Revision dd56d656
| core/src/aos_system.c | ||
|---|---|---|
| 239 | 239 |
#else /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 240 | 240 |
_printSystemInfoLine(stream, "AMiRo-OS" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", AMIROOS_VERSION_MAJOR, AMIROOS_VERSION_MINOR, AMIROOS_VERSION_PATCH, AMIROOS_RELEASE_TYPE); |
| 241 | 241 |
#endif /* (AMIROOS_CFG_SSSP_ENABLE == true) */ |
| 242 |
_printSystemInfoLine(stream, "AMiRo-LLD" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (periphAL %u.%u)", AMIRO_LLD_VERSION_MAJOR, AMIRO_LLD_VERSION_MINOR, AMIRO_LLD_VERSION_PATCH, AMIRO_LLD_RELEASE_TYPE, PERIPHAL_VERSION_MAJOR, PERIPHAL_VERSION_MINOR);
|
|
| 242 |
_printSystemInfoLine(stream, "AMiRo-LLD" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s (periphAL %u.%u)", AMIROLLD_VERSION_MAJOR, AMIROLLD_VERSION_MINOR, AMIROLLD_VERSION_PATCH, AMIROLLD_RELEASE_TYPE, PERIPHAL_VERSION_MAJOR, PERIPHAL_VERSION_MINOR);
|
|
| 243 | 243 |
_printSystemInfoLine(stream, "ChibiOS/RT" , SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", CH_KERNEL_MAJOR, CH_KERNEL_MINOR, CH_KERNEL_PATCH, (CH_KERNEL_STABLE == 1) ? "stable" : "non-stable"); |
| 244 | 244 |
_printSystemInfoLine(stream, "ChibiOS/HAL", SYSTEM_INFO_NAMEWIDTH, "%u.%u.%u %s", CH_HAL_MAJOR, CH_HAL_MINOR, CH_HAL_PATCH, (CH_HAL_STABLE == 1) ? "stable" : "non-stable"); |
| 245 | 245 |
_printSystemInfoLine(stream, "build type", SYSTEM_INFO_NAMEWIDTH,"%s", (AMIROOS_CFG_DBG == true) ? "debug" : "release"); |
| modules/DiWheelDrive_1-1/alldconf.h | ||
|---|---|---|
| 29 | 29 |
#define ALLDCONF_H |
| 30 | 30 |
|
| 31 | 31 |
/* |
| 32 |
* compatibility guards
|
|
| 32 |
* common configuration
|
|
| 33 | 33 |
*/ |
| 34 |
#define _AMIRO_LLD_CFG_ |
|
| 35 |
#define AMIRO_LLD_CFG_VERSION_MAJOR 1 |
|
| 36 |
#define AMIRO_LLD_CFG_VERSION_MINOR 1 |
|
| 37 |
|
|
| 38 |
/** |
|
| 39 |
* @brief Width of the apalTime_t data type. |
|
| 40 |
* |
|
| 41 |
* @details Possible values are 8, 16, 32, and 64 bits. |
|
| 42 |
* By definition time is represented at microsecond precision. |
|
| 43 |
*/ |
|
| 44 |
#define AMIROLLD_CFG_TIME_SIZE 32 |
|
| 34 |
#include <aos_alldconf.h> |
|
| 45 | 35 |
|
| 46 | 36 |
#endif /* ALLDCONF_H */ |
| 47 | 37 |
|
| modules/DiWheelDrive_1-2/alldconf.h | ||
|---|---|---|
| 29 | 29 |
#define ALLDCONF_H |
| 30 | 30 |
|
| 31 | 31 |
/* |
| 32 |
* compatibility guards
|
|
| 32 |
* common configuration
|
|
| 33 | 33 |
*/ |
| 34 |
#define _AMIRO_LLD_CFG_ |
|
| 35 |
#define AMIRO_LLD_CFG_VERSION_MAJOR 1 |
|
| 36 |
#define AMIRO_LLD_CFG_VERSION_MINOR 1 |
|
| 37 |
|
|
| 38 |
/** |
|
| 39 |
* @brief Width of the apalTime_t data type. |
|
| 40 |
* |
|
| 41 |
* @details Possible values are 8, 16, 32, and 64 bits. |
|
| 42 |
* By definition time is represented at microsecond precision. |
|
| 43 |
*/ |
|
| 44 |
#define AMIROLLD_CFG_TIME_SIZE 32 |
|
| 34 |
#include <aos_alldconf.h> |
