File content as of revision 12:5e618e97cb24:

#include "Debug.h"


// create object of class Debug_led
//------------------------------------------------------------------------------------------------------------------

Debug_complete::Debug_complete(PinName tx_pin, PinName rx_pin, int baudrate) : pc(tx_pin,rx_pin, baudrate) {
    init();
}


// init function
//------------------------------------------------------------------------------------------------------------------
void Debug_complete::init() {

    pc.printf("\ec");
    wait_ms(50);
    pc.printf("-----------------\n\r|\e[1m\e[97;40m\e[93;40mBREAKPOINT AREA\e[22m\e[97;40m|\n\r-----------------\n\r\033[s");
    pc.printf("serial successfully initialised\n\r\e[32;40mto start program press any button\e[97;40m");
    breakpoint_count=0;
    pc.getc();
    pc.printf("\r\e[2K\e[31;40mprogram is running\e[97;40m\r");
    pc.printf("\033[60;0H------------------\n\r|\e[1m\e[93;40mSERIAL PORT AREA\e[22m\e[97;40m|\n\r------------------\n\r\033[s");
}


// perform one breakpoint
//------------------------------------------------------------------------------------------------------------------
void Debug_complete::breakpoint(int line_number) {
    breakpoint_count++;
    clear_from_n_up_to_m(59,3);
    if (line_number == -1){
        pc.printf("Breakpoint number %d\tunknown line number \n\r",breakpoint_count);
    }else{
        pc.printf("Breakpoint number %d\tline number %d\n\r",breakpoint_count,line_number);    
    }

    
    // show pin configuration
    pin_t pins_F042[] = { 
    {'A',0},{'A',1},{'A',2},{'A',3},{'A',4},{'A',5},{'A',6},{'A',7},
    {'A',9},{'A',10},{'A',13},{'A',14},{'B',1},{'B',8},{'F',0},{'F',1} };
    int num_of_pins = 16;
    
    show_clk_config();
    show_adc1_config();
    pc.printf("\e[93;40mTimer configuration:\e[97;40m\n\r");
    pc.printf("-----------------------------------------------------------------\n\r");
    pc.printf("| TIM\t| Prescaler\t| Auto reload value\t| Alignment\t|\n\r");
    pc.printf("-----------------------------------------------------------------\n\r");
    show_tim_config(1);
    pc.printf("\n\r-----------------------------------------------------------------\n\r");
    show_tim_config(3);
    pc.printf("\n\r-----------------------------------------------------------------\n\r");
    show_tim_config(14);
    pc.printf("\n\r-----------------------------------------------------------------\n\r");
    show_tim_config(16);
    pc.printf("\n\r-----------------------------------------------------------------\n\r");
    pc.printf("\e[93;40mPin configurations:\e[97;40m\n\r");
    pc.printf("-------------------------------------------------------------------------\n\r");
    pc.printf("| PIN\t| mode of pin\t\t| Configuration\t\t\t| value\t|\n\r");
    pc.printf("-------------------------------------------------------------------------\n\r");
    
    for (int i = 0; i < num_of_pins; i++ ){
        show_pin_config(pins_F042[i]);
        pc.printf("-------------------------------------------------------------------------\n\r");
    }
        
    pc.printf("\n\r\e[32;40mto continue press any button\e[97;40m");
    pc.getc();
    pc.printf("\r\e[2K\e[31;40mprogram is running\e[97;40m\n\r");  
    pc.printf("\e[u");
        wait(0.1);
}


// show configuration of pin
//------------------------------------------------------------------------------------------------------------------
void Debug_complete::show_pin_config(pin_t pin){
    char portx = pin.port;
    int pin_number = pin.number;
     
    // definition of important constants
    const uint32_t AFRL_Offset = 0x20;
    const uint32_t AFRH_Offset = 0x24;

    const uint32_t MODER_Offset = 0x00;
    const uint32_t PUPDR_Offset = 0x0C;
    const uint32_t OSPEEDR_Offset = 0x08;
    
    const uint32_t OTYPER_Offset = 0x04;
    const uint32_t IDR_Offset = 0x10;
    const uint32_t ODR_Offset = 0x14;

    const uint32_t gpioa = 0x48000000;
    const uint32_t gpiob = 0x48000400;
    const uint32_t gpiof = 0x48001400;
    
    uint32_t reg_0;
    switch (portx){
        case 'A':
        case 'a':
            reg_0 = gpioa;
            pc.printf("| PA");
            break;
        case 'B':
        case 'b':
            reg_0 = gpiob;
            pc.printf("| PB");
            break;
        case 'f':
        case 'F':
            reg_0 = gpiof;
            pc.printf("| PF");
            break;
        default:
            pc.printf("non existing port\n\r");
            return;

