aboutsummaryrefslogtreecommitdiffstats
path: root/examples/test-session.cpp
blob: 0fa7d52744f4c67f265ac2470e1ab978822f884a (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
/* *****************************************************************************
 * 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.
 * ****************************************************************************/

/**
 *  @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 "HardwareSerial.h"
#include "HardwareUsb.h"
#include <math.h>
#include "usb.h"

#define LED_PIN 13
#define PWM_PIN  2

HardwareUsb Usb;

uint8 input = 0;
uint8 tiddle = 0;
int toggle = 0;
int rate = 0;
int sample = 0;

// read off maple board rev3
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      // 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 USART2  */
    //Serial2.begin(115200);
    Serial2.begin(9600);
    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");
}

void loop() {
    toggle ^= 1;
    digitalWrite(LED_PIN, toggle);
    delay(100);

    //Serial2.flush();
    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:  // '?'
                print_help();
                break;
            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 46:  // '.'
                while(!Serial2.available()) {
                    Serial2.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 pins
                for(int i = 2; i<sizeof(adc_pins); i++) {
                    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 pins
                for(int i = 2; i<sizeof(adc_pins); i++) {
                    // spool up PWM
                    for(int j = 2; j<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(int j = 2; j<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 pins except 0 and 1.");
                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 ");
                    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 pins
                for(int i = 2; i<NUM_GPIO; i++) {
                    pinMode(i, OUTPUT);
                }
                while(!Serial2.available()) { 
                    tiddle ^= 1;
                    for(int i = 2; i<NUM_GPIO; i++) {
                        digitalWrite(i, tiddle);
                    }
                }
                for(int 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.");
                pinMode(4,OUTPUT);
                while(!Serial2.available()) {
                    do_fast_gpio();
                    delay(1);
                }
                break;
            case 112:  // 'p'
                Serial2.println("Sequentially testing PWM on all possible pins except 0 and 1. ");
                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 ");
                    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(int 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++) {
                        pwmWrite(pwm_pins[i], rate);
                    }
                    delay(1);
                }
                for(int 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'
                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 pins
                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 pin ");
                            Serial2.print(i,DEC);
                            if(tiddle) Serial2.println(":\tLOW");
                            else Serial2.println(":\tHIGH");
                            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 pins
                for(int i = 2; i<sizeof(adc_pins); i++) {
                    Serial2.print("Reading on pin ");
                    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("\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");
    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("Unimplemented:");
    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)
}

void do_noise(uint8 pin) { // TODO    
    uint16 data[64];
    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<64; 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);
    pinMode(pin, OUTPUT);
}

void do_everything(void) { // 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
    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); 

    // this way incurs an extra function call
    //digitalWrite(4, 1); digitalWrite(4, 0);
}

int main(void) {
    init();
    setup();

    while (1) {
        loop();
    }
    return 0;
}

/* Required for C++ hackery */
/* TODO: This really shouldn't go here... move it later
 * */
extern "C" void __cxa_pure_virtual(void) {
    while(1)
        ;
}