|
| 45 | 35 |
|
| 46 | 36 |
#endif /* ALLDCONF_H */ |
| 47 | 37 |
|
| modules/LightRing_1-0/alldconf.h | ||
|---|---|---|
| 29 | 29 |
#define ALLDCONF_H |
| 30 | 30 |
|
| 31 | 31 |
/* |
| 32 |
* compatibility guards
|
|
| 32 |
* common configuration
|
|
| 33 | 33 |
*/ |
| 34 |
#define _AMIRO_LLD_CFG_ |
|
| 35 |
#define AMIRO_LLD_CFG_VERSION_MAJOR 1 |
|
| 36 |
#define AMIRO_LLD_CFG_VERSION_MINOR 1 |
|
| 37 |
|
|
| 38 |
/** |
|
| 39 |
* @brief Width of the apalTime_t data type. |
|
| 40 |
* |
|
| 41 |
* @details Possible values are 8, 16, 32, and 64 bits. |
|
| 42 |
* By definition time is represented at microsecond precision. |
|
| 43 |
*/ |
|
| 44 |
#define AMIROLLD_CFG_TIME_SIZE 32 |
|
| 34 |
#include <aos_alldconf.h> |
|
| 45 | 35 |
|
| 46 | 36 |
#endif /* ALLDCONF_H */ |
| 47 | 37 |
|
| modules/LightRing_1-2/alldconf.h | ||
|---|---|---|
| 28 | 28 |
#ifndef ALLDCONF_H |
| 29 | 29 |
#define ALLDCONF_H |
| 30 | 30 |
|
| 31 |
/* |
|
| 32 |
* compatibility guards |
|
| 33 |
*/ |
|
| 34 |
#define _AMIRO_LLD_CFG_ |
|
| 35 |
#define AMIRO_LLD_CFG_VERSION_MAJOR 1 |
|
| 36 |
#define AMIRO_LLD_CFG_VERSION_MINOR 1 |
|
| 37 |
|
|
| 38 |
/** |
|
| 39 |
* @brief Width of the apalTime_t data type. |
|
| 40 |
* |
|
| 41 |
* @details Possible values are 8, 16, 32, and 64 bits. |
|
| 42 |
* By definition time is represented at microsecond precision. |
|
| 43 |
*/ |
|
| 44 |
#define AMIROLLD_CFG_TIME_SIZE 32 |
|
| 45 |
|
|
| 46 | 31 |
/** |
| 47 | 32 |
* @brief TLC5947 chained configuration |
| 48 | 33 |
*/ |
| 49 | 34 |
#define TLC5947_LLD_CHAINED 3 |
| 50 | 35 |
|
| 36 |
/* |
|
| 37 |
* common configuration |
|
| 38 |
*/ |
|
| 39 |
#include <aos_alldconf.h> |
|
| 40 |
|
|
| 51 | 41 |
#endif /* ALLDCONF_H */ |
| 52 | 42 |
|
| 53 | 43 |
/** @} */ |
| modules/NUCLEO-F103RB/alldconf.h | ||
|---|---|---|
| 29 | 29 |
#define ALLDCONF_H |
| 30 | 30 |
|
| 31 | 31 |
/* |
| 32 |
* compatibility guards
|
|
| 32 |
* common configuration
|
|
| 33 | 33 |
*/ |
| 34 |
#define _AMIRO_LLD_CFG_ |
|
| 35 |
#define AMIRO_LLD_CFG_VERSION_MAJOR 1 |
|
| 36 |
#define AMIRO_LLD_CFG_VERSION_MINOR 1 |
|
| 37 |
|
|
| 38 |
/** |
|
| 39 |
* @brief Width of the apalTime_t data type. |
|
| 40 |
* |
|
| 41 |
* @details Possible values are 8, 16, 32, and 64 bits. |
|
| 42 |
* By definition time is represented at microsecond precision. |
|
| 43 |
*/ |
|
| 44 |
#define AMIROLLD_CFG_TIME_SIZE 32 |
|
| 34 |
#include <aos_alldconf.h> |
|
| 45 | 35 |
|
| 46 | 36 |
#endif /* ALLDCONF_H */ |
| 47 | 37 |
|
| modules/NUCLEO-F401RE/alldconf.h | ||
|---|---|---|
| 29 | 29 |
#define ALLDCONF_H |
| 30 | 30 |
|
| 31 | 31 |
/* |
| 32 |
* compatibility guards
|
|
| 32 |
* common configuration
|
|
| 33 | 33 |
*/ |
| 34 |
#define _AMIRO_LLD_CFG_ |
|
| 35 |
#define AMIRO_LLD_CFG_VERSION_MAJOR 1 |
|
| 36 |
#define AMIRO_LLD_CFG_VERSION_MINOR 1 |
|
| 37 |
|
|
| 38 |
/** |
|
| 39 |
* @brief Width of the apalTime_t data type. |