    }    
    pc.printf("%d\t| ",pin_number);

    // check the mode of pin
    int return_value;
    uint32_t reg_1 = MODER_Offset;
    return_value = check_2_bit(reg_0,reg_1,pin_number);
    
    // check other meaningful features depending on mode of the pin
    if (return_value == 0){                     //input mode
        pc.printf("input mode\t\t| ");
        // chceck pupdr register
        reg_1 = PUPDR_Offset;
        return_value = check_2_bit(reg_0,reg_1,pin_number);
        if (return_value == 0){ // pull none
            pc.printf("no resistor\t|\t\t");
        }else if (return_value == 1){ // pull up
            pc.printf("pull up\t|\t\t");
        }else if (return_value == 2){ // pull down
            pc.printf("pull down\t|\t\t");
        }else{
            pc.printf("ERROR, reserved value\n\r");
            return;            
        }
        pc.printf("| ");
        // check input value
        reg_1 = IDR_Offset;
        return_value = check_1_bit(reg_0,reg_1,pin_number);
        if (return_value == 0){                         // log.0
            pc.printf("log.0");
        }else {                                         // log.1
            pc.printf("log.1");
        }
        pc.printf(" |\n\r");         
    }else if (return_value == 1){               //output mode
        pc.printf("output mode\t\t| ");
        
        // check output mode register
        reg_1 = OTYPER_Offset;
        return_value = check_1_bit(reg_0,reg_1,pin_number);
        if (return_value == 0){                         // push pull
            pc.printf("push pull\t");
        }else{                                          // open drain
            pc.printf("open drain\t");
        } 
        pc.printf("| ");    
        
        // check speed of output pin
        reg_1 = OSPEEDR_Offset;
        return_value = check_2_bit(reg_0,reg_1,pin_number);
        if (return_value == 0 || return_value == 2){    // low speed
            pc.printf("low speed\t");
        }else if (return_value == 1){                   // medium speed
            pc.printf("medium speed\t");
        }else{                                          // high speed
            pc.printf("high speed\t");
        }
        pc.printf("| ");    
        
        // check output value
        reg_1 = ODR_Offset;
        return_value = check_1_bit(reg_0,reg_1,pin_number);
        if (return_value == 0){                         // log.0
            pc.printf("log.0");
        }else{                                          // log.1
            pc.printf("log.1");
        } 
        pc.printf("\n\r");
    }else if(return_value == 2){                // alternate mode
        pc.printf("alternate mode\t| ");
        int af_mode;
        // chceck whether the pin belongs between the lower 8 pins and use AFRL register 
        // or he pin belongs between the higher 8 pins and use AFRH register 
        if (pin_number <= 7){
            af_mode = check_alternative_mode(reg_0,AFRL_Offset,pin_number);    
        }else{
            af_mode = check_alternative_mode(reg_0,AFRH_Offset,pin_number - 8);    
        }  
        // print exact alternate functionality
        print_af_mode(portx, pin_number, af_mode);

    }else{                                      //analog mode
        pc.printf("analog mode\t\t|");
        if ((portx == 'A' || portx == 'a') && pin_number >= 0 && pin_number <= 7){
            show_analog_config(pin_number);
        }else if((portx == 'B' || portx == 'b') && pin_number == 1){
            show_analog_config(9);            
        }else{
            pc.printf("error");
            return;
        }
        
