From b9fba8a471bc570a2c20283beb60a56e242dd49d Mon Sep 17 00:00:00 2001
From: bnewbold <bnewbold@robocracy.org>
Date: Tue, 27 Apr 2010 18:48:00 -0400
Subject: updated test-session with new banner art etc

---
 examples/test-session.cpp | 227 +++++++++++++++++++++++++++++++++-------------
 1 file changed, 163 insertions(+), 64 deletions(-)

(limited to 'examples')

diff --git a/examples/test-session.cpp b/examples/test-session.cpp
index 0fa7d52..b760d97 100644
--- a/examples/test-session.cpp
+++ b/examples/test-session.cpp
@@ -22,14 +22,7 @@
  * THE SOFTWARE.
  * ****************************************************************************/
 
-/**
- *  @file example_main.cpp
- *
- *  @brief Sample main.cpp file. Blinks an LED, sends a message out USART2
- *  and turns on PWM on pin 2
- */
-
-#include "wiring.h"
+#include "wirish.h"
 #include "HardwareSerial.h"
 #include "HardwareUsb.h"
 #include <math.h>
@@ -46,8 +39,9 @@ int toggle = 0;
 int rate = 0;
 int sample = 0;
 
-// read off maple board rev3
+// 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];
@@ -63,20 +57,26 @@ void setup() {
     /* Set up the LED to blink  */
     pinMode(LED_PIN, OUTPUT);
 
-    /* Send a message out USART2  */
-    //Serial2.begin(115200);
+    /* 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("> ");
-    /* Turn on PWM on pin PWM_PIN */
-    //pinMode(PWM_PIN, PWM);
-    //pwmWrite(PWM_PIN, 0x8000);
 
     /* 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");
+    //Usb.println("Maple test program starting; use serial port for interactivity");
 }
 
 void loop() {
@@ -84,7 +84,6 @@ void loop() {
     digitalWrite(LED_PIN, toggle);
     delay(100);
 
