From 767bf60238435be10b7197dc4300b9e678f18c72 Mon Sep 17 00:00:00 2001
From: bnewbold <bnewbold@robocracy.org>
Date: Fri, 4 Jun 2010 20:01:34 -0400
Subject: example updates...

---
 examples/test-session.cpp | 1047 +++++++++++++++++++++++----------------------
 1 file changed, 524 insertions(+), 523 deletions(-)

(limited to 'examples')

diff --git a/examples/test-session.cpp b/examples/test-session.cpp
index 78b1d31..49aabef 100644
--- a/examples/test-session.cpp
+++ b/examples/test-session.cpp
@@ -1,523 +1,524 @@
-/* *****************************************************************************
- * The MIT License
- *
- * Copyright (c) 2010 LeafLabs LLC.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- * ****************************************************************************/
-
-#include "wirish.h"
-
-#define LED_PIN 13
-#define PWM_PIN  2
-
-uint8 input = 0;
-uint8 tiddle = 0;
-int toggle = 0;
-int rate = 0;
-int sample = 0;
-
-// read these off maple board rev3
-const uint8 pwm_pins[] = {0,1,2,3,5,6,7,8,9,11,12,14,24,25,27,28};
-// note that 38 is just a button and 39+ aren't functional as of 04/22/2010
-const uint8 adc_pins[] = {0,1,2,10,11,12,13,15,16,17,18,19,20,27,28};
-#define NUM_GPIO        44      // 43 is the MAX
-uint8 gpio_state[NUM_GPIO];
-
-#define DUMMY_DAT "qwertyuiopasdfghjklzxcvbnmmmmmm,./1234567890-=qwertyuiopasdfghjklzxcvbnm,./1234567890"
-
-void print_help(void);
-void do_noise(uint8 pin);
-void do_everything(void);
-void do_fast_gpio(void);
-
-void setup() {
-    /* Set up the LED to blink  */
-    pinMode(LED_PIN, OUTPUT);
-
-    /* Send a message out over USART2  */
-    //Serial2.begin(115200);    // 9600 is more compatible
-    Serial2.begin(9600);
-    Serial2.println("");
-    Serial2.println("    __  __             _      _");
-    Serial2.println("   |  \\/  | __ _ _ __ | | ___| |"); 
-    Serial2.println("   | |\\/| |/ _` | '_ \\| |/ _ \\ |");
-    Serial2.println("   | |  | | (_| | |_) | |  __/_|");
-    Serial2.println("   |_|  |_|\\__,_| .__/|_|\\___(_)");
-    Serial2.println("               |_|");
-    Serial2.println("                              by leaflabs");
-    Serial2.println("");
-    Serial2.println("");
-    Serial2.println("Maple interactive test program (type '?' for help)");
-    Serial2.println("------------------------------------------------------------");
-    Serial2.print("> ");
-
-    /* Send a message out the USB virtual com port  */
-    // TODO: this should all be over usb as well
-    //Usb.println("Maple test program starting; use serial port for interactivity");
-}
-
-void loop() {
-    toggle ^= 1;
-    digitalWrite(LED_PIN, toggle);
-    delay(100);
-
-    while(Serial2.available()) {
-        input = Serial2.read();
-        Serial2.println(input);
-        switch(input) {
-            case 13:  // Carriage Return
-                break;
-            case 32:  // ' '
-                Serial2.println("spacebar, nice!");
-                break;
-            case 63:  // '?'
-            case 104: // 'h'
-                print_help();
-                break;
-            case 117: // 'u'
-                Usb.println("Hello World!");
-                break;
-            case 119: // 'w'
-                Serial1.println("Hello World!");
-                Serial2.println("Hello World!");
-                Serial3.println("Hello World!");
-                break;
-            case 109: // 'm'
-                Serial2.println("Testing 57600 baud on USART1 and USART3. Press enter.");
-                Serial1.begin(57600);
-                Serial3.begin(57600);
-                while(!Serial2.available()) {
-                    Serial1.println(DUMMY_DAT);
-                    Serial3.println(DUMMY_DAT);
-                    if(Serial1.available()) {
-                        Serial1.println(Serial1.read());
-                        delay(1000);
-                    }
-                    if(Serial3.available()) {
-                        Serial3.println(Serial3.read());
-                        delay(1000);
-                    }
-                }
-                Serial2.read();
-                Serial2.println("Testing 115200 baud on USART1 and USART3. Press enter.");
-                Serial1.begin(115200);
-                Serial3.begin(115200);
-                while(!Serial2.available()) {
-                    Serial1.println(DUMMY_DAT);
-                    Serial3.println(DUMMY_DAT);
-                    if(Serial1.available()) {
-                        Serial1.println(Serial1.read());
-                        delay(1000);
-                    }
-                    if(Serial3.available()) {
-                        Serial3.println(Serial3.read());
-                        delay(1000);
-                    }
-                }
-                Serial2.read();
-                Serial2.println("Testing 9600 baud on USART1 and USART3. Press enter.");
-                Serial1.begin(9600);
-                Serial3.begin(9600);
-                while(!Serial2.available()) {
-                    Serial1.println(DUMMY_DAT);
-                    Serial3.println(DUMMY_DAT);
-                    if(Serial1.available()) {
-                        Serial1.println(Serial1.read());
-                        delay(1000);
-                    }
-                    if(Serial3.available()) {
-                        Serial3.println(Serial3.read());
-                        delay(1000);
-                    }
-                }
-                Serial2.read();
-                Serial2.println("Resetting USART1 and USART3...");
-                Serial1.begin(9600);
-                Serial3.begin(9600);
-                break;
-            case 46:  // '.'
