/* debug_avr.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 #include #include #include "configuration.h" #include "calibration.h" #include "debug_avr.h" #include "servo.h" #include "codewheel.h" #include "laser.h" #include "network.h" #include "motor.h" #include "misc.h" #include "position.h" HAL_UsartDescriptor_t appUsartDescriptor; // USART descriptor (required by stack) HAL_AppTimer_t debugTimer; // 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 = EMPTY; } 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 'r': reset_avr(); break; case 't': motor_start_stop_control(); break; case 'j': jack_on_off(); break; case '0': network_send_data(NETWORK_RESET,0x1); break; case 'w': OCR0A--; uprintf("OCR0A = %d\r\n",OCR0A); break; case 'x': OCR0A++; uprintf("OCR0A = %d\r\n",OCR0A); break; /* Default */ default : uprintf(" ?? Unknown command ??\r\n"); break; } } /* 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; } } /* Debug task callback */ void debug_task(void) { uprintf("------------------------- debug TASK -------------------------\r\n"); uprintf("## Network\r\n"); uprintf("Status : 0x%x - ",network_get_status()); uprintf("LQI = %d - ",network_get_lqi()); uprintf("RSSI = %d - \r\n",network_get_rssi()); #ifdef TYPE_COOR uprintf("X = %d --- ",position_get_coord(OPPONENT_1,X)); uprintf("Y = %d --- ",position_get_coord(OPPONENT_1,Y)); uprintf("Trust = %d\r\n",position_get_trust(OPPONENT_1)); #else uprintf("## Calibration\r\n"); uprintf("State : %d\r\n",calibration_get_state()); uprintf("## Servo\r\n"); uprintf("State : [1]=%d [2]=%d - ",servo_get_state(SERVO_1),servo_get_state(SERVO_2)); uprintf("Value : [1]=%d [2]=%d\r\n",servo_get_value(SERVO_1),servo_get_value(SERVO_2)); uprintf("## Codewheel\r\n"); uprintf("State = %d - Raw = %d - Degree = %f\r\n",codewheel_get_state(),codewheel_get_value(),codewheel_convert_angle_raw2degrees(codewheel_get_value())); uprintf("## Motor\r\n"); uprintf("State : %d ---- speed = %d\r\n",motor_get_state(),OCR0A); #endif }