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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.c
parent90527d1cf27582b1e7bb8588afbed8989453f606 (diff)
digital/beacon: use different debug files for simu or avr mode
Diffstat (limited to 'digital/beacon/src/debug.c')
-rw-r--r--digital/beacon/src/debug.c226
1 files changed, 0 insertions, 226 deletions
diff --git a/digital/beacon/src/debug.c b/digital/beacon/src/debug.c
deleted file mode 100644
index fb2cf589..00000000
--- a/digital/beacon/src/debug.c
+++ /dev/null
@@ -1,226 +0,0 @@
-/* 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.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
-}