Statistics
| Branch: | Tag: | Revision:

amiro-os / os / core / src / aos_debug.c @ e545e620

History | View | Annotate | Download (3.54 KB)

1
/*
2
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
3
Copyright (C) 2016..2018  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 <aos_debug.h>
20

    
21
#include <hal.h>
22

    
23
/*
24
 * System_halt
25
 * ChibiOS error code (see chdebug.c)
26
 *
27
 *            - SV#1, misplaced @p chSysDisable().
28
 *            - SV#2, misplaced @p chSysSuspend()
29
 *            - SV#3, misplaced @p chSysEnable().
30
 *            - SV#4, misplaced @p chSysLock().
31
 *            - SV#5, misplaced @p chSysUnlock().
32
 *            - SV#6, misplaced @p chSysLockFromIsr().
33
 *            - SV#7, misplaced @p chSysUnlockFromIsr().
34
 *            - SV#8, misplaced @p CH_IRQ_PROLOGUE().
35
 *            - SV#9, misplaced @p CH_IRQ_EPILOGUE().
36
 *            - SV#10, misplaced I-class function.
37
 *            - SV#11, misplaced S-class function.
38
 */
39

    
40
#if ((CH_DBG_SYSTEM_STATE_CHECK == TRUE) && (HAL_USE_SERIAL == TRUE)) || defined(__DOXYGEN__)
41

    
42
/**
43
 * @brief   Actively waits for the serial driver to be empty.
44
 */
45
static inline void _serialWaitForEmpty(SerialDriver* sdp) {
46
  while (!((sdp->usart->SR) & USART_SR_TC)) {
47
    continue;
48
  }
49
  return;
50
}
51

    
52
/**
53
 * @brief   Prints the specified string without suspending the thread.
54
 *
55
 * @param[in] str   The string to print.
56
 *
57
 * @return          The number of characters printed.
58
 */
59
static inline unsigned int _printString(SerialDriver* sdp, const char* str)
60
{
61
  unsigned int i = 0;
62
  while (str[i] != '\0') {
63
    sdp->usart->DR = str[i];
64
    _serialWaitForEmpty(sdp);
65
    ++i;
66
  }
67
  return i;
68
}
69

    
70
/**
71
 * @brief   Prints the specified string to the given serial stream.
72
 *
73
 * @param[in] sdp       serial stream to print to
74
 * @param[in] reason    string to print
75
 */
76
static void _printError(SerialDriver* sdp, const char* reason)
77
{
78
  if (sdp->state != SD_STOP && sdp->state != SD_READY) {
79
    sd_lld_start(sdp, NULL);
80
    sdp->state = SD_READY;
81
  }
82
  if (sdp->state == SD_READY) {
83
    _printString(sdp, "\nSystem halt! error code / function name: ");
84
    _printString(sdp, reason);
85
    _printString(sdp, "\n");
86
  }
87

    
88
  return;
89
}
90

    
91
#endif /* ((CH_DBG_SYSTEM_STATE_CHECK == TRUE) && (HAL_USE_SERIAL == TRUE)) || defined(__DOXYGEN__) */
92

    
93
/**
94
 * @brief   Prints an error message.
95
 *
96
 * @param[in] reason  The string to print.
97
 */
98
void aosPrintHaltErrorCode(const char* reason)
99
{
100
#if (CH_DBG_SYSTEM_STATE_CHECK == TRUE) && (HAL_USE_SERIAL == TRUE)
101
  #if STM32_SERIAL_USE_USART1
102
  _printError(&SD1, reason);
103
  #endif
104
  #if STM32_SERIAL_USE_USART2
105
  _printError(&SD2, reason);
106
  #endif
107
  #if STM32_SERIAL_USE_USART3
108
  _printError(&SD3, reason);
109
  #endif
110
  #if STM32_SERIAL_USE_UART4
111
  _printError(&SD4, reason);
112
  #endif
113
  #if STM32_SERIAL_USE_UART5
114
  _printError(&SD5, reason);
115
  #endif
116
  #if STM32_SERIAL_USE_USART6
117
  _printError(&SD6, reason);
118
  #endif
119
  #if STM32_SERIAL_USE_UART7
120
  _printError(&SD7, reason);
121
  #endif
122
  #if STM32_SERIAL_USE_UART8
123
  _printError(&SD8, reason);
124
  #endif
125
#else
126
  (void)reason;
127
#endif /* (CH_DBG_SYSTEM_STATE_CHECK == TRUE) && (HAL_USE_SERIAL == TRUE) */
128

    
129
  return;
130
}