Added debug routines.

.gitignore

@@ -8,3 +8,11 @@
 build
 .deps
 .dirstamp
+Makefile.in
+aclocal.m4
+autom4te.cache/
+configure
+depcomp
+install-sh
+missing
+*~

HACKING

@@ -45,3 +45,31 @@ Hardware interface
 Events are generated by the HAL, timers, and other functions.  Events
 are recorded in a Switcher and then dispatched in priority order.
 Event handlers are short and run to completion.
+
+Status
+------
+Always out of date, but still.
+
+STM32:
+
+* Basic startup
+* System tick driver
+* GPIO driver
+* USART driver (for GPS)
+* PWM input driver (for reading the receiver demands)
+* PWM output driver (for driving the servo)
+* USB ACM driver
+* Watchdog driver
+* Serial log based debugging
+
+roverif:
+
+* Application level timers
+* Switcher for dispatching events
+* Status LED
+* Supervisor
+* Fail safe configuration
+* Software fault fail safe
+* GPS driver
+* Accelerometer driver
+* Gyro driver

Makefile.am

@@ -1,16 +1,16 @@
-bin_PROGRAMS = blink.elf roverif.elf
+bin_PROGRAMS = roverif.elf
 
 blink_elf_SOURCES = \
 	experiments/blink.c
 
 roverif_elf_SOURCES = \
 	roverif/main.cc \
-	roverif/init.cc \
-	roverif/start.cc \
 	roverif/pwmin.cc \
-	roverif/supervisor.cc
+	roverif/supervisor.cc \
+	roverif/hal-posix.cc
 
-roverif_elf_LDADD = libnppilot.a libmaple.a libmaple-usb.a
+#roverif_elf_LDADD = libnppilot.a libmaple.a libmaple-usb.a
+roverif_elf_LDADD = libnppilot.a
 
 check_PROGRAMS = \
 	tests/runner
@@ -18,9 +18,12 @@ check_PROGRAMS = \
 tests_runner_LDADD = libnppilot.a
 
 lib_LIBRARIES = \
-	libmaple.a \
-	libmaple-usb.a \
-	libnppilot.a
+	libnppilot.a \
+	libplatform-posix.a
+
+#	libmaple.a \
+#	libmaple-usb.a \
+#
 
 libnppilot_a_SOURCES = \
 	lib/cobs.cc \
@@ -28,6 +31,17 @@ libnppilot_a_SOURCES = \
 	lib/timer.cc \
 	lib/blinker.cc \
 	lib/switch.cc \
+	lib/debug.cc \
+	platform/posix/bitarray.cc \
+	platform/posix/timer.cc \
+	platform/posix/usblink.cc
+
+libplatform_posix_a_SOURCES = \
+	platform/posix/bitarray.cc \
+	platform/posix/timer.cc \
+	platform/posix/usblink.cc
+
+libplatform_stm32_a_SOURCES = \
 	platform/stm32/bitarray.cc \
 	platform/stm32/timer.cc \
 	platform/stm32/usblink.cc
@@ -79,19 +93,21 @@ LIBMAPLE = $(srcdir)/external/libmaple
 tests/runner.cc: $(wildcard $(srcdir)/tests/*.h)
 	$(srcdir)/external/cxxtest/bin/cxxtestgen --error-printer -o $@ $^
 
-CROSS_COMPILE = arm-none-eabi-
+#CROSS_COMPILE = arm-none-eabi-
 CC = $(CROSS_COMPILE)gcc
 CXX = $(CROSS_COMPILE)g++
 OBJCOPY = $(CROSS_COMPILE)objcopy
 
