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
|
/******************************************************************************
* 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.
*****************************************************************************/
/**
* @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 72000000UL
#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 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 */
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);
/* 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');
/* 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
}
|