-                while(!Serial2.available()) {
-                    Serial2.print(".");
-                    Usb.print(".");
-                }
-                //Serial2.flush();
-                break;
-            case 110: // 'n'
-                Serial2.println("Taking ADC noise stats...");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX headers
-                for(uint32 i = 2; i<sizeof(adc_pins); i++) {
-                    delay(5);
-                    do_noise(adc_pins[i]);
-                }
-                break;
-            case 78: // 'N'
-                Serial2.println("Taking ADC noise stats under duress...");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX headers
-                for(uint32 i = 2; i<sizeof(adc_pins); i++) {
-                    // spool up PWM
-                    for(uint32 j = 2; j<(uint32)sizeof(pwm_pins); j++) {
-                        if(adc_pins[i] != pwm_pins[j]) {
-                            pinMode(pwm_pins[j],PWM);
-                            pwmWrite(pwm_pins[j], 1000 + i);
-                        }
-                    }
-                    Usb.print(DUMMY_DAT);
-                    Usb.print(DUMMY_DAT);
-                    do_noise(adc_pins[i]);
-                    for(uint32 j = 2; j<(uint32)sizeof(pwm_pins); j++) {
-                        if(adc_pins[i] != pwm_pins[j]) {
-                            pinMode(pwm_pins[j],OUTPUT);
-                            digitalWrite(pwm_pins[j],0);
-                        }
-                    }
-                }
-                break;
-            case 101: // 'e'
-                do_everything();
-                break;
-            case 87:  // 'W'
-                while(!Serial2.available()) {
-                    Serial1.print(DUMMY_DAT);
-                    Serial2.print(DUMMY_DAT);
-                    Serial3.print(DUMMY_DAT);
-                }
-                break;
-            case 85:  // 'U'
-                Serial2.println("Dumping data to USB. Press enter.");
-                while(!Serial2.available()) {
-                    Usb.print(DUMMY_DAT);
-                }
-                break;
-            case 103:  // 'g'
-                Serial2.print("Sequentially testing GPIO write on all possible headers except D0 and D1.");
-                Serial2.println("Anything for next, ESC to stop.");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX headers
-                for(uint32 i = 2; i<NUM_GPIO; i++) {
-                    Serial2.print("GPIO write out on header D");
-                    Serial2.print(i, DEC);
-                    Serial2.println("...");
-                    pinMode(i, OUTPUT);
-                    digitalWrite(i, tiddle);
-                    while(!Serial2.available()) { 
-                        tiddle ^= 1;
-                        digitalWrite(i, tiddle);
-                    }
-                    digitalWrite(i, 0);
-                    if((uint8)Serial2.read() == (uint8)27) break;      // ESC
-                }
-                break;
-            case 71:  // 'G'
-                Serial2.println("Flipping all GPIOs at the same time. Press enter.");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX headers
-                for(uint32 i = 2; i<NUM_GPIO; i++) {
-                    pinMode(i, OUTPUT);
-                }
-                while(!Serial2.available()) { 
-                    tiddle ^= 1;
-                    for(uint32 i = 2; i<NUM_GPIO; i++) {
-                        digitalWrite(i, tiddle);
-                    }
-                }
-                for(uint32 i = 2; i<NUM_GPIO; i++) {
-                    digitalWrite(i, 0);
-                }
-                if((uint8)Serial2.read() == (uint8)27) break;      // ESC
-                break;
-            case 102:  // 'f'
-                Serial2.println("Wiggling GPIO header D4 as fast as possible in bursts. Press enter.");
-                pinMode(4,OUTPUT);
-                while(!Serial2.available()) {
-                    do_fast_gpio();
-                    delay(1);
-                }
-                break;
-            case 112:  // 'p'
-                Serial2.println("Sequentially testing PWM on all possible headers except D0 and D1. ");
-                Serial2.println("Anything for next, ESC to stop.");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX headers
-                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
-                    Serial2.print("PWM out on header D");
-                    Serial2.print(pwm_pins[i], DEC);