 FLAGS =
 FLAGS += -O1 -g -Wall -fno-common -fno-section-anchors -fno-exceptions
-FLAGS += -ffunction-sections -fdata-sections -Wl,--gc-sections
+#FLAGS += -ffunction-sections -fdata-sections -Wl,--gc-sections
 FLAGS += -I$(srcdir)/lib -I$(srcdir) -I$(srcdir)/external/cxxtest
-FLAGS += -I$(LIBMAPLE)/libmaple/include -I$(LIBMAPLE)/libmaple -I$(LIBMAPLE)/libmaple/usb/usb_lib -I$(LIBMAPLE)/libmaple/stm32f1/include -I$(LIBMAPLE)  -I$(srcdir)/platform/stm32
-FLAGS += -mcpu=cortex-m3 -mthumb -save-temps=obj
-FLAGS += -DMCU_STM32F103CB
-FLAGS += -nostartfiles -T$(srcdir)/platform/coptercontrol/flash.ld
+FLAGS += -save-temps=obj
+
+#FLAGS += -I$(LIBMAPLE)/libmaple/include -I$(LIBMAPLE)/libmaple -I$(LIBMAPLE)/libmaple/usb/usb_lib -I$(LIBMAPLE)/libmaple/stm32f1/include -I$(LIBMAPLE)  -I$(srcdir)/platform/stm32
+#FLAGS += -mcpu=cortex-m3 -mthumb
+#FLAGS += -DMCU_STM32F103CB
+#FLAGS += -nostartfiles -T$(srcdir)/platform/coptercontrol/flash.ld
 
 AM_CFLAGS = $(FLAGS) -std=gnu99
 AM_CXXFLAGS = $(FLAGS) -std=gnu++0x -fno-rtti

lib/timer.h

@@ -41,6 +41,7 @@ public:
     /** Ticks all system timers, firing those that elapse. */
     static void tick_all();
 
+    static void bind(Timer& timer, const Timer::Fixed& fixed);
 private:
     static const uint16_t Reserved = 0xFFFE;
 
@@ -50,6 +51,18 @@ private:
     uint16_t _remain;
 };
 
+#ifndef TIMER_IN_SECTIONS
+#define CONCAT_IMPL( x, y ) x##y
+#define MACRO_CONCAT( x, y ) CONCAT_IMPL( x, y )
+
+#define MAKE_TIMER(_name, _id, _period)               \
+    Timer _name __attribute__((section(".timers")));  \
+    Timer::Fixed _name##_fixed                        \
+                       = { _period - 1, _id };\
+    __attribute__((constructor)) void MACRO_CONCAT(init, __LINE__) () { \
+        Timer::bind(_name, _name##_fixed); }
+
+#else
 /**
  * Make a timer called `_name` that triggers the thread `_id` and
  * has the period `_period`.  See Switcher::None and
@@ -60,3 +73,5 @@ private:
     Timer::Fixed _name##_fixed                        \
     __attribute__((section(".timers.ro"))) \
                        = { _period - 1, _id };
+
+#endif

roverif/board.h

@@ -1,5 +1,11 @@
+
 struct Board
 {
     static const int AHBClock = 72000000;
     static const int APB1Clock = AHBClock / 2;
+    static const int APB2Clock = AHBClock / 1;
+    static const int LSIClock = 40000;
+    static const int DebugBaudRate = 115200;
+
+    static const int Ticks = 1000;
 };

roverif/main.cc

@@ -1,155 +1,54 @@
 #include <cstring>
 #include <cstdint>
-
-
-#include "libmaple/scb.h"
-#include "libmaple/timer.h"
-#include "libmaple/usart.h"
-#include "libmaple/gpio.h"
-#include "libmaple/iwdg.h"
-#include "libmaple/usb_cdcacm.h"
-#include "libmaple/usb/stm32f1/usb_reg_map.h"
-#include "libmaple/systick.h"
-
-#include <switcher.h>
-#include <timer.h>
-#include <cobs.h>
-#include <usblink.h>
-#include <platform/stm32/vectors.h>
-#include <switch.h>
-#include "supervisor.h"
+#include <cstdio>
 
