amiro-os / os / core / src / aos_debug.c @ 40d4810c
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | Copyright (C) 2016..2018 Thomas Schöpping et al.
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4 | |||
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | 53710ca3 | Marc Rothmann | /**
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20 | * @file aos_debug.c
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21 | * @brief Functions necessary to print an error on system halt.
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22 | *
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23 | * @addtogroup aos_debug
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24 | * @{
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25 | */
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26 | |||
27 | e545e620 | Thomas Schöpping | #include <aos_debug.h> |
28 | |||
29 | #include <hal.h> |
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30 | |||
31 | /*
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32 | * System_halt
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33 | * ChibiOS error code (see chdebug.c)
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34 | *
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35 | * - SV#1, misplaced @p chSysDisable().
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36 | * - SV#2, misplaced @p chSysSuspend()
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37 | * - SV#3, misplaced @p chSysEnable().
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38 | * - SV#4, misplaced @p chSysLock().
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39 | * - SV#5, misplaced @p chSysUnlock().
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40 | * - SV#6, misplaced @p chSysLockFromIsr().
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41 | * - SV#7, misplaced @p chSysUnlockFromIsr().
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42 | * - SV#8, misplaced @p CH_IRQ_PROLOGUE().
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43 | * - SV#9, misplaced @p CH_IRQ_EPILOGUE().
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44 | * - SV#10, misplaced I-class function.
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45 | * - SV#11, misplaced S-class function.
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46 | */
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47 | |||
48 | #if ((CH_DBG_SYSTEM_STATE_CHECK == TRUE) && (HAL_USE_SERIAL == TRUE)) || defined(__DOXYGEN__)
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49 | |||
50 | /**
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51 | * @brief Actively waits for the serial driver to be empty.
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52 | */
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53 | static inline void _serialWaitForEmpty(SerialDriver* sdp) { |
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54 | while (!((sdp->usart->SR) & USART_SR_TC)) {
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55 | continue;
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56 | } |
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57 | return;
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58 | } |
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59 | |||
60 | /**
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61 | * @brief Prints the specified string without suspending the thread.
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62 | *
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63 | * @param[in] str The string to print.
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64 | *
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65 | * @return The number of characters printed.
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66 | */
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67 | static inline unsigned int _printString(SerialDriver* sdp, const char* str) |
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68 | { |
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69 | unsigned int i = 0; |
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70 | while (str[i] != '\0') { |
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71 | sdp->usart->DR = str[i]; |
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72 | _serialWaitForEmpty(sdp); |
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73 | ++i; |
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74 | } |
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75 | return i;
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76 | } |
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77 | |||
78 | /**
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79 | * @brief Prints the specified string to the given serial stream.
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80 | *
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81 | * @param[in] sdp serial stream to print to
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82 | * @param[in] reason string to print
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83 | */
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84 | static void _printError(SerialDriver* sdp, const char* reason) |
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85 | { |
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86 | if (sdp->state != SD_STOP && sdp->state != SD_READY) {
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87 | sd_lld_start(sdp, NULL);
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88 | sdp->state = SD_READY; |
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89 | } |
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90 | if (sdp->state == SD_READY) {
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91 | _printString(sdp, "\nSystem halt! error code / function name: ");
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92 | _printString(sdp, reason); |
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93 | _printString(sdp, "\n");
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94 | } |
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95 | |||
96 | return;
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97 | } |
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98 | |||
99 | #endif /* ((CH_DBG_SYSTEM_STATE_CHECK == TRUE) && (HAL_USE_SERIAL == TRUE)) || defined(__DOXYGEN__) */ |
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100 | |||
101 | /**
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102 | * @brief Prints an error message.
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103 | *
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104 | * @param[in] reason The string to print.
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105 | */
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106 | void aosPrintHaltErrorCode(const char* reason) |
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107 | { |
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108 | #if (CH_DBG_SYSTEM_STATE_CHECK == TRUE) && (HAL_USE_SERIAL == TRUE)
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109 | #if STM32_SERIAL_USE_USART1
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110 | _printError(&SD1, reason); |
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111 | #endif
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112 | #if STM32_SERIAL_USE_USART2
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113 | _printError(&SD2, reason); |
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114 | #endif
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115 | #if STM32_SERIAL_USE_USART3
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116 | _printError(&SD3, reason); |
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117 | #endif
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118 | #if STM32_SERIAL_USE_UART4
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119 | _printError(&SD4, reason); |
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120 | #endif
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121 | #if STM32_SERIAL_USE_UART5
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122 | _printError(&SD5, reason); |
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123 | #endif
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124 | #if STM32_SERIAL_USE_USART6
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125 | _printError(&SD6, reason); |
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126 | #endif
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127 | #if STM32_SERIAL_USE_UART7
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128 | _printError(&SD7, reason); |
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129 | #endif
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130 | #if STM32_SERIAL_USE_UART8
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131 | _printError(&SD8, reason); |
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132 | #endif
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133 | #else
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134 | (void)reason;
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135 | #endif /* (CH_DBG_SYSTEM_STATE_CHECK == TRUE) && (HAL_USE_SERIAL == TRUE) */ |
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136 | |||
137 | return;
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138 | } |
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139 | 53710ca3 | Marc Rothmann | |
140 | /** @} */ |