4 * This file is part of BeRTOS.
6 * Bertos is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
8 * the Free Software Foundation; either version 2 of the License, or
9 * (at your option) any later version.
11 * This program is distributed in the hope that it will be useful,
12 * but WITHOUT ANY WARRANTY; without even the implied warranty of
13 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 * GNU General Public License for more details.
16 * You should have received a copy of the GNU General Public License
17 * along with this program; if not, write to the Free Software
18 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
20 * As a special exception, you may use this file as part of a free software
21 * library without restriction. Specifically, if other files instantiate
22 * templates or use macros or inline functions from this file, or you compile
23 * this file and link it with other files to produce an executable, this
24 * file does not by itself cause the resulting executable to be covered by
25 * the GNU General Public License. This exception does not however
26 * invalidate any other reasons why the executable file might be covered by
27 * the GNU General Public License.
29 * Copyright 2003, 2004, 2005, 2006, 2007 Develer S.r.l. (http://www.develer.com/)
30 * Copyright 2000, 2001, 2002 Bernardo Innocenti <bernie@codewiz.org>
34 * \brief AVR debug support (implementation).
37 * \author Bernardo Innocenti <bernie@develer.com>
38 * \author Stefano Fedrigo <aleph@develer.com>
39 * \author Francesco Sacchi <batt@develer.com>
43 #include <cfg/macros.h> /* for BV() */
44 #include <appconfig.h>
45 #include <hw_cpu.h> /* for CLOCK_FREQ */
46 #include <hw_ser.h> /* Required for bus macros overrides */
50 #if CONFIG_KDEBUG_PORT == 0
53 * Support for special bus policies or external transceivers
54 * on UART0 (to be overridden in "hw_ser.h").
56 * HACK: if we don't set TXEN, kdbg disables the transmitter
57 * after each output statement until the serial driver
58 * is initialized. These glitches confuse the debug
59 * terminal that ends up printing some trash.
61 #ifndef KDBG_UART0_BUS_INIT
62 #define KDBG_UART0_BUS_INIT do { \
66 #ifndef KDBG_UART0_BUS_RX
67 #define KDBG_UART0_BUS_RX do {} while (0)
69 #ifndef KDBG_UART0_BUS_TX
70 #define KDBG_UART0_BUS_TX do {} while (0)
73 #if CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA168
84 #define KDBG_WAIT_READY() do { loop_until_bit_is_set(USR, UDRE0); } while(0)
85 #define KDBG_WAIT_TXDONE() do { loop_until_bit_is_set(USR, TXC0); } while(0)
88 * We must clear the TXC flag before sending a new character to allow
89 * KDBG_WAIT_TXDONE() to work properly.
91 * BUG: if KDBG_WRITE_CHAR() is called after the TXC flag is set by hardware,
92 * a new TXC could be generated after we've cleared it and before the new
93 * character is written to UDR. On a 485 bus, the transceiver will be put
94 * in RX mode while still transmitting the last char.
96 #define KDBG_WRITE_CHAR(c) do { USR |= BV(TXC0); UDR = (c); } while(0)
98 #define KDBG_MASK_IRQ(old) do { \
101 UCR &= ~(BV(TXCIE0) | BV(UDRIE0)); \
105 #define KDBG_RESTORE_IRQ(old) do { \
106 KDBG_WAIT_TXDONE(); \
111 typedef uint8_t kdbg_irqsave_t;
113 #elif CONFIG_KDEBUG_PORT == 1
116 * Support for special bus policies or external transceivers
117 * on UART1 (to be overridden in "hw_ser.h").
119 * HACK: if we don't set TXEN, kdbg disables the transmitter
120 * after each output statement until the serial driver
121 * is initialized. These glitches confuse the debug
122 * terminal that ends up printing some trash.