|
| 40 |
* |
|
| 41 |
* @details Possible values are 8, 16, 32, and 64 bits. |
|
| 42 |
* By definition time is represented at microsecond precision. |
|
| 43 |
*/ |
|
| 44 |
#define AMIROLLD_CFG_TIME_SIZE 32 |
|
| 34 |
#include <aos_alldconf.h> |
|
| 45 | 35 |
|
| 46 | 36 |
#endif /* ALLDCONF_H */ |
| 47 | 37 |
|
| modules/NUCLEO-F767ZI/alldconf.h | ||
|---|---|---|
| 29 | 29 |
#define ALLDCONF_H |
| 30 | 30 |
|
| 31 | 31 |
/* |
| 32 |
* compatibility guards
|
|
| 32 |
* common configuration
|
|
| 33 | 33 |
*/ |
| 34 |
#define _AMIRO_LLD_CFG_ |
|
| 35 |
#define AMIRO_LLD_CFG_VERSION_MAJOR 1 |
|
| 36 |
#define AMIRO_LLD_CFG_VERSION_MINOR 1 |
|
| 37 |
|
|
| 38 |
/** |
|
| 39 |
* @brief Width of the apalTime_t data type. |
|
| 40 |
* |
|
| 41 |
* @details Possible values are 8, 16, 32, and 64 bits. |
|
| 42 |
* By definition time is represented at microsecond precision. |
|
| 43 |
*/ |
|
| 44 |
#define AMIROLLD_CFG_TIME_SIZE 32 |
|
| 34 |
#include <aos_alldconf.h> |
|
| 45 | 35 |
|
| 46 | 36 |
#endif /* ALLDCONF_H */ |
| 47 | 37 |
|
| modules/NUCLEO-L476RG/alldconf.h | ||
|---|---|---|
| 29 | 29 |
#define ALLDCONF_H |
| 30 | 30 |
|
| 31 | 31 |
/* |
| 32 |
* compatibility guards
|
|
| 32 |
* common configuration
|
|
| 33 | 33 |
*/ |
| 34 |
#define _AMIRO_LLD_CFG_ |
|
| 35 |
#define AMIRO_LLD_CFG_VERSION_MAJOR 1 |
|
| 36 |
#define AMIRO_LLD_CFG_VERSION_MINOR 1 |
|
| 37 |
|
|
| 38 |
/** |
|
| 39 |
* @brief Width of the apalTime_t data type. |
|
| 40 |
* |
|
| 41 |
* @details Possible values are 8, 16, 32, and 64 bits. |
|
| 42 |
* By definition time is represented at microsecond precision. |
|
| 43 |
*/ |
|
| 44 |
#define AMIROLLD_CFG_TIME_SIZE 32 |
|
| 34 |
#include <aos_alldconf.h> |
|
| 45 | 35 |
|
| 46 | 36 |
#endif /* ALLDCONF_H */ |
| 47 | 37 |
|
| modules/PowerManagement_1-1/alldconf.h | ||
|---|---|---|
| 28 | 28 |
#ifndef ALLDCONF_H |
| 29 | 29 |
#define ALLDCONF_H |
| 30 | 30 |
|
| 31 |
/* |
|
| 32 |
* compatibility guards |
|
| 33 |
*/ |
|
| 34 |
#define _AMIRO_LLD_CFG_ |
|
| 35 |
#define AMIRO_LLD_CFG_VERSION_MAJOR 1 |
|
| 36 |
#define AMIRO_LLD_CFG_VERSION_MINOR 1 |
|
| 37 |
|
|
| 38 |
/** |
|
| 39 |
* @brief Width of the apalTime_t data type. |
|
| 40 |
* |
|
| 41 |
* @details Possible values are 8, 16, 32, and 64 bits. |
|
| 42 |
* By definition time is represented at microsecond precision. |
|
| 43 |
*/ |
|
| 44 |
#define AMIROLLD_CFG_TIME_SIZE 32 |
|
| 45 |
|
|
| 46 | 31 |
/** |
| 47 | 32 |
* @brief BQ27500 hardware version |
| 48 | 33 |
*/ |
| ... | ... | |
| 55 | 40 |
#define PKxxxExxx_LLD_FREQUENCY_SPEC 4000 |
| 56 | 41 |
#define PKxxxExxx_LLD_FREQUENCY_MAX 6000 |
| 57 | 42 |
|
| 43 |
/* |
|
| 44 |
* common configuration |
|
| 45 |
*/ |
|
| 46 |
#include <aos_alldconf.h> |
|
| 47 |
|
|
| 58 | 48 |
#endif /* ALLDCONF_H */ |
| 59 | 49 |
|
| 60 | 50 |
/** @} */ |
| modules/PowerManagement_1-2/alldconf.h | ||
