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authorFlorent Duchon2012-04-21 16:58:09 +0200
committerFlorent Duchon2012-04-21 18:05:03 +0200
commit86855bce3598f21f1b1c81329f98cdc434edfa7d (patch)
tree03d7045bdbac74c9b1da72ae2e2d9fd058c255e4 /digital/beacon/src/debug_avr.c
parent90527d1cf27582b1e7bb8588afbed8989453f606 (diff)
digital/beacon: use different debug files for simu or avr mode
Diffstat (limited to 'digital/beacon/src/debug_avr.c')
-rw-r--r--digital/beacon/src/debug_avr.c226
1 files changed, 226 insertions, 0 deletions
diff --git a/digital/beacon/src/debug_avr.c b/digital/beacon/src/debug_avr.c
new file mode 100644
index 00000000..50dcb1f6
--- /dev/null
+++ b/digital/beacon/src/debug_avr.c
@@ -0,0 +1,226 @@
+/* debug.c */
+/* Beacon debug interface. {{{
+ *
+ * Copyright (C) 2012 Florent Duchon
+ *
+ * APBTeam:
+ * Web: http://apbteam.org/
+ * Email: team AT apbteam DOT org
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include <stdarg.h>
+#include <string.h>
+#include <appTimer.h>
+#include "configuration.h"
+#include "calibration.h"
+#include "debug_avr.h"
+#include "servo.h"
+#include "codewheel.h"
+#include "laser.h"
+#include "network.h"
+
+HAL_UsartDescriptor_t appUsartDescriptor; // USART descriptor (required by stack)
+HAL_AppTimer_t debugTimer; // TIMER descripor used by the DEBUG task
+HAL_AppTimer_t wheelTimer; // TIMER descripor used by the DEBUG task
+
+uint8_t usartRxBuffer[APP_USART_RX_BUFFER_SIZE]; // USART Rx buffer
+uint8_t usartTxBuffer[APP_USART_TX_BUFFER_SIZE]; // USART Tx buffer
+
+TUSART_buffer_level TXbuffer_level = EMPTY; // TX buffer state
+TUSART_bus_state TXbus_state = FREE; // TX line state
+
+uint16_t start_offset = 0; // Start offset for TX buffer
+uint16_t end_offset = 0; // Stop offset for TX buffer
+
+
+
+/* This function initializes the USART interface for debugging on avr */
+ void initSerialInterface(void)
+ {
+ appUsartDescriptor.tty = USART_CHANNEL;
+ appUsartDescriptor.mode = USART_MODE_ASYNC;
+ appUsartDescriptor.baudrate = USART_BAUDRATE_38400;
+ appUsartDescriptor.dataLength = USART_DATA8;
+ appUsartDescriptor.parity = USART_PARITY_EVEN;
+ appUsartDescriptor.stopbits = USART_STOPBIT_1;
+ appUsartDescriptor.rxBuffer = usartRxBuffer;
+ appUsartDescriptor.rxBufferLength = sizeof(usartRxBuffer);
+ appUsartDescriptor.txBuffer = NULL; // use callback mode
+ appUsartDescriptor.txBufferLength = 0;
+ appUsartDescriptor.rxCallback = usartRXCallback;
+ appUsartDescriptor.txCallback = usartTXCallback;
+ appUsartDescriptor.flowControl = USART_FLOW_CONTROL_NONE;
+ OPEN_USART(&appUsartDescriptor);
+ }
+
+/* TX USART Callback */
+void usartTXCallback(void)
+{
+ /* If buffer is not empty continue to send via USART line */
+ if(TXbuffer_level != EMPTY)
+ {
+ WRITE_USART(&appUsartDescriptor,usartTxBuffer+start_offset,end_offset);
+ TXbuffer_level = FILLED;
+ }
+ else
+ {
+ /* Bus is free so reset variables and flags */
+ memset(usartTxBuffer,0,APP_USART_TX_BUFFER_SIZE);
+ start_offset = 0;
+ end_offset = 0;
+ TXbus_state = FREE;
+ }
+}
+
+/* RX USART Callback */
+void usartRXCallback(uint16_t bytesToRead)
