AMiRo-OS

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

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 3 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, see <http://www.gnu.org/licenses/>.

*/

#include <aos_debug.h>

#include <hal.h>

/*

 * System_halt

 * ChibiOS error code (see chdebug.c)

 *

 *            - SV#1, misplaced @p chSysDisable().

 *            - SV#2, misplaced @p chSysSuspend()

 *            - SV#3, misplaced @p chSysEnable().

 *            - SV#4, misplaced @p chSysLock().

 *            - SV#5, misplaced @p chSysUnlock().

 *            - SV#6, misplaced @p chSysLockFromIsr().

 *            - SV#7, misplaced @p chSysUnlockFromIsr().

 *            - SV#8, misplaced @p CH_IRQ_PROLOGUE().

 *            - SV#9, misplaced @p CH_IRQ_EPILOGUE().

 *            - SV#10, misplaced I-class function.

 *            - SV#11, misplaced S-class function.

 */

#if ((CH_DBG_SYSTEM_STATE_CHECK == TRUE) && (HAL_USE_SERIAL == TRUE)) || defined(__DOXYGEN__)

/**

 * @brief   Actively waits for the serial driver to be empty.

 */

static inline void _serialWaitForEmpty(SerialDriver* sdp) {

  while (!((sdp->usart->SR) & USART_SR_TC)) {

    continue;

  }

  return;

}

/**

 * @brief   Prints the specified string without suspending the thread.

 *

 * @param[in] str   The string to print.

 *

 * @return          The number of characters printed.

 */

static inline unsigned int _printString(SerialDriver* sdp, const char* str)

{

  unsigned int i = 0;

  while (str[i] != '\0') {

    sdp->usart->DR = str[i];

    _serialWaitForEmpty(sdp);

    ++i;

  }

  return i;

}

/**

 * @brief   Prints the specified string to the given serial stream.

 *

 * @param[in] sdp       serial stream to print to

 * @param[in] reason    string to print

 */

static void _printError(SerialDriver* sdp, const char* reason)

{

  if (sdp->state != SD_STOP && sdp->state != SD_READY) {

    sd_lld_start(sdp, NULL);

    sdp->state = SD_READY;

  }

  if (sdp->state == SD_READY) {

    _printString(sdp, "\nSystem halt! error code / function name: ");

    _printString(sdp, reason);

    _printString(sdp, "\n");

  }

  return;

}

#endif /* ((CH_DBG_SYSTEM_STATE_CHECK == TRUE) && (HAL_USE_SERIAL == TRUE)) || defined(__DOXYGEN__) */

/**

 * @brief   Prints an error message.

 *

 * @param[in] reason  The string to print.

 */

void aosPrintHaltErrorCode(const char* reason)

{

#if (CH_DBG_SYSTEM_STATE_CHECK == TRUE) && (HAL_USE_SERIAL == TRUE)

  #if STM32_SERIAL_USE_USART1

  _printError(&SD1, reason);

  #endif

  #if STM32_SERIAL_USE_USART2

  _printError(&SD2, reason);

  #endif

  #if STM32_SERIAL_USE_USART3

  _printError(&SD3, reason);

  #endif

  #if STM32_SERIAL_USE_UART4

  _printError(&SD4, reason);

  #endif

  #if STM32_SERIAL_USE_UART5

  _printError(&SD5, reason);

  #endif

  #if STM32_SERIAL_USE_USART6

  _printError(&SD6, reason);

  #endif

  #if STM32_SERIAL_USE_UART7

  _printError(&SD7, reason);

  #endif

  #if STM32_SERIAL_USE_UART8

  _printError(&SD8, reason);

  #endif

#else

  (void)reason;

#endif /* (CH_DBG_SYSTEM_STATE_CHECK == TRUE) && (HAL_USE_SERIAL == TRUE) */

  return;

}