[test] Better hardware unit tests using simple on-device logic analyzer

README.md

@@ -198,54 +198,55 @@ can easily configure them for you specific needs.
 <td align="center">FT245</td>
 </tr><tr>
 <td align="center">FT6X06</td>
+<td align="center">GPIO-SAMPLER</td>
 <td align="center">HCLAx</td>
 <td align="center">HD44780</td>
 <td align="center">HMC58x</td>
 <td align="center">HMC6343</td>
-<td align="center">HX711</td>
 </tr><tr>
+<td align="center">HX711</td>
 <td align="center">I2C-EEPROM</td>
 <td align="center">ITG3200</td>
 <td align="center">L3GD20</td>
 <td align="center">LAWICEL</td>
 <td align="center">LIS302DL</td>
-<td align="center">LIS3DSH</td>
 </tr><tr>
+<td align="center">LIS3DSH</td>
 <td align="center">LIS3MDL</td>
 <td align="center">LM75</td>
 <td align="center">LP503X</td>
 <td align="center">LSM303A</td>
 <td align="center">LSM6DS33</td>
-<td align="center">LTC2984</td>
 </tr><tr>
+<td align="center">LTC2984</td>
 <td align="center">MAX6966</td>
 <td align="center">MAX7219</td>
 <td align="center">MCP23X17</td>
 <td align="center">MCP2515</td>
 <td align="center">NOKIA5110</td>
-<td align="center">NRF24</td>
 </tr><tr>
+<td align="center">NRF24</td>
 <td align="center">TFT-DISPLAY</td>
 <td align="center">PAT9125EL</td>
 <td align="center">PCA8574</td>
 <td align="center">PCA9535</td>
 <td align="center">PCA9548A</td>
-<td align="center">PCA9685</td>
 </tr><tr>
+<td align="center">PCA9685</td>
 <td align="center">SIEMENS-S65</td>
 <td align="center">SIEMENS-S75</td>
 <td align="center">SK6812</td>
 <td align="center">SK9822</td>
 <td align="center">SSD1306</td>
-<td align="center">SX1276</td>
 </tr><tr>
+<td align="center">SX1276</td>
 <td align="center">TCS3414</td>
 <td align="center">TCS3472</td>
 <td align="center">TLC594X</td>
 <td align="center">TMP102</td>
 <td align="center">TMP175</td>
-<td align="center">VL53L0</td>
 </tr><tr>
+<td align="center">VL53L0</td>
 <td align="center">VL6180</td>
 <td align="center">WS2812</td>
 </tr>

src/modm/driver/gpio/gpio_sampler.cpp.in

@@ -0,0 +1,126 @@
+/*
+ * Copyright (c) 2018, Niklas Hauser
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include "gpio_sampler.hpp"
+#include <modm/architecture/interface/interrupt.hpp>
+#include <modm/platform.hpp>
+#include <modm/debug/logger.hpp>
+
+using IrqHandler = void(*)();
+%% if vectors_location == "rom"
+modm_fastdata
+IrqHandler exti_vectors[{{ extis | length }}] = {nullptr};
+
+%% for vector in extis
+MODM_ISR({{ vector }})
+{
+	exti_vectors[{{ loop.index0 }}]();
+}
+%% endfor
+%% endif
+
+const IRQn_Type
+irq_map[{{ extis | length }}] =
+{
+%% for vector in extis
+	{{ vector }}_IRQn,
+%% endfor
+};
+
+namespace modm
+{
+
+modm_fastdata
+void *GpioSampler::context{nullptr};
+
+void
+GpioSampler::reset(Interrupt vector)
+{
+	const size_t index = int(vector);
+	NVIC_DisableIRQ(irq_map[index]);
+	NVIC_SetPriority(irq_map[index], 0);
+}
+
+void
+GpioSampler::setHandler(Interrupt vector, IrqHandler handler)
+{
+	const size_t index = int(vector);
+	if (index >= {{ extis | length }}) return;
+%% if vectors_location == "ram"
+	NVIC_SetVector(irq_map[index], (uint32_t) handler);
+%% else
+	exti_vectors[index] = handler;
+%% endif
+	NVIC_EnableIRQ(irq_map[index]);
+}
+
+GpioSampler::Channel::Channel()
+{}
+void
+GpioSampler::Channel::allocate(size_t max_samples)
+{
+	max_count = max_samples + 1;
+	data = new Type[max_samples + 1];
+}
+GpioSampler::Channel::~Channel()
+{
+	delete[] data;
+}
+
+void
+GpioSampler::Channel::reset()
+{
+	count = 0;
+}
+
+void
+GpioSampler::Channel::dump() const
+{
+	for (size_t ii=0; ii<count; ii++) {
+		Type d = diff(ii);
+		MODM_LOG_DEBUG.printf("%3u %9ld %6ld (%ldus)\n", ii, (*this)[ii], d, int32_t(int64_t(d * 1000000) / modm::platform::fcpu));
+	}
+	MODM_LOG_DEBUG << modm::endl;
+}
+
+void
+GpioSampler::Channel::add(Type time)
+{
+	if (count < max_count) data[count++] = time;
+}
+
+const GpioSampler::Type&
+GpioSampler::Channel::operator[](size_t index) const
+{
+	return data[(index < count) ? index : (count - 1)];
+}
+
+bool
+GpioSampler::Channel::read(size_t index) const
+{
+	return ((*this)[index] > 0);
+}
+
+GpioSampler::Type
+GpioSampler::Channel::diff(size_t index) const
+{
+	if (index == 0) return 0;
+	Type s0 = (*this)[index - 1];
+	Type s1 = (*this)[index];
+	// abs
+	uint32_t t0 = (s0 > 0) ? s0 : -s0;
+	uint32_t t1 = (s1 > 0) ? s1 : -s1;
+	// Fix overflow issues
+	if (t1 < t0) t1 |= (1ul << 31);
+	return t1 - t0;
+}
+
+} // namespace modm::platform