-                    Serial2.println("...");
-                    pinMode(pwm_pins[i], PWM);
-                    pwmWrite(pwm_pins[i], 16000);
-                    while(!Serial2.available()) { delay(10); }
-                    pinMode(pwm_pins[i], OUTPUT);
-                    digitalWrite(pwm_pins[i], 0);
-                    if((uint8)Serial2.read() == (uint8)27) break;      // ESC
-                }
-                break;
-            case 80:  // 'P'
-                Serial2.println("Testing all PWM ports with a sweep. Press enter.");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX pins
-                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
-                    pinMode(pwm_pins[i], PWM);
-                    pwmWrite(pwm_pins[i], 4000);
-                }
-                while(!Serial2.available()) { 
-                    rate += 20;
-                    if(rate > 65500) rate = 0;
-                    for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
-                        pwmWrite(pwm_pins[i], rate);
-                    }
-                    delay(1);
-                }
-                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
-                    pinMode(pwm_pins[i], OUTPUT);
-                }
-                break;
-            case 95:  // '_'
-                Serial2.println("Delaying for 5 seconds...");
-                delay(5000);
-                break;
-            case 116:  // 't'
-                break;
-            case 84:  // 'T'
-                break;
-            case 115:  // 's'
-                Serial2.println("Testing all PWM headers with a servo sweep. Press enter.");
-                Serial2.println("");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                timer_init(1, 21);
-                timer_init(2, 21);
-                timer_init(3, 21);
-                timer_init(4, 21);
-                // make sure to skip the TX/RX headers
-                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
-                    pinMode(pwm_pins[i], PWM);
-                    pwmWrite(pwm_pins[i], 4000);
-                }
-                // 1.25ms = 4096counts = 0deg
-                // 1.50ms = 4915counts = 90deg
-                // 1.75ms = 5734counts = 180deg
-                rate = 4096;
-                while(!Serial2.available()) { 
-                    rate += 20;
-                    if(rate > 5734) rate = 4096;
-                    for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
-                        pwmWrite(pwm_pins[i], rate);
-                    }
-                    delay(20);
-                }
-                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
-                    pinMode(pwm_pins[i], OUTPUT);
-                }
-                timer_init(1, 1);
-                timer_init(2, 1);
-                timer_init(3, 1);
-                timer_init(4, 1);
-                Serial2.begin(9600);
-                Serial2.println("(reset serial port)");
-                break;
-            case 100:  // 'd'
-                Serial2.println("Pulling down D4, D22");
-                pinMode(22,INPUT_PULLDOWN);
-                pinMode(4,INPUT_PULLDOWN);
-                while(!Serial2.available()) {
-                    delay(1);
-                }
-                Serial2.read();
-                Serial2.println("Pulling up D4, D22");
-                pinMode(22,INPUT_PULLUP);
-                pinMode(4,INPUT_PULLUP);
-                while(!Serial2.available()) {
-                    delay(1);
-                }
-                Serial2.read();
-                pinMode(4,OUTPUT); 
-                break;
-            case 105:  // 'i'
-                break;
-            case 73:  // 'I'
-                break;
-            case 114:  // 'r'
-                Serial2.println("Monitoring GPIO read state changes. Press enter.");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX headers
-                for(int i = 2; i<NUM_GPIO; i++) {
-                    pinMode(i, INPUT);
-                    gpio_state[i] = (uint8)digitalRead(i);
-                }
-                while(!Serial2.available()) { 
-                    for(int i = 2; i<NUM_GPIO; i++) {
-                        tiddle = (uint8)digitalRead(i);
-                        if(tiddle != gpio_state[i]) {
-                            Serial2.print("State change on header D");
-                            Serial2.print(i,DEC);
-                            if(tiddle) Serial2.println(":\tHIGH");