    } 
} 

// print alternate function of pin
//------------------------------------------------------------------------------------------------------------------
void Debug_complete::print_af_mode( char portx, int pin_number, int af_mode){
    if       ( (portx == 'a' || portx == 'A') && pin_number == 0 && af_mode == 1){
        pc.printf("USART2_CTS");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 0 && af_mode == 2){
        pc.printf("TIM2_CH1_ETR");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 0 && af_mode == 3){
        pc.printf("TSC_G1_IO1");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 1 && af_mode == 0){
        pc.printf("EVENTOUT");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 1 && af_mode == 1){
        pc.printf("USART2_RTS");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 1 && af_mode == 2){
        pc.printf("TIM2_CH2");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 1 && af_mode == 3){
        pc.printf("TSC_G1_IO2");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 2 && af_mode == 1){
        pc.printf("USART2_TX");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 2 && af_mode == 2){
        pc.printf("TIM2_CH3");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 2 && af_mode == 3){
        pc.printf("TSC_G1_IO3");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 3 && af_mode == 1){
        pc.printf("USART2_RX");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 3 && af_mode == 2){
        pc.printf("TIM2_CH4");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 3 && af_mode == 3){
        pc.printf("TSC_G1_IO4");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 4 && af_mode == 0){
        pc.printf("SPI1_NSS, I2S1_WS");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 4 && af_mode == 1){
        pc.printf("USART2_CK");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 4 && af_mode == 2){
        pc.printf("USB_NOE");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 4 && af_mode == 3){
        pc.printf("TSC_G2_IO1");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 4 && af_mode == 4){
                show_pwm_config(14, 1);
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 5 && af_mode == 0){
        pc.printf("SPI1_SCK, I2S1_CK");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 5 && af_mode == 1){
        pc.printf("CEC");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 5 && af_mode == 2){
        pc.printf("TIM2_CH1_ETR");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 5 && af_mode == 3){
        pc.printf("TSC_G2_IO2");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 6 && af_mode == 0){
        pc.printf("SPI1_MISO, I2S1_MCK");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 6 && af_mode == 1){
                show_pwm_config(3, 1);
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 6 && af_mode == 2){
        pc.printf("TIM1_BKIN");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 6 && af_mode == 3){
        pc.printf("TSC_G2_IO3");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 6 && af_mode == 5){
        pc.printf("TIM16_CH1");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 6 && af_mode == 6){
        pc.printf("EVENTOUT");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 7 && af_mode == 0){
        pc.printf("SPI1_MOSI, I2S1_SD");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 7 && af_mode == 1){
        pc.printf("TIM3_CH2");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 7 && af_mode == 2){
        show_pwm_config(1, 1);
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 7 && af_mode == 3){
        pc.printf("TSC_G2_IO4");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 7 && af_mode == 4){
        pc.printf("TIM14_CH1");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 7 && af_mode == 5){
        pc.printf("TIM17_CH1");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 7 && af_mode == 6){
        pc.printf("EVENTOUT");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 9 && af_mode == 1){
        pc.printf("USART1_TX");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 9 && af_mode == 2){
        show_pwm_config(1, 2);
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 9 && af_mode == 3){
        pc.printf("TSC_G4_IO1");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 9 && af_mode == 4){
        pc.printf("I2C1_SCL");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 9 && af_mode == 5){
        pc.printf("MCO");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 10 && af_mode == 0){
        pc.printf("TIM17_BKIN");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 10 && af_mode == 1){
        pc.printf("USART1_RX");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 10 && af_mode == 2){
        show_pwm_config(1, 3);
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 10 && af_mode == 3){
        pc.printf("TSC_G4_IO2");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 10 && af_mode == 4){
        pc.printf("I2C1_SDA");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 13 && af_mode == 0){
        pc.printf("SWDIO");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 13 && af_mode == 1){
        pc.printf("IR_OUT");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 13 && af_mode == 2){
        pc.printf("USB_NOE");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 14 && af_mode == 0){
        pc.printf("SWCLK");
    }else if ( (portx == 'a' || portx == 'A') && pin_number == 14 && af_mode == 1){
        pc.printf("USART2_TX");
    }else if ( (portx == 'b' || portx == 'B') && pin_number == 1 && af_mode == 0){
        pc.printf("TIM14_CH1");
    }else if ( (portx == 'b' || portx == 'B') && pin_number == 1 && af_mode == 1){
        pc.printf("TIM3_CH4");
    }else if ( (portx == 'b' || portx == 'B') && pin_number == 1 && af_mode == 2){
        show_pwm_config(1, 3);
    }else if ( (portx == 'a' || portx == 'B') && pin_number == 1 && af_mode == 3){
        pc.printf("TSC_G3_IO3");
    }else if ( (portx == 'b' || portx == 'B') && pin_number == 8 && af_mode == 0){
        pc.printf("CEC");
    }else if ( (portx == 'b' || portx == 'B') && pin_number == 8 && af_mode == 1){
        pc.printf("I2C1_SCL");
    }else if ( (portx == 'b' || portx == 'B') && pin_number == 8 && af_mode == 2){
        show_pwm_config(16, 1);
    }else if ( (portx == 'b' || portx == 'B') && pin_number == 8 && af_mode == 3){
        pc.printf("TSC_SYNC");
    }else if ( (portx == 'a' || portx == 'B') && pin_number == 8 && af_mode == 4){
        pc.printf("CAN_RX");
    }else if ( (portx == 'f' || portx == 'F') && pin_number == 0 && af_mode == 0){
        pc.printf("CRS_SYNC");
    }else if ( (portx == 'f' || portx == 'F') && pin_number == 0 && af_mode == 1){
        pc.printf("I2C1_SDA");
    }else if ( (portx == 'f' || portx == 'F') && pin_number == 1 && af_mode == 1){
        pc.printf("I2C1_SCL");
    }else{
        pc.printf("ERROR");
    }
    pc.printf("\t|\n\r");
}
 
