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/******************************************************************************
* The MIT License
*
* Copyright (c) 2010 Perry Hung.
*
* 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 util.c
* @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 "timer.h"
/* Failed ASSERT()s send out a message using this USART config. */
#ifndef ERROR_USART
#define ERROR_USART USART2
#define ERROR_USART_CLK_SPEED STM32_PCLK1
#define ERROR_USART_BAUD 9600
#define ERROR_TX_PORT GPIOA
#define ERROR_TX_PIN 2
#endif
/* If you define ERROR_LED_PORT and ERROR_LED_PIN, then a failed
* ASSERT() will also throb() an LED connected to that port and pin.
*/
#if defined(ERROR_LED_PORT) && defined(ERROR_LED_PIN)
#define HAVE_ERROR_LED
#endif
/**
* @brief Disables all peripheral interrupts except USB and fades the
* error LED.
*/
/* (Called from exc.S with global interrupts disabled.) */
void __error(void) {
/* Turn off peripheral interrupts */
nvic_irq_disable_all();
/* Turn off timers */
timer_disable_all();
/* Turn off ADC */
adc_disable_all();
/* Turn off all USARTs */
usart_disable_all();
/* Turn the USB interrupt back on so the bootloader keeps on functioning */
nvic_irq_enable(NVIC_USB_HP_CAN_TX);
nvic_irq_enable(NVIC_USB_LP_CAN_RX0);
/* Reenable global interrupts */
nvic_globalirq_enable();
throb();
}
/**
* @brief Enable the error USART for writing.
* @sideeffect Configures ERROR_USART appropriately for writing.
*/
void _enable_error_usart() {
gpio_set_mode(ERROR_TX_PORT, ERROR_TX_PIN, GPIO_AF_OUTPUT_PP);
usart_init(ERROR_USART);
usart_set_baud_rate(ERROR_USART, ERROR_USART_CLK_SPEED, ERROR_USART_BAUD);
}
/**
* @brief Print an error message on a UART upon a failed assertion
* and throb the error LED, if there is one defined.
* @param file Source file of failed assertion
* @param line Source line of failed assertion
* @param exp String representation of failed assertion
* @sideeffect Turns of all peripheral interrupts except USB.
*/
void _fail(const char* file, int line, const char* exp) {
/* Initialize the error USART */
_enable_error_usart();
/* Print failed assert message */
usart_putstr(ERROR_USART, "ERROR: FAILED ASSERT(");
usart_putstr(ERROR_USART, exp);
usart_putstr(ERROR_USART, "): ");
usart_putstr(ERROR_USART, file);
usart_putstr(ERROR_USART, ": ");
usart_putudec(ERROR_USART, line);
usart_putc(ERROR_USART, '\n');
usart_putc(ERROR_USART, '\r');
/* Shutdown and error fade */
__error();
}
/**
* @brief Provide an __assert_func handler to libc so that calls to assert() get
* redirected to _fail.
*/
void __assert_func(const char* file, int line, const char* method,
const char* expression) {
_fail(file, line, expression);
}
/**
* @brief Provide an abort() implementation that aborts execution and enters an
* error state with the throbbing LED indicator.
*/
void abort() {
/* Initialize the error USART */
_enable_error_usart();
/* Print abort message. */
usart_putstr(ERROR_USART, "ERROR: PROGRAM ABORTED VIA abort()\n\r");
/* Shutdown and error fade */
__error();
}
/**
* @brief Fades the error LED on and off
* @sideeffect Sets output push-pull on ERROR_LED_PIN.
*/
void throb(void) {
#ifdef HAVE_ERROR_LED
int32 slope = 1;
uint32 CC = 0x0000;
uint32 TOP_CNT = 0x0200;
uint32 i = 0;
gpio_set_mode(ERROR_LED_PORT, ERROR_LED_PIN, GPIO_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++;
}
#else
/* No error LED is defined; do nothing. */
while (1)
;
#endif
}
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