-    //Serial2.flush();
     while(Serial2.available()) {
         input = Serial2.read();
         Serial2.println(input);
@@ -95,8 +94,6 @@ void loop() {
                 Serial2.println("spacebar, nice!");
                 break;
             case 63:  // '?'
-                print_help();
-                break;
             case 104: // 'h'
                 print_help();
                 break;
@@ -108,9 +105,63 @@ void loop() {
                 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;
@@ -118,8 +169,9 @@ void loop() {
                 Serial2.println("Taking ADC noise stats...");
                 // turn off LED
                 digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX pins
-                for(int i = 2; i<sizeof(adc_pins); i++) {
+                // 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;
@@ -127,10 +179,10 @@ void loop() {
                 Serial2.println("Taking ADC noise stats under duress...");
                 // turn off LED
                 digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX pins
-                for(int i = 2; i<sizeof(adc_pins); i++) {
+                // make sure to skip the TX/RX headers
+                for(uint32 i = 2; i<sizeof(adc_pins); i++) {
                     // spool up PWM
-                    for(int j = 2; j<sizeof(pwm_pins); j++) {
+                    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);
@@ -139,7 +191,7 @@ void loop() {
                     Usb.print(DUMMY_DAT);
                     Usb.print(DUMMY_DAT);
                     do_noise(adc_pins[i]);
-                    for(int j = 2; j<sizeof(pwm_pins); j++) {
+                    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);
@@ -164,13 +216,13 @@ void loop() {
                 }
                 break;
             case 103:  // 'g'
-                Serial2.print("Sequentially testing GPIO write on all possible pins except 0 and 1.");
+                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 pins
-                for(int i = 2; i<NUM_GPIO; i++) {
-                    Serial2.print("GPIO write out on pin ");
+                // 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);
@@ -187,23 +239,23 @@ void loop() {
                 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 pins
-                for(int i = 2; i<NUM_GPIO; i++) {
+                // 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(int i = 2; i<NUM_GPIO; i++) {
+                    for(uint32 i = 2; i<NUM_GPIO; i++) {
                         digitalWrite(i, tiddle);
                     }
                 }
-                for(int i = 2; i<NUM_GPIO; i++) {
+                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 pin D4 as fast as possible in bursts. Press enter.");
+                Serial2.println("Wiggling GPIO header D4 as fast as possible in bursts. Press enter.");
                 pinMode(4,OUTPUT);
                 while(!Serial2.available()) {
                     do_fast_gpio();
@@ -211,13 +263,13 @@ void loop() {
                 }
                 break;
             case 112:  // 'p'
-                Serial2.println("Sequentially testing PWM on all possible pins except 0 and 1. ");
+                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 pins
-                for(int i = 2; i<sizeof(pwm_pins); i++) {
-                    Serial2.print("PWM out on pin ");
+                // 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);
@@ -233,19 +285,19 @@ void loop() {
                 // turn off LED
                 digitalWrite(LED_PIN, 0);
                 // make sure to skip the TX/RX pins
-                for(int i = 2; i<sizeof(pwm_pins); i++) {
+                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(int i = 2; i<sizeof(pwm_pins); i++) {
+                    for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
                         pwmWrite(pwm_pins[i], rate);
                     }
                     delay(1);
                 }
-                for(int i = 2; i<sizeof(pwm_pins); i++) {
+                for(uint32 i = 2; i<sizeof(pwm_pins); i++) {
                     pinMode(pwm_pins[i], OUTPUT);
                 }
                 break;
@@ -258,6 +310,57 @@ void loop() {
             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;
@@ -267,7 +370,7 @@ void loop() {
                 Serial2.println("Monitoring GPIO read state changes. Press enter.");
                 // turn off LED
                 digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX pins
+                // 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);
@@ -276,10 +379,10 @@ void loop() {
                     for(int i = 2; i<NUM_GPIO; i++) {
                         tiddle = (uint8)digitalRead(i);
                         if(tiddle != gpio_state[i]) {
-                            Serial2.print("State change on pin ");
+                            Serial2.print("State change on header D");
                             Serial2.print(i,DEC);
-                            if(tiddle) Serial2.println(":\tLOW");
-                            else Serial2.println(":\tHIGH");
+                            if(tiddle) Serial2.println(":\tHIGH");
+                            else Serial2.println(":\tLOW");
                             gpio_state[i] = tiddle;
                         }
                     }
@@ -293,9 +396,9 @@ void loop() {
                 Serial2.println("Anything for next, ESC to stop.");
                 // turn off LED
                 digitalWrite(LED_PIN, 0);
-                // make sure to skip the TX/RX pins
-                for(int i = 2; i<sizeof(adc_pins); i++) {
-                    Serial2.print("Reading on pin ");
+                // 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);
@@ -341,7 +444,6 @@ void print_help(void) {
     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("\te: do everything all at once 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");
@@ -352,18 +454,19 @@ void print_help(void) {
     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("\ts: output a sweeping SERVO PWM on all PWM channels");
     Serial2.println("\ti: print out a bunch of info about system state");
-    Serial2.println("\tI: print out status of all pins");
-    // uint32 digitalRead(uint8 pin)
+    Serial2.println("\tI: print out status of all headers");
 }
 
 void do_noise(uint8 pin) { // TODO    
-    uint16 data[64];
+    uint16 data[100];
     float mean = 0;
     //float stddev = 0;
     float delta = 0;
@@ -372,34 +475,33 @@ void do_noise(uint8 pin) { // TODO
 
     // variance algorithm from knuth; see wikipedia
     // checked against python
-    for(int i = 0; i<64; i++) {
+    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);
     }
 
-    Serial2.print("pin: "); Serial2.print(pin,DEC);
-    Serial2.print("\tn: "); Serial2.print(64,DEC);
-    Serial2.print("\tmean: "); Serial2.print(mean);
-    Serial2.print("\tvar: "); Serial2.println(M2/63.0);
     //sqrt is broken?
-    //stddev = M2/(63.0);
-    //stddev = sqrt(stddev);
+    //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
-    do_noise(15);
     Serial2.println("(unimplemented)");
 }
 
 void do_fast_gpio(void) {
-    // pin 4 is on port B and is pin 5 on the uC
+    // 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); 
@@ -413,9 +515,6 @@ void do_fast_gpio(void) {
     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); 
-
-    // this way incurs an extra function call
-    //digitalWrite(4, 1); digitalWrite(4, 0);
 }
 
 int main(void) {
-- 
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