src/modm/driver/gpio/gpio_sampler.hpp.in

@@ -0,0 +1,111 @@
+/*
+ * Copyright (c) 2018, Niklas Hauser
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#ifndef MODM_TEST_LOGIC_ANALYZER_SAMPLER_HPP
+#define MODM_TEST_LOGIC_ANALYZER_SAMPLER_HPP
+
+#include <stdint.h>
+#include <stddef.h>
+#include <modm/platform/device.hpp>
+
+namespace modm
+{
+
+class GpioSampler
+{
+public:
+	using Type = int32_t;
+
+	class Channel
+	{
+		friend class GpioSampler;
+		size_t max_count = 0;
+		volatile size_t count = 0;
+		Type *data = nullptr;
+		Channel();
+		void allocate(size_t max_samples);
+		void add(Type time);
+		void reset();
+
+	public:
+		~Channel();
+
+		inline size_t max() const { return max_count; }
+		inline size_t size() const { return count; }
+
+		void dump() const;
+
+		Type diff(size_t index) const;
+		bool read(size_t index) const;
+
+		const Type& operator[](size_t index) const;
+
+		inline const Type* begin() const { return data; }
+		inline const Type* end() const { return &data[count]; }
+	};
+
+	template<size_t channels>
+	class Handle
+	{
+		friend class GpioSampler;
+		using CleanupHandler = void(*)();
+		using StartHandler = void(*)(Handle<channels> &);
+
+		const CleanupHandler cleanup;
+		const StartHandler start;
+		Channel data[channels];
+
+		Handle(size_t max_samples, StartHandler start, CleanupHandler cleanup);
+		void set_start_time(const Type *start);
+	public:
+		static constexpr size_t Channels = channels;
+
+	public:
+		~Handle();
+
+		void
+		restart();
+
+		const Channel&
+		operator[](size_t channel) const;
+	};
+
+	template< class... Gpios >
+	static auto Create(size_t max_samples);
+
+protected:
+	static void *context;
+
+	enum class
+	Interrupt : uint8_t
+	{
+%% for vector in extis
+		{{ vector | capitalize }} = {{ loop.index0 }},
+%% endfor
+	};
+
+	template< size_t channels, size_t pin_count, uint8_t pin, class Gpio, class... Gpios >
+	static void sampleGpio(Channel *data, Type time);
+	template< size_t channels, size_t pin_count, uint8_t pin >
+	static void sampleGpio(Channel *, Type) {}
+
+	static void reset(Interrupt vector);
+	static void setHandler(Interrupt vector, void(*handler)());
+	static inline Type getTime() {
+		return Type(DWT->CYCCNT & ~(1ul << 31));
+	}
+};
+
+} // namespace modm
+
+#include "gpio_sampler_impl.hpp"
+
+#endif // MODM_TEST_LOGIC_ANALYZER_SAMPLER_HPP

src/modm/driver/gpio/gpio_sampler.lb

@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright (c) 2018, Niklas Hauser
+#
+# This file is part of the modm project.
+#
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+from collections import OrderedDict
+
+def init(module):
+    module.parent = ":driver"
+    module.name = "gpio_sampler"
+
+
+def prepare(module, options):
+    if options[":target"].identifier["platform"] != "stm32":
+        return False
+
+    core = options[":target"].get_driver("core:cortex-m*")
+    # Cortex-M0 doesn't have the DWT->CYCCNT and Cortex-M7 support is broken
+    if not core or "m0" in core["type"] or "m7" in core["type"]:
+        return False
+
+    module.depends(
+        ":platform:gpio",
+        ":platform:core",
+        ":architecture:interrupt")
+    return True
+
+
+def build(env):
+    exti_vectors = [v["name"] for v in env[":target"].get_driver("core")["vector"] if "EXTI" in v["name"]]
+    # These are all exti possible vectors: 0, 0_1, 1, 15_10, 2, 2_3, 2_TSC, 3, 4, 4_15, 9_5
+    extimap = {
+        "0": [0], "1": [1], "2": [2], "3": [3], "4": [4],
+        "0_1": [0,1],
+        "2_TSC": [2],
+        "2_3": [2,3],
+        "4_15": [4,5,6,7,8,9,10,11,12,13,14,15],
+        "9_5": [5,6,7,8,9],
+        "15_10": [10,11,12,13,14,15],
+    }
+    extis = OrderedDict()
+    for v in sorted(exti_vectors):
+        extis[v] = extimap[v[4:]]
+
+    env.substitutions = {
+        "extis": extis,
+        "vectors_location": env.get(":platform:core:vector_table_location", "rom")
+    }
+    env.outbasepath = "modm/src/modm/driver"
+    env.template("gpio_sampler.cpp.in")
+    env.template("gpio_sampler.hpp.in")
+    env.template("gpio_sampler_impl.hpp.in")