-                            else Serial2.println(":\tLOW");
-                            gpio_state[i] = tiddle;
-                        }
-                    }
-                }
-                for(int i = 2; i<NUM_GPIO; i++) {
-                    pinMode(i, OUTPUT);
-                }
-                break;
-            case 97: // 'a'
-                Serial2.print("Sequentially reading each ADC port.");
-                Serial2.println("Anything for next, ESC to stop.");
-                // turn off LED
-                digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX headers
-                for(uint32 i = 2; i<sizeof(adc_pins); i++) {
-                    Serial2.print("Reading on header D");
-                    Serial2.print(adc_pins[i], DEC);
-                    Serial2.println("...");
-                    pinMode(adc_pins[i], INPUT_ANALOG);
-                    while(!Serial2.available()) { 
-                        sample = analogRead(adc_pins[i]);
-                        Serial2.print(adc_pins[i],DEC);
-                        Serial2.print("\t");
-                        Serial2.print(sample,DEC);
-                        Serial2.print("\t");
-                        Serial2.print("|");
-                        for(int j = 0; j<4096; j+= 100) {
-                            if(sample >= j) Serial2.print("#");
-                            else Serial2.print(" ");
-                        } 
-                        Serial2.print("| ");
-                        for(int j = 0; j<12; j++) {
-                            if(sample & (1 << (11-j))) Serial2.print("1");
-                            else Serial2.print("0");
-                        }
-                        Serial2.println("");
-                    }
-                    pinMode(adc_pins[i], OUTPUT);
-                    digitalWrite(adc_pins[i], 0);
-                    if((uint8)Serial2.read() == (uint8)27) break;      // ESC
-                }
-                break;
-            default:
-                Serial2.print("Unexpected: ");
-                Serial2.println(input);
-        }
-        Serial2.print("> ");
-    }
-}
-
-void print_help(void) {
-    Serial2.println("");
-    //Serial2.println("Command Listing\t(# means any digit)");
-    Serial2.println("Command Listing");
-    Serial2.println("\t?: print this menu");
-    Serial2.println("\th: print this menu");
-    Serial2.println("\tw: print Hello World on all 3 USARTS");
-    Serial2.println("\tn: measure noise and do statistics");
-    Serial2.println("\tN: measure noise and do statistics with background stuff");
-    Serial2.println("\ta: show realtime ADC info");
-    Serial2.println("\t.: echo '.' until new input");
-    Serial2.println("\tu: print Hello World on USB");
-    Serial2.println("\t_: try to do as little as possible for a couple seconds (delay)");
-    Serial2.println("\tp: test all PWM channels sequentially");
-    Serial2.println("\tW: dump data as fast as possible on all 3 USARTS");
-    Serial2.println("\tU: dump data as fast as possible on USB");
-    Serial2.println("\tg: toggle all GPIOs sequentialy");
-    Serial2.println("\tG: toggle all GPIOs at the same time");
-    Serial2.println("\tf: toggle GPIO D4 as fast as possible in bursts");
-    Serial2.println("\tP: test all PWM channels at the same time with different speeds/sweeps");
-    Serial2.println("\tr: read in GPIO status changes and print them in realtime");
-    Serial2.println("\ts: output a sweeping SERVO PWM on all PWM channels");
-    Serial2.println("\tm: output serial data dumps on USART1 and USART3 with various rates");
-
-    Serial2.println("Unimplemented:");
-    Serial2.println("\te: do everything all at once until new input");
-    Serial2.println("\tt: output a 1khz squarewave on all GPIOs as well as possible");
-    Serial2.println("\tT: output a 1hz squarewave on all GPIOs as well as possible");
-    Serial2.println("\ti: print out a bunch of info about system state");
-    Serial2.println("\tI: print out status of all headers");
-}
-
-void do_noise(uint8 pin) { // TODO    
-    uint16 data[100];
-    float mean = 0;
-    //float stddev = 0;
-    float delta = 0;
-    float M2 = 0;
-    pinMode(pin, INPUT_ANALOG);
-
-    // variance algorithm from knuth; see wikipedia
-    // checked against python
-    for(int i = 0; i<100; i++) {
-        data[i] = analogRead(pin);
-        delta = data[i] - mean;
-        mean = mean + delta/(i+1);
-        M2 = M2 + delta*(data[i] - mean);
-    }
-
-    //sqrt is broken?