|---|---|---|
| 28 | 28 |
#ifndef ALLDCONF_H |
| 29 | 29 |
#define ALLDCONF_H |
| 30 | 30 |
|
| 31 |
/* |
|
| 32 |
* compatibility guards |
|
| 33 |
*/ |
|
| 34 |
#define _AMIRO_LLD_CFG_ |
|
| 35 |
#define AMIRO_LLD_CFG_VERSION_MAJOR 1 |
|
| 36 |
#define AMIRO_LLD_CFG_VERSION_MINOR 1 |
|
| 37 |
|
|
| 38 |
/** |
|
| 39 |
* @brief Width of the apalTime_t data type. |
|
| 40 |
* |
|
| 41 |
* @details Possible values are 8, 16, 32, and 64 bits. |
|
| 42 |
* By definition time is represented at microsecond precision. |
|
| 43 |
*/ |
|
| 44 |
#define AMIROLLD_CFG_TIME_SIZE 32 |
|
| 45 |
|
|
| 46 | 31 |
/** |
| 47 | 32 |
* @brief BQ27500 hardware version |
| 48 | 33 |
*/ |
| ... | ... | |
| 55 | 40 |
#define PKxxxExxx_LLD_FREQUENCY_SPEC 4000 |
| 56 | 41 |
#define PKxxxExxx_LLD_FREQUENCY_MAX 6000 |
| 57 | 42 |
|
| 43 |
/* |
|
| 44 |
* common configuration |
|
| 45 |
*/ |
|
| 46 |
#include <aos_alldconf.h> |
|
| 47 |
|
|
| 58 | 48 |
#endif /* ALLDCONF_H */ |
| 59 | 49 |
|
| 60 | 50 |
/** @} */ |
| modules/STM32F407G-DISC1/alldconf.h | ||
|---|---|---|
| 29 | 29 |
#define ALLDCONF_H |
| 30 | 30 |
|
| 31 | 31 |
/* |
| 32 |
* compatibility guards
|
|
| 32 |
* common configuration
|
|
| 33 | 33 |
*/ |
| 34 |
#define _AMIRO_LLD_CFG_ |
|
| 35 |
#define AMIRO_LLD_CFG_VERSION_MAJOR 1 |
|
| 36 |
#define AMIRO_LLD_CFG_VERSION_MINOR 1 |
|
| 37 |
|
|
| 38 |
/** |
|
| 39 |
* @brief Width of the apalTime_t data type. |
|
| 40 |
* |
|
| 41 |
* @details Possible values are 8, 16, 32, and 64 bits. |
|
| 42 |
* By definition time is represented at microsecond precision. |
|
| 43 |
*/ |
|
| 44 |
#define AMIROLLD_CFG_TIME_SIZE 32 |
|
| 34 |
#include <aos_alldconf.h> |
|
| 45 | 35 |
|
| 46 | 36 |
#endif /* ALLDCONF_H */ |
| 47 | 37 |
|
| periphery-lld/AMiRo-LLD | ||
|---|---|---|
| 1 |
Subproject commit bb7c53481afaa76d993538c5e2b2eae430cfb441 |
|
| 1 |
Subproject commit 1304b12bd859603ad9f9b68493e1a3257f5e4595 |
|
| periphery-lld/aos_alldconf.h | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform. |
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al. |
|
| 4 |
|
|
| 5 |
This program is free software: you can redistribute it and/or modify |
|
| 6 |
it under the terms of the GNU General Public License as published by |
|
| 7 |
the Free Software Foundation, either version 3 of the License, or |
|
| 8 |
(at your option) any later version. |
|
| 9 |
|
|
| 10 |
This program is distributed in the hope that it will be useful, |
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 13 |
GNU General Public License for more details. |
|
| 14 |
|
|
| 15 |
You should have received a copy of the GNU General Public License |
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 17 |
*/ |
|
| 18 |
|
|
| 19 |
/** |
|
| 20 |
* @file |
|
| 21 |
* @brief Common AMiRo-LLD configuration file for all modules. |
|
| 22 |
* @details Contains common AMiRo-LLD settings. |