+{
+ uint8_t rxBuffer;
+
+ /* Read RX buffer from HAL */
+ READ_USART(&appUsartDescriptor,&rxBuffer,bytesToRead);
+
+ switch(rxBuffer)
+ {
+ case 'o':
+ /* Increase servo 1 angle */
+ uprintf("SERVO_1 = %d\r\n",servo_angle_increase(SERVO_1));
+ break;
+ case 'l':
+ /* Decrease servo 1 angle */
+ uprintf("SERVO_1 = %d\r\n",servo_angle_decrease(SERVO_1));
+ break;
+ case 'p':
+ /* Increase servo 2 angle */
+ uprintf("SERVO_2 = %d\r\n",servo_angle_increase(SERVO_2));
+ break;
+ case 'm':
+ /* Decrease servo 2 angle */
+ uprintf("SERVO_2 = %d\r\n",servo_angle_decrease(SERVO_2));
+ break;
+ case 'a':
+ uprintf("CodeWheel Value = %d\r\n",codewheel_get_value());
+ break;
+ case 'd':
+ debug_start_stop_task();
+ break;
+ case 'z':
+ codewheel_reset();
+ break;
+ case 'c':
+ calibration_start_stop_task();
+ break;
+ case 'q':
+ calibration_set_laser_flag(SET);
+ break;
+ case 'w':
+// wheel_start_stop_task();
+// uprintf("TCNT3 = %d\r\n",TCNT3);
+ TIMSK3 &= ~(1<<OCIE3B);
+ case 'r':
+ led_off(1);
+ led_off(2);
+ led_off(3);
+ break;
+ /* Default */
+ default :
+ uprintf(" ?? Unknown command ??\r\n");
+ }
+}
+
+/* This function sends data string via the USART interface */
+void uprintf(char *format, ...)
+{
+ va_list args;
+ va_start(args,format);
+
+ if(end_offset+strlen(format)+strlen(args) < APP_USART_TX_BUFFER_SIZE)
+ {
+ vsprintf(usartTxBuffer+end_offset,format,args);
+ end_offset = strlen(usartTxBuffer);
+
+ /* Check if the bus is busy */
+ if(TXbus_state == FREE)
+ {
+ WRITE_USART(&appUsartDescriptor,usartTxBuffer+start_offset,end_offset);
+ start_offset = end_offset;
+ TXbus_state = BUSY;
+ }
+ else
+ {
+ TXbuffer_level = FILLED;
+ }
+ }
+ va_end(args);
+}
+
+/* This function starts the debug task */
+void debug_start_stop_task(void)
+{
+ static bool debug_task_running = 0;
+ if(debug_task_running == 0)
+ {
+ debugTimer.interval = DEBUG_TASK_PERIOD;
+ debugTimer.mode = TIMER_REPEAT_MODE;
+ debugTimer.callback = debug_task;
+ HAL_StartAppTimer(&debugTimer);
+ debug_task_running = 1;
+ }
+ else
+ {
+ HAL_StopAppTimer(&debugTimer);
+ debug_task_running = 0;
+ }
+}
+void wheel_task(void)
+{
+ TCNT3++;
+}
+
+void wheel_start_stop_task(void)
+{
+ static bool wheel_task_running = 0;
+ if(wheel_task_running == 0)
+ {
+ led_on(2);
+ wheelTimer.interval = WHEEL_TASK_PERIOD;
+ wheelTimer.mode = TIMER_REPEAT_MODE;
+ wheelTimer.callback = wheel_task;
+ HAL_StartAppTimer(&wheelTimer);
+ wheel_task_running = 1;
+ }
+ else
+ {
+ led_off(2);
+ HAL_StopAppTimer(&wheelTimer);
+ TCNT3=0;
+ wheel_task_running = 0;
+ }
+}
+
+/* Debug task callback */
+void debug_task(void)
+{
+ uprintf("------------------------- debug TASK -------------------------\r\n");
+ uprintf("NWK : status = 0x%x\r\n",network_get_status());
+#ifdef TYPE_END
+ uprintf("[1] Scanning State = %d -- Value = %d\r\n",servo_get_state(SERVO_1),servo_get_value(SERVO_1));
+ uprintf("[2] Scanning State = %d -- Value = %d\r\n",servo_get_state(SERVO_2),servo_get_value(SERVO_2));
+ uprintf("CodeWheel = %d\r\n",codewheel_get_value());
+ uprintf("Calibration state = %d\r\n",calibration_get_state());
+#endif
+}