-    //stddev = sqrt(variance);
-    Serial2.print("header: D"); Serial2.print(pin,DEC);
-    Serial2.print("\tn: "); Serial2.print(100,DEC);
-    Serial2.print("\tmean: "); Serial2.print(mean);
-    Serial2.print("\tvar: "); Serial2.println(M2/99.0);
-    pinMode(pin, OUTPUT);
-}
-
-void do_everything(void) { // TODO    
-    // TODO
-    // print to usart
-    // print to usb
-    // toggle gpios
-    // enable pwm
-    Serial2.println("(unimplemented)");
-}
-
-void do_fast_gpio(void) {
-    // header D4 is on port B and is pin 5 on the uC
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
-}
-
-int main(void) {
-    init();
-    setup();
-
-    while (1) {
-        loop();
-    }
-    return 0;
-}
-
+/* *****************************************************************************
+ * The MIT License
+ *
+ * Copyright (c) 2010 LeafLabs LLC.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ * ****************************************************************************/
+
+#include "wirish.h"
+
+#define LED_PIN 13
+#define PWM_PIN  2
+
+// choose your weapon
+#define COMM SerialUSB
+//#define COMM Serial2
+
+uint8 input = 0;
+uint8 tiddle = 0;
+int toggle = 0;
+int rate = 0;
+int sample = 0;
+
+// read these off maple board rev3
+// note that 38 is just a button and 39+ aren't functional as of 04/22/2010
+const uint8 pwm_pins[] = {0,1,2,3,5,6,7,8,9,11,12,14,24,25,27,28};
+const uint8 adc_pins[] = {0,1,2,10,11,12,13,15,16,17,18,19,20,27,28};
+#define NUM_GPIO        44      // 44 is the MAX
+uint8 gpio_state[NUM_GPIO];
+
+#define DUMMY_DAT "qwertyuiopasdfghjklzxcvbnmmmmmm,./1234567890-=qwertyuiopasdfghjklzxcvbnm,./1234567890"
+
+void print_help(void);
+void do_noise(uint8 pin);
+void do_everything(void);
+void do_fast_gpio(void);
+
+void setup() {
+    /* Set up the LED to blink  */
+    pinMode(LED_PIN, OUTPUT);
+
+    /* Send a message out over COMM interface */
+    //COMM.begin(115200);    // if USART; 9600 is more compatible
+    COMM.println("");
+    COMM.println("    __   __             _      _");
+    COMM.println("   |  \\/  | __ _ _ __ | | ___| |"); 
+    COMM.println("   | |\\/| |/ _` | '_ \\| |/ _ \\ |");
+    COMM.println("   | |  | | (_| | |_) | |  __/_|");
+    COMM.println("   |_|  |_|\\__,_| .__/|_|\\___(_)");
+    COMM.println("               |_|");
+    COMM.println("                              by leaflabs");
+    COMM.println("");
+    COMM.println("");
+    COMM.println("Maple interactive test program (type '?' for help)");
+    COMM.println("------------------------------------------------------------");
+    COMM.print("> ");
+
+}
+
+void loop() {
+    toggle ^= 1;
+    digitalWrite(LED_PIN, toggle);
+    delay(100);
+
+    while(COMM.available()) {
+        input = COMM.read();
+        COMM.println(input);
+        switch(input) {
+            case 13:  // Carriage Return
+                break;
+            case 32:  // ' '
+                COMM.println("spacebar, nice!");
+                break;
+            case 63:  // '?'
+            case 104: // 'h'
+                print_help();
+                break;
+            case 117: // 'u'
+                Usb.println("Hello World!");
+                break;
+            case 119: // 'w'
+                Serial1.println("Hello World!");
+                Serial2.println("Hello World!");
+                Serial3.println("Hello World!");
+                break;
+            case 109: // 'm'
+                COMM.println("Testing 57600 baud on USART1 and USART3. Press enter.");
+                Serial1.begin(57600);
+                Serial3.begin(57600);
+                while(!COMM.available()) {
+                    Serial1.println(DUMMY_DAT);
+                    Serial3.println(DUMMY_DAT);
+                    if(Serial1.available()) {
+                        Serial1.println(Serial1.read());
+                        delay(1000);
+                    }
+                    if(Serial3.available()) {
+                        Serial3.println(Serial3.read());
+                        delay(1000);
+                    }
+                }
+                COMM.read();
+                COMM.println("Testing 115200 baud on USART1 and USART3. Press enter.");
+                Serial1.begin(115200);
+                Serial3.begin(115200);
+                while(!COMM.available()) {
+                    Serial1.println(DUMMY_DAT);
+                    Serial3.println(DUMMY_DAT);
+                    if(Serial1.available()) {
+                        Serial1.println(Serial1.read());
+                        delay(1000);
+                    }
+                    if(Serial3.available()) {
+                        Serial3.println(Serial3.read());
+                        delay(1000);
+                    }
+                }
+                COMM.read();
+                COMM.println("Testing 9600 baud on USART1 and USART3. Press enter.");
+                Serial1.begin(9600);
+                Serial3.begin(9600);
+                while(!COMM.available()) {
+                    Serial1.println(DUMMY_DAT);
+                    Serial3.println(DUMMY_DAT);
+                    if(Serial1.available()) {
+                        Serial1.println(Serial1.read());
+                        delay(1000);
+                    }
+                    if(Serial3.available()) {
+                        Serial3.println(Serial3.read());
+                        delay(1000);
+                    }
+                }
+                COMM.read();
+                COMM.println("Resetting USART1 and USART3...");
+                Serial1.begin(9600);
+                Serial3.begin(9600);
+                break;
+            case 46:  // '.'