// show configuration of pin in analog mode 
//------------------------------------------------------------------------------------------------------------------ 
void Debug_complete::show_analog_config(int channel){
        int config = ADC1->CHSELR;
        ADC1->CR|=ADC_CR_ADSTP;
        ADC1->CR &= !ADC_CR_ADSTART;
        ADC1->CHSELR = 1 << channel;

        ADC1->CR |= ADC_CR_ADEN;
        while ( (ADC1->ISR & ADC_ISR_ADRDY) == 0){}
        ADC1->CR |= ADC_CR_ADSTART; /* Start the ADC conversion */
        while ((ADC1->ISR & ADC_ISR_EOC) == 0){}
        
        pc.printf("\t\t|\t\t| %d\t|\n\r",ADC1->DR);
        ADC1->CHSELR = config;
}

// print configuration of pin in pwm output mode
//------------------------------------------------------------------------------------------------------------------
void Debug_complete::show_pwm_config(int timer, int channel){

    pc.printf("CCR = ");
    if       (timer == 1 && channel == 1){
        pc.printf("%3d",TIM1->CCR1);
    }else if (timer == 1 && channel == 2 ){
        pc.printf("%3d",TIM1->CCR2);
    }else if (timer == 1 && channel == 3 ){
        pc.printf("%3d",TIM1->CCR3);
    }else if (timer == 3 && channel == 1){
        pc.printf("%3d",TIM3->CCR1);
    }else if (timer == 14 && channel == 1){
        pc.printf("%3d",TIM14->CCR1);
    }else if (timer == 16 && channel == 1){
        pc.printf("%3d",TIM16->CCR1);
    }
}

// print configuration of timer
//------------------------------------------------------------------------------------------------------------------
void Debug_complete::show_tim_config(int timer){
    int alignment;
    pc.printf("| TIM%d\t|  ",timer);
    if  (timer == 1){
        pc.printf("%3d\t\t|  %5d\t\t| ",TIM1->PSC,TIM1->ARR);
        alignment = ((TIM1->CR1&TIM_CR1_CMS)>>5);
        if (alignment){
            pc.printf("center mode %d\t|",alignment);
        }else{
            pc.printf("edge mode\t|");
        }
    }else if (timer == 3){
        pc.printf("%3d\t\t|  %5d\t\t| ",TIM3->PSC,TIM3->ARR);
        alignment = ((TIM3->CR1&TIM_CR1_CMS)>>5);
        if (alignment){
            pc.printf("center mode %d\t|",alignment);
        }else{
            pc.printf("edge mode\t|");
        }
    }else if (timer == 14){
        pc.printf("%3d\t\t|  %5d\t\t| ",TIM14->PSC,TIM14->ARR);
        alignment = ((TIM14->CR1&TIM_CR1_CMS)>>5);
        if (alignment){
            pc.printf("center mode %d\t|",alignment);
        }else{
            pc.printf("edge mode\t|");
        }
    }else if (timer == 16){
        pc.printf("%3d\t\t|  %5d\t\t| ",TIM16->PSC,TIM16->ARR);
        alignment = ((TIM16->CR1&TIM_CR1_CMS)>>5);
        if (alignment){
            pc.printf("center mode %d\t|",alignment);
        }else{
            pc.printf("edge mode\t|");
        }
    }
}

// print configuration of adc1 converter
//------------------------------------------------------------------------------------------------------------------
void Debug_complete::show_adc1_config(){
    
    pc.printf("\e[93;40mADC configuration:\e[97;40m\n\r");
    
    //configuration of adc clock
    pc.printf("ADC Clock = ");
    switch ((ADC1->CFGR2&ADC_CFGR2_CKMODE)>>30){
        case 0:
            pc.printf("ADCCLK");
            break;
        case 1:
            pc.printf("PCLK/2");
            break;
        case 2:
            pc.printf("PCLK/4");
            break;
        case 3:
            pc.printf("Reserved");
            break;
       
    }

    // resolution of adc1
    pc.printf("\t Resolution = %d bits\t Sampling time = ", 12-2*((ADC1->CFGR1&ADC_CFGR1_RES)>>2));
    switch (ADC1->SMPR&ADC_SMPR_SMP){
        case 0:
            pc.printf("1.5");
            break;
        case 1:
            pc.printf("7.5");
            break;
        case 2:
            pc.printf("13.5");
            break;
        case 3:pc.printf("28.5");
            break;
        case 4:pc.printf("41.5");
            break;
        case 5:pc.printf("55.5");
            break;
        case 6:
            pc.printf("71.5");
            break;
        case 7:pc.printf("239.5");
            break;
    }
    pc.printf("clk cycles\n\r");
}

