/* 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" 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 = 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 'w': // wheel_start_stop_task(); // uprintf("TCNT3 = %d\r\n",TCNT3); TIMSK3 &= ~(1<