+                while(!COMM.available()) {
+                    Serial1.print(".");
+                    Serial2.print(".");
+                    Serial3.print(".");
+                    Usb.print(".");
+                }
+                break;
+            case 110: // 'n'
+                COMM.println("Taking ADC noise stats...");
+                // turn off LED
+                digitalWrite(LED_PIN, 0);
+                // make sure to skip the TX/RX headers
+                for(uint32 i = 2; i<sizeof(adc_pins); i++) {
+                    delay(5);
+                    do_noise(adc_pins[i]);
+                }
+                break;
+            case 78: // 'N'
+                COMM.println("Taking ADC noise stats under duress...");
+                // turn off LED
+                digitalWrite(LED_PIN, 0);
+                // make sure to skip the TX/RX headers
+                for(uint32 i = 2; i<sizeof(adc_pins); i++) {
+                    // spool up PWM
+                    for(uint32 j = 2; j<(uint32)sizeof(pwm_pins); j++) {
+                        if(adc_pins[i] != pwm_pins[j]) {
+                            pinMode(pwm_pins[j],PWM);
+                            pwmWrite(pwm_pins[j], 1000 + i);
+                        }
+                    }
+                    Usb.print(DUMMY_DAT);
+                    Usb.print(DUMMY_DAT);
+                    do_noise(adc_pins[i]);
+                    for(uint32 j = 2; j<(uint32)sizeof(pwm_pins); j++) {
+                        if(adc_pins[i] != pwm_pins[j]) {
+                            pinMode(pwm_pins[j],OUTPUT);
+                            digitalWrite(pwm_pins[j],0);
+                        }
+                    }
+                }
+                break;
+            case 101: // 'e'
+                do_everything();
+                break;
+            case 87:  // 'W'
+                while(!COMM.available()) {
+                    Serial1.print(DUMMY_DAT);
+                    Serial2.print(DUMMY_DAT);
+                    Serial3.print(DUMMY_DAT);
+                }
+                break;
+            case 85:  // 'U'
+                COMM.println("Dumping data to USB. Press enter.");
+                while(!COMM.available()) {
+                    Usb.print(DUMMY_DAT);
+                }
+                break;
+            case 103:  // 'g'
+                COMM.print("Sequentially testing GPIO write on all possible headers except D0 and D1.");
+                COMM.println("Anything for next, ESC to stop.");
+                // turn off LED
+                digitalWrite(LED_PIN, 0);
+                // make sure to skip the TX/RX headers
+                for(uint32 i = 2; i<NUM_GPIO; i++) {
+                    COMM.print("GPIO write out on header D");
+                    COMM.print(i, DEC);
+                    COMM.println("...");
+                    pinMode(i, OUTPUT);
+                    digitalWrite(i, tiddle);
+                    while(!COMM.available()) { 
+                        tiddle ^= 1;
+                        digitalWrite(i, tiddle);
+                    }
+                    digitalWrite(i, 0);
+                    if((uint8)COMM.read() == (uint8)27) break;      // ESC
+                }
+                break;
+            case 71:  // 'G'
+                COMM.println("Flipping all GPIOs at the same time. Press enter.");
+                // turn off LED
+                digitalWrite(LED_PIN, 0);
+                // make sure to skip the TX/RX headers
+                for(uint32 i = 2; i<NUM_GPIO; i++) {
+                    pinMode(i, OUTPUT);
+                }
+                while(!COMM.available()) { 
+                    tiddle ^= 1;
+                    for(uint32 i = 2; i<NUM_GPIO; i++) {
+                        digitalWrite(i, tiddle);
+                    }
+                }
+                for(uint32 i = 2; i<NUM_GPIO; i++) {
+                    digitalWrite(i, 0);
+                }
+                if((uint8)COMM.read() == (uint8)27) break;      // ESC
+                break;
+            case 102:  // 'f'
+                COMM.println("Wiggling GPIO header D4 as fast as possible in bursts. Press enter.");
+                pinMode(4,OUTPUT);
+                while(!COMM.available()) {
+                    do_fast_gpio();
+                    delay(1);
+                }
+                break;
+            case 112:  // 'p'
+                COMM.println("Sequentially testing PWM on all possible headers except D0 and D1. ");
+                COMM.println("Anything for next, ESC to stop.");
+                // turn off LED
+                digitalWrite(LED_PIN, 0);
+                // make sure to skip the TX/RX headers
+                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
+                    COMM.print("PWM out on header D");
+                    COMM.print(pwm_pins[i], DEC);
+                    COMM.println("...");
+                    pinMode(pwm_pins[i], PWM);
+                    pwmWrite(pwm_pins[i], 16000);
+                    while(!COMM.available()) { delay(10); }
+                    pinMode(pwm_pins[i], OUTPUT);