|
| 23 |
* @{
|
|
| 24 |
*/ |
|
| 25 |
|
|
| 26 |
#ifndef AOS_ALLDCONF_H |
|
| 27 |
#define AOS_ALLDCONF_H |
|
| 28 |
|
|
| 29 |
#define _AMIRO_LLD_CFG_ |
|
| 30 |
#define AMIRO_LLD_CFG_VERSION_MAJOR 1 |
|
| 31 |
#define AMIRO_LLD_CFG_VERSION_MINOR 1 |
|
| 32 |
|
|
| 33 |
#include <aosconf.h> |
|
| 34 |
#include <hal.h> |
|
| 35 |
|
|
| 36 |
/** |
|
| 37 |
* @brief Width of the apalTime_t data type. |
|
| 38 |
* |
|
| 39 |
* @details Possible values are 8, 16, 32, and 64 bits. |
|
| 40 |
* By definition time is represented at microsecond precision. |
|
| 41 |
*/ |
|
| 42 |
#if !defined(AMIROLLD_CFG_TIME_SIZE) |
|
| 43 |
#define AMIROLLD_CFG_TIME_SIZE 32 |
|
| 44 |
#endif |
|
| 45 |
|
|
| 46 |
/** |
|
| 47 |
* @brief Flag to enable/disable DBG API. |
|
| 48 |
*/ |
|
| 49 |
#if !defined(AMIROLLD_CFG_DBG) |
|
| 50 |
#define AMIROLLD_CFG_DBG AMIROOS_CFG_DBG |
|
| 51 |
#endif |
|
| 52 |
|
|
| 53 |
/** |
|
| 54 |
* @brief Flag to enable/disable GPIO API. |
|
| 55 |
*/ |
|
| 56 |
#if !defined(AMIROLLD_CFG_GPIO) |
|
| 57 |
#if (HAL_USE_PAL == TRUE) |
|
| 58 |
#define AMIROLLD_CFG_GPIO true |
|
| 59 |
#else |
|
| 60 |
#define AMIROLLD_CFG_GPIO false |
|
| 61 |
#endif |
|
| 62 |
#endif |
|
| 63 |
|
|
| 64 |
/** |
|
| 65 |
* @brief Flag to enable/disable PWM API. |
|
| 66 |
*/ |
|
| 67 |
#if !defined(AMIROLLD_CFG_PWM) |
|
| 68 |
#if (HAL_USE_PWM == TRUE) |
|
| 69 |
#define AMIROLLD_CFG_PWM true |
|
| 70 |
#else |
|
| 71 |
#define AMIROLLD_CFG_PWM false |
|
| 72 |
#endif |
|
| 73 |
#endif |
|
| 74 |
|
|
| 75 |
/** |
|
| 76 |
* @brief Flag to enable/disable QEI API. |
|
| 77 |
*/ |
|
| 78 |
#if !defined(AMIROLLD_CFG_QEI) |
|
| 79 |
#if (HAL_USE_QEI == TRUE) |
|
| 80 |
#define AMIROLLD_CFG_QEI true |
|
| 81 |
#else |
|
| 82 |
#define AMIROLLD_CFG_QEI false |
|
| 83 |
#endif |
|
| 84 |
#endif |
|
| 85 |
|
|
| 86 |
/** |
|
| 87 |
* @brief Flag to enable/disable I2C API. |
|
| 88 |
*/ |
|
| 89 |
#if !defined(AMIROLLD_CFG_I2C) |
|
| 90 |
#if (HAL_USE_I2C == TRUE) |
|
| 91 |
#define AMIROLLD_CFG_I2C true |
|
| 92 |
#else |
|
| 93 |
#define AMIROLLD_CFG_I2C false |
|
| 94 |
#endif |
|
| 95 |
#endif |
|
| 96 |
|
|
| 97 |
/** |
|
| 98 |
* @brief Flag to enable/disable SPI API. |
|
| 99 |
*/ |
|
| 100 |
#if !defined(AMIROLLD_CFG_SPI) |
|
| 101 |
#if (HAL_USE_SPI == TRUE) |
|
| 102 |
#define AMIROLLD_CFG_SPI true |
|
| 103 |
#else |
|
| 104 |
#define AMIROLLD_CFG_SPI false |
|
| 105 |
#endif |
|
| 106 |
#endif |
|
| 107 |
|
|
| 108 |
/** |
|
| 109 |
* @brief Hook macro to insert a custom header to periphAL.h file. |
|
| 110 |
*/ |
|
| 111 |
#if !defined(AMIROLLD_CFG_PERIPHAL_HEADER) |
|
| 112 |
#define AMIROLLD_CFG_PERIPHAL_HEADER <aos_periphAL.h> |
|
| 113 |
#endif |
|
| 114 |
|
|
| 115 |
#endif /* AOS_ALLDCONF_H */ |
|
| 116 |
|
|
| 117 |
/** @} */ |
|
| periphery-lld/aos_periphAL.c | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform. |
|
| 3 |