 #include "roverif.h"
-#include "protocol.h"
-#include "pwmin.h"
-#include "blinker.h"
-
-volatile int stuck;
-
-void init();
-int main();
-
-static PWMIn pwmin;
-static Switcher switcher;
-static USBLink usblink;
-static COBSLink link;
-static Blinker blinker;
-static Supervisor supervisor;
-
-void irq_timer4ch1()
-{
-    timer_gen_reg_map& regs = *TIMER4->regs.gen;
-    pwmin.irq(0, regs.CCR1, &regs.CCER, TIMER_CCER_CC1P);
-}
-
-void irq_timer3ch2()
-{
-    timer_gen_reg_map& regs = *TIMER3->regs.gen;
-    pwmin.irq(1, regs.CCR2, &regs.CCER, TIMER_CCER_CC2P);
-}
-
-void irq_timer3ch3()
-{
-    timer_gen_reg_map& regs = *TIMER3->regs.gen;
-    pwmin.irq(2, regs.CCR3, &regs.CCER, TIMER_CCER_CC3P);
-}
-
-void irq_timer3ch4()
-{
-    timer_gen_reg_map& regs = *TIMER3->regs.gen;
-    pwmin.irq(3, regs.CCR4, &regs.CCER, TIMER_CCER_CC4P);
-}
-
-void irq_timer2ch1()
-{
-    timer_gen_reg_map& regs = *TIMER2->regs.gen;
-    pwmin.irq(4, regs.CCR1, &regs.CCER, TIMER_CCER_CC1P);
-}
-
-void irq_timer2ch2()
-{
-    timer_gen_reg_map& regs = *TIMER2->regs.gen;
-    pwmin.irq(5, regs.CCR2, &regs.CCER, TIMER_CCER_CC2P);
-}
-
-static void put_hex(uint32_t v)
-{
-    static const char* chars = "0123456789abcedf";
-
-    for (int i = 32-4; i >= 0; i -= 4) {
-        usart_putc(USART2, chars[(v >> i) & 0x0f]);
-    }
-}
-
-__attribute__((noinline))
-static void _systick(uint32_t* sp)
-{
-    if (++stuck == 1000) {
-        usart_putstr(USART2, "\r\nstuck at ");
-        put_hex(sp[6]);
-        usart_putstr(USART2, "\r\n");
-    }
-
-    switcher.trigger(SysTickID);
-}
-
-void systick()
-{
-    uint32_t* sp;
-    asm volatile ("mov %0, sp" : "=r" (sp));
-    _systick(sp);
-}
+#include "hal.h"
 
+PWMIn RoverIf::pwmin;
+Switcher RoverIf::switcher;
+USBLink RoverIf::usblink;
+COBSLink RoverIf::link;
+Blinker RoverIf::blinker;
+Supervisor RoverIf::supervisor;
 
 void COBSLink::write(const uint8_t* p, int length)
 {
-    usblink.write(p, length);
+    RoverIf::usblink.write(p, length);
 }
 
 void Timer::dispatch(int id)
 {
-    switcher.trigger(id);
+    RoverIf::switcher.trigger(id);
 }
 
 void COBSLink::dispatch(int id, const void* msg, int length)
 {
-    usart_putstr(USART2, "COBSLink::dispatch\r\n");
+    Debug::info("COBSLink::dispatch");
 }
 
 static void heartbeat()
 {
     Protocol::Heartbeat msg = { .version = 1, .device_id = 2 };
-    link.send('h', &msg, sizeof(msg));
+    RoverIf::link.send('h', &msg, sizeof(msg));
 }
 
 void Blinker::update(bool level)
 {
-    if (level) {
-        GPIOA_BASE->ODR &= ~(1 << 6);
-    } else {
-        GPIOA_BASE->ODR |= 1 << 6;
-    }
+    HAL::set_status_led(level);
 }
 
 void Supervisor::changed()
 {
-    switch (supervisor.state()) {
-    case Supervisor::State::Remote:
-        blinker.set(0b100000101);
-        break;
-    case Supervisor::State::RemoteArmed:
-        blinker.set(0b100001101);
-        break;
-    case Supervisor::State::Pilot:
-        blinker.set(0b111111110);
-        break;
-    case Supervisor::State::Shutdown:
-        blinker.set(0b100000001);
-        break;
-    default:
-        blinker.set(0b101);
-        break;
-    }
+    static const uint16_t patterns[] = {
+        [State::None] =        0b101,
+        [State::Remote] =      0b100000101,
+        [State::RemoteArmed] = 0b100001101,
+        [State::Pilot] =       0b111111110,
+        [State::Shutdown] =    0b100000001,
+    };
+
+    RoverIf::blinker.set(patterns[(int)state()]);
 }
 
 static void tick()
@@ -160,14 +59,8 @@ static void tick()
 MAKE_TIMER(timer_expired, -1, Timer::Stopped);
 MAKE_TIMER(blinker_tick, BlinkerID, 100);
  
