From 390bf9ad86db418872c7842bf042f9fea22ce476 Mon Sep 17 00:00:00 2001 From: Florent Duchon Date: Sun, 24 Mar 2013 15:37:42 +0100 Subject: digital/beacon: add lol-v2 unitary tests programs --- digital/beacon/tests/servo/debug_avr.c | 120 +++++++++++++++++++++++++++++++++ 1 file changed, 120 insertions(+) create mode 100644 digital/beacon/tests/servo/debug_avr.c (limited to 'digital/beacon/tests/servo/debug_avr.c') diff --git a/digital/beacon/tests/servo/debug_avr.c b/digital/beacon/tests/servo/debug_avr.c new file mode 100644 index 00000000..11a857ea --- /dev/null +++ b/digital/beacon/tests/servo/debug_avr.c @@ -0,0 +1,120 @@ +/* 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 "print.h" +#include "debug_avr.h" +#include "reset.h" + +HAL_UsartDescriptor_t appUsartDescriptor; // USART descriptor (required by stack) +static 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 + +uint8_t debug_network = 0; +uint8_t debug_network_enable = 0; + +/* 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); + } + +/* RX USART Callback */ +void usartRXCallback(uint16_t bytesToRead) +{ + uint8_t rxBuffer; + + /* Read RX buffer from HAL */ + READ_USART(&appUsartDescriptor,&rxBuffer,bytesToRead); + + switch(rxBuffer) + { + case 'd': + debug_start_stop_task(); + break; + case 'o': + /* Increase servo 1 angle */ + uprintf("SERVO_1 = %d\r\n",OCR1A++); + break; + case 'l': + /* Decrease servo 1 angle */ + uprintf("SERVO_1 = %d\r\n",OCR1A--); + break; + case 'p': + /* Increase servo 2 angle */ + uprintf("SERVO_2 = %d\r\n",OCR1B++); + break; + case 'm': + /* Decrease servo 2 angle */ + uprintf("SERVO_2 = %d\r\n",OCR1B--); + break; + /* Default */ + default : + uprintf(" ?? Unknown command ??\r\n"); + break; + } +} + +/* 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"); +} -- cgit v1.2.3