kdebug_avr.c

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#include <cpu/types.h>
#include <cpu/attr.h>
#include <cfg/macros.h> /* for BV(), DIV_ROUND */
#include <appconfig.h>
#include <hw_cpu.h>     /* for CLOCK_FREQ */
#include <hw_ser.h>     /* Required for bus macros overrides */

#include <avr/io.h>

#if CONFIG_KDEBUG_PORT == 0

    /*
     * Support for special bus policies or external transceivers
     * on UART0 (to be overridden in "hw_ser.h").
     *
     * HACK: if we don't set TXEN, kdbg disables the transmitter
     * after each output statement until the serial driver
     * is initialized.  These glitches confuse the debug
     * terminal that ends up printing some trash.
     */
    #ifndef KDBG_UART0_BUS_INIT
    #define KDBG_UART0_BUS_INIT  do { \
            UCSR0B = BV(TXEN0); \
        } while (0)
    #endif
    #ifndef KDBG_UART0_BUS_RX
    #define KDBG_UART0_BUS_RX    do {} while (0)
    #endif
    #ifndef KDBG_UART0_BUS_TX
    #define KDBG_UART0_BUS_TX    do {} while (0)
    #endif

    #if CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA168
        #define UCR UCSR0B
        #define UDR UDR0
        #define USR UCSR0A
    #elif CPU_AVR_ATMEGA8
        #define UCR UCSRB
        #define USR UCSRA
    #else
        #error Unknown CPU
    #endif

    #define KDBG_WAIT_READY()     do { loop_until_bit_is_set(USR, UDRE0); } while(0)
    #define KDBG_WAIT_TXDONE()    do { loop_until_bit_is_set(USR, TXC0); } while(0)

    /*
     * We must clear the TXC flag before sending a new character to allow
     * KDBG_WAIT_TXDONE() to work properly.
     *
     * BUG: if KDBG_WRITE_CHAR() is called after the TXC flag is set by hardware,
     * a new TXC could be generated after we've cleared it and before the new
     * character is written to UDR.  On a 485 bus, the transceiver will be put
     * in RX mode while still transmitting the last char.
     */
    #define KDBG_WRITE_CHAR(c)    do { USR |= BV(TXC0); UDR = (c); } while(0)

    #define KDBG_MASK_IRQ(old)    do { \
        (old) = UCR; \
        UCR |= BV(TXEN0); \
        UCR &= ~(BV(TXCIE0) | BV(UDRIE0)); \
        KDBG_UART0_BUS_TX; \
    } while(0)

    #define KDBG_RESTORE_IRQ(old) do { \
        KDBG_WAIT_TXDONE(); \
        KDBG_UART0_BUS_RX; \
        UCR = (old); \
    } while(0)

    typedef uint8_t kdbg_irqsave_t;

#elif CONFIG_KDEBUG_PORT == 1

    /*
        * Support for special bus policies or external transceivers
        * on UART1 (to be overridden in "hw_ser.h").
        *
        * HACK: if we don't set TXEN, kdbg disables the transmitter
        * after each output statement until the serial driver
        * is initialized.  These glitches confuse the debug
        * terminal that ends up printing some trash.
        */
    #ifndef KDBG_UART1_BUS_INIT
    #define KDBG_UART1_BUS_INIT  do { \
            UCSR1B = BV(TXEN1); \
        } while (0)
    #endif
    #ifndef KDBG_UART1_BUS_RX
    #define KDBG_UART1_BUS_RX    do {} while (0)
    #endif
    #ifndef KDBG_UART1_BUS_TX
    #define KDBG_UART1_BUS_TX    do {} while (0)
    #endif

    #define KDBG_WAIT_READY()     do { loop_until_bit_is_set(UCSR1A, UDRE1); } while(0)
    #define KDBG_WAIT_TXDONE()    do { loop_until_bit_is_set(UCSR1A, TXC1); } while(0)
    #define KDBG_WRITE_CHAR(c)    do { UCSR1A |= BV(TXC1); UDR1 = (c); } while(0)