124 #ifndef KDBG_UART1_BUS_INIT
125 #define KDBG_UART1_BUS_INIT do { \
126 UCSR1B = BV(TXEN1); \
129 #ifndef KDBG_UART1_BUS_RX
130 #define KDBG_UART1_BUS_RX do {} while (0)
132 #ifndef KDBG_UART1_BUS_TX
133 #define KDBG_UART1_BUS_TX do {} while (0)
136 #define KDBG_WAIT_READY() do { loop_until_bit_is_set(UCSR1A, UDRE1); } while(0)
137 #define KDBG_WAIT_TXDONE() do { loop_until_bit_is_set(UCSR1A, TXC1); } while(0)
138 #define KDBG_WRITE_CHAR(c) do { UCSR1A |= BV(TXC1); UDR1 = (c); } while(0)
140 #define KDBG_MASK_IRQ(old) do { \
142 UCSR1B |= BV(TXEN1); \
143 UCSR1B &= ~(BV(TXCIE1) | BV(UDRIE1)); \
147 #define KDBG_RESTORE_IRQ(old) do { \
148 KDBG_WAIT_TXDONE(); \
153 typedef uint8_t kdbg_irqsave_t;
156 * Special debug port for BitBanged Serial see below for details...
158 #elif CONFIG_KDEBUG_PORT == 666
160 #define KDBG_WAIT_READY() do { /*nop*/ } while(0)
161 #define KDBG_WRITE_CHAR(c) _kdebug_bitbang_putchar((c))
162 #define KDBG_MASK_IRQ(old) do { IRQ_SAVE_DISABLE((old)); } while(0)
163 #define KDBG_RESTORE_IRQ(old) do { IRQ_RESTORE((old)); } while(0)
164 typedef cpuflags_t kdbg_irqsave_t;
166 #define KDBG_DELAY (((CLOCK_FREQ + CONFIG_KDEBUG_BAUDRATE / 2) / CONFIG_KDEBUG_BAUDRATE) + 7) / 14
168 static void _kdebug_bitbang_delay(void)
172 for (i = 0; i < KDBG_DELAY; i++)
183 * Putchar for BITBANG serial debug console.
184 * Sometimes, we can't permit to use a whole serial for debugging purpose.
185 * Since debug console is in output only it is usefull to use a single generic I/O pin for debug.
186 * This is achieved by this simple function, that shift out the data like a UART, but
188 * The only requirement is that SER_BITBANG_* macros will be defined somewhere (usually hw_ser.h)
189 * \note All interrupts are disabled during debug prints!
191 static void _kdebug_bitbang_putchar(char c)
204 for (i = 0; i < 10; i++)
210 _kdebug_bitbang_delay();
215 #error CONFIG_KDEBUG_PORT should be either 0, 1 or 666
219 INLINE void kdbg_hw_init(void)
221 #if CONFIG_KDEBUG_PORT == 666
223 #else /* CONFIG_KDEBUG_PORT != 666 */
224 /* Compute the baud rate */
225 uint16_t period = (((CLOCK_FREQ / 16UL) + (CONFIG_KDEBUG_BAUDRATE / 2)) / CONFIG_KDEBUG_BAUDRATE) - 1;
227 #if (CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128)
228 #if CONFIG_KDEBUG_PORT == 0
229 UBRR0H = (uint8_t)(period>>8);
230 UBRR0L = (uint8_t)period;
232 #elif CONFIG_KDEBUG_PORT == 1
233 UBRR1H = (uint8_t)(period>>8);
234 UBRR1L = (uint8_t)period;
237 #error CONFIG_KDEBUG_PORT must be either 0 or 1
240 #elif CPU_AVR_ATMEGA168
241 UBRR0H = (uint8_t)(period>>8);
242 UBRR0L = (uint8_t)period;
244 #elif CPU_AVR_ATMEGA8
245 UBRRH = (uint8_t)(period>>8);
246 UBRRL = (uint8_t)period;
247 #elif CPU_AVR_ATMEGA103
248 UBRR = (uint8_t)period;
253 #endif /* CONFIG_KDEBUG_PORT == 666 */