+                    digitalWrite(pwm_pins[i], 0);
+                    if((uint8)COMM.read() == (uint8)27) break;      // ESC
+                }
+                break;
+            case 80:  // 'P'
+                COMM.println("Testing all PWM ports with a sweep. Press enter.");
+                // turn off LED
+                digitalWrite(LED_PIN, 0);
+                // make sure to skip the TX/RX pins
+                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
+                    pinMode(pwm_pins[i], PWM);
+                    pwmWrite(pwm_pins[i], 4000);
+                }
+                while(!COMM.available()) { 
+                    rate += 20;
+                    if(rate > 65500) rate = 0;
+                    for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
+                        pwmWrite(pwm_pins[i], rate);
+                    }
+                    delay(1);
+                }
+                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
+                    pinMode(pwm_pins[i], OUTPUT);
+                }
+                break;
+            case 95:  // '_'
+                COMM.println("Delaying for 5 seconds...");
+                delay(5000);
+                break;
+            case 116:  // 't'
+                break;
+            case 84:  // 'T'
+                break;
+            case 115:  // 's'
+                COMM.println("Testing all PWM headers with a servo sweep. Press enter.");
+                COMM.println("");
+                // turn off LED
+                digitalWrite(LED_PIN, 0);
+                timer_init(1, 21);
+                timer_init(2, 21);
+                timer_init(3, 21);
+                timer_init(4, 21);
+                // make sure to skip the TX/RX headers
+                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
+                    pinMode(pwm_pins[i], PWM);
+                    pwmWrite(pwm_pins[i], 4000);
+                }
+                // 1.25ms = 4096counts = 0deg
+                // 1.50ms = 4915counts = 90deg
+                // 1.75ms = 5734counts = 180deg
+                rate = 4096;
+                while(!COMM.available()) { 
+                    rate += 20;
+                    if(rate > 5734) rate = 4096;
+                    for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
+                        pwmWrite(pwm_pins[i], rate);
+                    }
+                    delay(20);
+                }
+                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
+                    pinMode(pwm_pins[i], OUTPUT);
+                }
+                timer_init(1, 1);
+                timer_init(2, 1);
+                timer_init(3, 1);
+                timer_init(4, 1);
+                Serial2.begin(9600);
+                COMM.println("(reset serial port)");
+                break;
+            case 100:  // 'd'
+                COMM.println("Pulling down D4, D22");
+                pinMode(22,INPUT_PULLDOWN);
+                pinMode(4,INPUT_PULLDOWN);
+                while(!COMM.available()) {
+                    delay(1);
+                }
+                COMM.read();
+                COMM.println("Pulling up D4, D22");
+                pinMode(22,INPUT_PULLUP);
+                pinMode(4,INPUT_PULLUP);
+                while(!COMM.available()) {
+                    delay(1);
+                }
+                COMM.read();
+                pinMode(4,OUTPUT); 
+                break;
+            case 105:  // 'i'
+                break;
+            case 73:  // 'I'
+                break;
+            case 114:  // 'r'
+                COMM.println("Monitoring GPIO read state changes. Press enter.");
+                // turn off LED
+                digitalWrite(LED_PIN, 0);
+                // make sure to skip the TX/RX headers
+                for(int i = 2; i<NUM_GPIO; i++) {
+                    pinMode(i, INPUT);
+                    gpio_state[i] = (uint8)digitalRead(i);
+                }
+                while(!COMM.available()) { 
+                    for(int i = 2; i<NUM_GPIO; i++) {
+                        tiddle = (uint8)digitalRead(i);
+                        if(tiddle != gpio_state[i]) {
+                            COMM.print("State change on header D");
+                            COMM.print(i,DEC);
+                            if(tiddle) COMM.println(":\tHIGH");
+                            else COMM.println(":\tLOW");
+                            gpio_state[i] = tiddle;
+                        }
+                    }
+                }
+                for(int i = 2; i<NUM_GPIO; i++) {
+                    pinMode(i, OUTPUT);
+                }
+                break;
+            case 97: // 'a'
+                COMM.print("Sequentially reading each ADC port.");
+                COMM.println("Anything for next, ESC to stop.");
+                // turn off LED
+                digitalWrite(LED_PIN, 0);
+                // make sure to skip the TX/RX headers
+                for(uint32 i = 2; i<sizeof(adc_pins); i++) {
+                    COMM.print("Reading on header D");