    #define KDBG_MASK_IRQ(old)    do { \
        (old) = UCSR1B; \
        UCSR1B |= BV(TXEN1); \
        UCSR1B &= ~(BV(TXCIE1) | BV(UDRIE1)); \
        KDBG_UART1_BUS_TX; \
    } while(0)

    #define KDBG_RESTORE_IRQ(old) do { \
        KDBG_WAIT_TXDONE(); \
        KDBG_UART1_BUS_RX; \
        UCSR1B = (old); \
    } while(0)

    typedef uint8_t kdbg_irqsave_t;

/*
 * Special debug port for BitBanged Serial see below for details...
 */
#elif CONFIG_KDEBUG_PORT == 666
    #include "hw_ser.h"
    #define KDBG_WAIT_READY()      do { /*nop*/ } while(0)
    #define KDBG_WRITE_CHAR(c)     _kdebug_bitbang_putchar((c))
    #define KDBG_MASK_IRQ(old)     do { IRQ_SAVE_DISABLE((old)); } while(0)
    #define KDBG_RESTORE_IRQ(old)  do { IRQ_RESTORE((old)); } while(0)
    typedef cpuflags_t kdbg_irqsave_t;

    #define KDBG_DELAY (((CLOCK_FREQ + CONFIG_KDEBUG_BAUDRATE / 2) / CONFIG_KDEBUG_BAUDRATE) + 7) / 14

    static void _kdebug_bitbang_delay(void)
    {
        unsigned long i;

        for (i = 0; i < KDBG_DELAY; i++)
        {
            NOP;
            NOP;
            NOP;
            NOP;
            NOP;
        }
    }

    static void _kdebug_bitbang_putchar(char c)
    {
        int i;
        uint16_t data = c;

        /* Add stop bit */
        data |= 0x0100;

        /* Add start bit*/
        data <<= 1;

        /* Shift out data */
        uint16_t shift = 1;
        for (i = 0; i < 10; i++)
        {
            if (data & shift)
                SER_BITBANG_HIGH;
            else
                SER_BITBANG_LOW;
            _kdebug_bitbang_delay();
            shift <<= 1;
        }
    }
#else
    #error CONFIG_KDEBUG_PORT should be either 0, 1 or 666
#endif


INLINE void kdbg_hw_init(void)
{
    #if CONFIG_KDEBUG_PORT == 666
        SER_BITBANG_INIT;
    #else /* CONFIG_KDEBUG_PORT != 666 */
        /* Compute the baud rate */
        uint16_t period = DIV_ROUND(CLOCK_FREQ / 16UL, CONFIG_KDEBUG_BAUDRATE) - 1;

        #if (CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128)
            #if CONFIG_KDEBUG_PORT == 0
                UBRR0H = (uint8_t)(period>>8);
                UBRR0L = (uint8_t)period;
                KDBG_UART0_BUS_INIT;
            #elif CONFIG_KDEBUG_PORT == 1
                UBRR1H = (uint8_t)(period>>8);
                UBRR1L = (uint8_t)period;
                KDBG_UART1_BUS_INIT;
            #else
                #error CONFIG_KDEBUG_PORT must be either 0 or 1
            #endif

        #elif CPU_AVR_ATMEGA168
            UBRR0H = (uint8_t)(period>>8);
            UBRR0L = (uint8_t)period;
            KDBG_UART0_BUS_INIT;
        #elif CPU_AVR_ATMEGA8
            UBRRH = (uint8_t)(period>>8);
            UBRRL = (uint8_t)period;
        #elif CPU_AVR_ATMEGA103
            UBRR = (uint8_t)period;
            KDBG_UART0_BUS_INIT;
        #else
            #error Unknown CPU
        #endif
    #endif /* CONFIG_KDEBUG_PORT == 666 */
}