-static void poll()
+void RoverIf::poll()
 {
-    static int at;
-    static int direction = 1;
-
-    iwdg_feed();
-    stuck = 0;
-
     Protocol::Inputs msg = { };
 
     for (int i = 0; i < pwmin.count(); i++) {
@@ -175,33 +68,17 @@ static void poll()
     }
 
     supervisor.set_remote(msg.channel, 6);
-
-    int ch1 = pwmin.value(0) - 8450;
-    int out = 0;
-    // 10550 8450 6300
-
-    timer_set_compare(TIMER4, 4, 8450 + ch1);
-
     link.send('i', &msg, sizeof(msg));
-    
-    if (usb_cdcacm_data_available()) {
-        uint8_t rx[32];
-        int got = usb_cdcacm_rx(rx, sizeof(rx));
-
-        link.feed(rx, got);
-    }
 }
 
 MAKE_TIMER(timer_heartbeat, HeartbeatID, 1000);
 MAKE_TIMER(timer_poll, PollID, 20);
 
-// 8296 counts as throttle cut
-
 void Switcher::dispatch(int id)
 {
     switch (id) {
     case BlinkerID:
-        blinker.tick();
+        RoverIf::blinker.tick();
         break;
     case SysTickID:
         tick();
@@ -210,10 +87,10 @@ void Switcher::dispatch(int id)
         heartbeat();
         break;
     case PollID:
-        poll();
+        RoverIf::poll();
         break;
     case SupervisorID:
-        supervisor.expired();
+        RoverIf::supervisor.expired();
         break;
     default:
         assert(false);
@@ -221,31 +98,21 @@ void Switcher::dispatch(int id)
     }
 }
 
-extern "C" usart_dev* __lm_enable_error_usart(void)
+void RoverIf::init()
 {
-    return USART2;
+    HAL::init();
 }
 
-__attribute__((noinline))
-void stick()
+void RoverIf::run()
 {
-    for (;;) {}
-}
+    HAL::start();
+    Debug::info("roverif: start");
 
-int main()
-{
     blinker.set(0b101);
-//    stick();
-
-    usart_putstr(USART2, "\r\n\r\ngo\r\n");
-    usart_putudec(USART2, *(uint32_t*)0xE000ED00);
 
     for (;;) {
         switcher.next();
         usblink.flush();
-        asm ("wfi");
+        HAL::wait();
     }
-
-    return 0;
 }
-

roverif/roverif.h

@@ -1,3 +1,15 @@
+#include <switcher.h>
+#include <timer.h>
+#include <cobs.h>
+#include <usblink.h>
+#include <switch.h>
+#include "supervisor.h"
+#include <debug.h>
+
+#include "protocol.h"
+#include "pwmin.h"
+#include "blinker.h"
+
 extern void systick();
 void irq_timer4ch1();
 void irq_timer3ch2();
@@ -16,3 +28,20 @@ enum ThreadID {
     PollID,
     SupervisorID,
 };
+
+class RoverIf
+{
+public:
+    static void init();
+    static void run();
+
+    static void poll();
+    static void tick();
+
+    static PWMIn pwmin;
+    static Switcher switcher;
+    static USBLink usblink;
+    static COBSLink link;
+    static Blinker blinker;
+    static Supervisor supervisor;
+};

roverif/start.cc

@@ -29,14 +29,14 @@ void _start()
   memcpy(&__data_start, &__data_load, &__data_end - &__data_start);
   memset(&__bss_start, 0, &__bss_end - &__bss_start);
 
-  init();
+  RoverIf::init();
 
   for (init_function* i = &__init_array_start; i < &__init_array_end; i++) {
       (**i)();
   }
 
   nvic_globalirq_enable();
-  main();
+  RoverIf::run();
 
   for (;;) {
   }

roverif/supervisor.h

@@ -16,7 +16,7 @@ public:
         Remote,
         RemoteArmed,
         Pilot,
-        Shutdown
+        Shutdown,
     };
 
     Supervisor();
@@ -28,6 +28,11 @@ public:
 
     void expired();
 
+    static Timer remote_seen_;
+    static Timer::Fixed remote_seen__fixed;
+    static Timer pilot_seen_;
+    static Timer::Fixed pilot_seen__fixed;
+
 private:
     static const int LostThrottle = 8296;
     static const int ThrottleChannel = 2;
@@ -49,8 +54,4 @@ private:
     Switch mode_;
 
     static const Switch::Fixed mode_fixed_;
-    static Timer remote_seen_;
-    static Timer::Fixed remote_seen__fixed;
-    static Timer pilot_seen_;
-    static Timer::Fixed pilot_seen__fixed;
 };