_set_mode(ERROR_LED_PORT, ERROR_LED_PIN, GPIO_MODE_OUTPUT_PP); + + /* Error fade */ + while (1) { + if (CC == TOP_CNT) { + slope = -1; + } else if (CC == 0) { + slope = 1; + } + + if (i == TOP_CNT) { + CC += slope; + i = 0; + } + + if (i < CC) { + gpio_write_bit(ERROR_LED_PORT, ERROR_LED_PIN, 1); + } else { + gpio_write_bit(ERROR_LED_PORT, ERROR_LED_PIN, 0); + } + i++; + } +} + diff --git a/src/lib/util.cpp b/src/lib/util.cpp deleted file mode 100644 index 4eb4fe0..0000000 --- a/src/lib/util.cpp +++ /dev/null @@ -1,47 +0,0 @@ -#include "wiring.h" -#include "Serial.h" -#include "util.h" -#include "io.h" - -#define ERROR_PIN 13 - -/* Required for C++ hackery */ -extern "C" void __cxa_pure_virtual(void) { - while(1) - ; -} - -/* Error assert + fade */ -void _fail(const char* file, int line, const char* exp) { - int32_t slope = 1; - int32_t CC = 0x0000; - int32_t TOP_CNT = 0x02FF; - int32_t i = 0; - - Serial1.print("ERROR: FAILED ASSERT("); - Serial1.print(exp); - Serial1.print("): "); - Serial1.print(file); - Serial1.print(":"); - Serial1.println(line); - - while (1) { - if (CC == TOP_CNT) { - slope = -1; - } else if (CC == 0) { - slope = 1; - } - - if (i == TOP_CNT) { - CC += slope; - i = 0; - } - - if (i < CC) { - digitalWrite(ERROR_PIN, HIGH); - } else { - digitalWrite(ERROR_PIN, LOW); - } - i++; - } -} diff --git a/src/lib/util.h b/src/lib/util.h index 8701af1..e425cc0 100644 --- a/src/lib/util.h +++ b/src/lib/util.h @@ -1,3 +1,28 @@ +/* ***************************************************************************** + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see <http://www.gnu.org/licenses/>. + * + * Created: 12/18/09 02:39:27 + * Copyright (c) 2009 Perry L. Hung. All rights reserved. + * + * ****************************************************************************/ + +/** + * @file util.h + * + * @brief Various macros and utility procedures. + */ + /* Generally "useful" utility procedures */ #ifndef _UTIL_H_ #define _UTIL_H_ |