Copyright (C) 2016..2019 Thomas Schöpping et al. |
|
| 4 |
|
|
| 5 |
This program is free software: you can redistribute it and/or modify |
|
| 6 |
it under the terms of the GNU General Public License as published by |
|
| 7 |
the Free Software Foundation, either version 3 of the License, or |
|
| 8 |
(at your option) any later version. |
|
| 9 |
|
|
| 10 |
This program is distributed in the hope that it will be useful, |
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
| 13 |
GNU General Public License for more details. |
|
| 14 |
|
|
| 15 |
You should have received a copy of the GNU General Public License |
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 17 |
*/ |
|
| 18 |
|
|
| 19 |
#include <periphAL.h> |
|
| 20 |
|
|
| 21 |
/*============================================================================*/ |
|
| 22 |
/* DEBUG */ |
|
| 23 |
/*============================================================================*/ |
|
| 24 |
|
|
| 25 |
#if (AMIROOS_CFG_DBG == true) |
|
| 26 |
|
|
| 27 |
#include <amiroos.h> |
|
| 28 |
#include <chprintf.h> |
|
| 29 |
|
|
| 30 |
void apalDbgAssertMsg(const bool c, const char* fmt, ...) |
|
| 31 |
{
|
|
| 32 |
if (!c) {
|
|
| 33 |
va_list ap; |
|
| 34 |
|
|
| 35 |
va_start(ap, fmt); |
|
| 36 |
chvprintf((BaseSequentialStream*)&aos.iostream, fmt, ap); |
|
| 37 |
va_end(ap); |
|
| 38 |
chThdExit(MSG_RESET); |
|
| 39 |
} |
|
| 40 |
|
|
| 41 |
return; |
|
| 42 |
} |
|
| 43 |
|
|
| 44 |
int apalDbgPrintf(const char* fmt, ...) |
|
| 45 |
{
|
|
| 46 |
va_list ap; |
|
| 47 |
|
|
| 48 |
va_start(ap, fmt); |
|
| 49 |
const int chars = chvprintf((BaseSequentialStream*)&aos.iostream, fmt, ap); |
|
| 50 |
va_end(ap); |
|
| 51 |
|
|
| 52 |
return chars; |
|
| 53 |
} |
|
| 54 |
|
|
| 55 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
|
| 56 |
|
|
| 57 |
/*============================================================================*/ |
|
| 58 |
/* TIMING */ |
|
| 59 |
/*============================================================================*/ |
|
| 60 |
|
|
| 61 |
#if (AMIROOS_CFG_DBG == true) |
|
| 62 |
|
|
| 63 |
void apalSleep(apalTime_t us) |
|
| 64 |
{
|
|
| 65 |
// check if the specified time can be represented by the system |
|
| 66 |
apalDbgAssert(us <= chTimeI2US(TIME_INFINITE)); |
|
| 67 |
|
|
| 68 |
const sysinterval_t interval = chTimeUS2I(us); |
|
| 69 |
// TIME_IMMEDIATE makes no sense and would even cause system halt |
|
| 70 |
if (interval != TIME_IMMEDIATE) {
|
|
| 71 |
chThdSleep(interval); |
|
| 72 |
} |
|
| 73 |
|
|
| 74 |
return; |
|
| 75 |
} |
|
| 76 |
|
|
| 77 |
#endif /* (AMIROOS_CFG_DBG == true) */ |
|
| 78 |
|
|
| 79 |
/*============================================================================*/ |
|
| 80 |
/* GPIO */ |
|
| 81 |
/*============================================================================*/ |
|
| 82 |
|
|
| 83 |
#if (HAL_USE_PAL == TRUE) |
|
| 84 |
|
|