+                    COMM.print(adc_pins[i], DEC);
+                    COMM.println("...");
+                    pinMode(adc_pins[i], INPUT_ANALOG);
+                    while(!COMM.available()) { 
+                        sample = analogRead(adc_pins[i]);
+                        COMM.print(adc_pins[i],DEC);
+                        COMM.print("\t");
+                        COMM.print(sample,DEC);
+                        COMM.print("\t");
+                        COMM.print("|");
+                        for(int j = 0; j<4096; j+= 100) {
+                            if(sample >= j) COMM.print("#");
+                            else COMM.print(" ");
+                        } 
+                        COMM.print("| ");
+                        for(int j = 0; j<12; j++) {
+                            if(sample & (1 << (11-j))) COMM.print("1");
+                            else COMM.print("0");
+                        }
+                        COMM.println("");
+                    }
+                    pinMode(adc_pins[i], OUTPUT);
+                    digitalWrite(adc_pins[i], 0);
+                    if((uint8)COMM.read() == (uint8)27) break;      // ESC
+                }
+                break;
+            default:
+                COMM.print("Unexpected: ");
+                COMM.println(input);
+        }
+        COMM.print("> ");
+    }
+}
+
+void print_help(void) {
+    COMM.println("");
+    //COMM.println("Command Listing\t(# means any digit)");
+    COMM.println("Command Listing");
+    COMM.println("\t?: print this menu");
+    COMM.println("\th: print this menu");
+    COMM.println("\tw: print Hello World on all 3 USARTS");
+    COMM.println("\tn: measure noise and do statistics");
+    COMM.println("\tN: measure noise and do statistics with background stuff");
+    COMM.println("\ta: show realtime ADC info");
+    COMM.println("\t.: echo '.' until new input");
+    COMM.println("\tu: print Hello World on USB");
+    COMM.println("\t_: try to do as little as possible for a couple seconds (delay)");
+    COMM.println("\tp: test all PWM channels sequentially");
+    COMM.println("\tW: dump data as fast as possible on all 3 USARTS");
+    COMM.println("\tU: dump data as fast as possible on USB");
+    COMM.println("\tg: toggle all GPIOs sequentialy");
+    COMM.println("\tG: toggle all GPIOs at the same time");
+    COMM.println("\tf: toggle GPIO D4 as fast as possible in bursts");
+    COMM.println("\tP: test all PWM channels at the same time with different speeds/sweeps");
+    COMM.println("\tr: read in GPIO status changes and print them in realtime");
+    COMM.println("\ts: output a sweeping SERVO PWM on all PWM channels");
+    COMM.println("\tm: output serial data dumps on USART1 and USART3 with various rates");
+
+    COMM.println("Unimplemented:");
+    COMM.println("\te: do everything all at once until new input");
+    COMM.println("\tt: output a 1khz squarewave on all GPIOs as well as possible");
+    COMM.println("\tT: output a 1hz squarewave on all GPIOs as well as possible");
+    COMM.println("\ti: print out a bunch of info about system state");
+    COMM.println("\tI: print out status of all headers");
+}
+
+void do_noise(uint8 pin) { // TODO    
+    uint16 data[100];
+    float mean = 0;
+    //float stddev = 0;
+    float delta = 0;
+    float M2 = 0;
+    pinMode(pin, INPUT_ANALOG);
+
+    // variance algorithm from knuth; see wikipedia
+    // checked against python
+    for(int i = 0; i<100; i++) {
+        data[i] = analogRead(pin);
+        delta = data[i] - mean;
+        mean = mean + delta/(i+1);
+        M2 = M2 + delta*(data[i] - mean);
+    }
+
+    //sqrt is broken?
+    //stddev = sqrt(variance);
+    COMM.print("header: D"); COMM.print(pin,DEC);
+    COMM.print("\tn: "); COMM.print(100,DEC);
+    COMM.print("\tmean: "); COMM.print(mean);
+    COMM.print("\tvar: "); COMM.println(M2/99.0);
+    pinMode(pin, OUTPUT);
+}
+
+void do_everything(void) { // TODO    
+    // TODO
+    // print to usart
+    // print to usb
+    // toggle gpios
+    // enable pwm
+    COMM.println("(unimplemented)");
+}
+
+void do_fast_gpio(void) {
+    // header D4 is on port B and is pin 5 on the uC
+    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
+    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
+    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
+    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
+    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
+    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
+    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
+    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
+    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
+    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
+    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
+    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
+    gpio_write_bit(GPIOB_BASE, 5, 1); gpio_write_bit(GPIOB_BASE, 5, 0); 
+}
+
+int main(void) {
+    init();
+    setup();
+
+    while (1) {
+        loop();
+    }
+    return 0;
+}
+
-- 
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