//print configuration of board's clock
//------------------------------------------------------------------------------------------------------------------
void Debug_complete::show_clk_config(){
    pc.printf("\e[93;40mClock configuration:\e[97;40m\n\r");

    // type of clock
    int clk_typede = RCC->CFGR & RCC_CFGR_SW;     
    if (clk_typede == 0 && RCC->CR&RCC_CR_HSION){ // hsi clock
        pc.printf("HSI\t");
 
    }else if (clk_typede == 1 && RCC->CR&RCC_CR_HSEON){ // hse clock
        pc.printf("HSE\t");
        if (RCC->CR & RCC_CR_HSEBYP){ // bypassed hse clock
                pc.printf(" BYPASS");
        }
        
    }else if (clk_typede == 2 && RCC->CR&RCC_CR_PLLON){ // pll clock
        pc.printf("PLL\t");
        int var = (RCC->CFGR&RCC_CFGR_PLLMUL)>>18; // multiplication factor of pll clock
        pc.printf("mul. factor = %d\t",(var<14)?(var+2):16);
        
        var = (RCC->CFGR2&RCC_CFGR2_PREDIV); // divider of pll input clock
        pc.printf("PREDIV = %d\tPLL input:",var+1);

        int pllscr = (RCC->CFGR&0x00018000)>>15; // type of pll input clock
        switch (pllscr){
            case 0:
                pc.printf(" HSI/2");
                break;
            case 1:
                pc.printf(" HSI/PREDIV");
                break;
            case 2:
                pc.printf(" HSE/PREDIV");
                break;
            case 3:
                pc.printf("HSI48/PREDIV");
                break;
        }
        pc.printf(" ");
        
    }else if (clk_typede == 3 && (RCC->CR2&RCC_CR2_HSI48ON)){ //hsi48 clock
            pc.printf("HSI48");
    }else{      // none of previous options
            pc.printf("ERROR");
    }
    pc.printf("\n\r");             
}

// clear screen from m line up to n line
//------------------------------------------------------------------------------------------------------------------
void Debug_complete::clear_from_n_up_to_m(int m, int n){
    pc.printf("\033[%d;0H",m);
    wait(1);
    while (m > n){ 
        m--;
        pc.printf("\033[K\033[%d;0H",m);
    }
    pc.printf("\n\r");

}

//print formatted string to debug serial port
//------------------------------------------------------------------------------------------------------------------
int Debug_complete::printf(const char* format, ...){

    int ret = pc.printf(format);
    pc.printf("\e[s");
    return ret;
}

//print character to debug serial port
//------------------------------------------------------------------------------------------------------------------
int Debug_complete::putc(int character){

    int ret = pc.putc(character);
    pc.printf("\e[s");
    return ret;
}

//read character from debug serial port
//------------------------------------------------------------------------------------------------------------------
int Debug_complete::getc(){
    return pc.getc();
}

//print one 32-bit word from memory
//------------------------------------------------------------------------------------------------------------------
void Debug_complete::print_reg(uint32_t address, uint32_t offset){

    uint32_t word = read_word(address,offset);
    pc.printf("\n\r-----------------------------------------------------------------------\n\r| ADDRESS: 0x%-8x |\t OFFSET: 0x%-8X |\t HEX VAL: 0x%-8x  |",address,offset,word);
    pc.printf("\n\r-----------------------------------------------------------------------");
    pc.printf("\n\r| bit | 31| 30| 29| 28| 27| 26| 25| 24| 23| 22| 21| 20| 19| 18| 17| 16| \n\r");
    pc.printf(    "-----------------------------------------------------------------------\n\r| val | ");
    for (int i = 31; i>= 16; i--){
        pc.printf("%d | ",(word&(0x1U<<i))>>i);
    }
    pc.printf("\n\r-----------------------------------------------------------------------\n\r-----------------------------------------------------------------------");
    pc.printf("\n\r| bit | 15| 14| 13| 12| 11| 10| 9 | 8 | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |\n\r");
    pc.printf("-----------------------------------------------------------------------\n\r| val | ");
    for (int i = 15; i>= 0; i--){
        pc.printf("%d | ",(word&(0x1U<<i))>>i);
    }
    pc.printf("\n\r-----------------------------------------------------------------------");
    pc.printf("\e[s");


}