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>
42 #include "hw_cpu.h" /* for CLOCK_FREQ */
43 #include "hw_ser.h" /* Required for bus macros overrides */
45 #include <appconfig.h>
46 #include <cfg/macros.h> /* for BV(), DIV_ROUND */
48 #include <cpu/types.h>
53 #if CONFIG_KDEBUG_PORT == 0
56 * Support for special bus policies or external transceivers
57 * on UART0 (to be overridden in "hw_ser.h").
59 * HACK: if we don't set TXEN, kdbg disables the transmitter
60 * after each output statement until the serial driver
61 * is initialized. These glitches confuse the debug
62 * terminal that ends up printing some trash.
64 #ifndef KDBG_UART0_BUS_INIT
65 #define KDBG_UART0_BUS_INIT do { \
69 #ifndef KDBG_UART0_BUS_RX
70 #define KDBG_UART0_BUS_RX do {} while (0)
72 #ifndef KDBG_UART0_BUS_TX
73 #define KDBG_UART0_BUS_TX do {} while (0)
76 #if CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA168
87 #define KDBG_WAIT_READY() do { loop_until_bit_is_set(USR, UDRE0); } while(0)
88 #define KDBG_WAIT_TXDONE() do { loop_until_bit_is_set(USR, TXC0); } while(0)
91 * We must clear the TXC flag before sending a new character to allow
92 * KDBG_WAIT_TXDONE() to work properly.
94 * BUG: if KDBG_WRITE_CHAR() is called after the TXC flag is set by hardware,
95 * a new TXC could be generated after we've cleared it and before the new
96 * character is written to UDR. On a 485 bus, the transceiver will be put
97 * in RX mode while still transmitting the last char.
99 #define KDBG_WRITE_CHAR(c) do { USR |= BV(TXC0); UDR = (c); } while(0)
101 #define KDBG_MASK_IRQ(old) do { \
104 UCR &= ~(BV(TXCIE0) | BV(UDRIE0)); \
108 #define KDBG_RESTORE_IRQ(old) do { \
109 KDBG_WAIT_TXDONE(); \
114 typedef uint8_t kdbg_irqsave_t;
116 #elif CONFIG_KDEBUG_PORT == 1
119 * Support for special bus policies or external transceivers
120 * on UART1 (to be overridden in "hw_ser.h").
122 * HACK: if we don't set TXEN, kdbg disables the transmitter
123 * after each output statement until the serial driver
124 * is initialized. These glitches confuse the debug
125 * terminal that ends up printing some trash.
127 #ifndef KDBG_UART1_BUS_INIT
128 #define KDBG_UART1_BUS_INIT do { \
129 UCSR1B = BV(TXEN1); \
132 #ifndef KDBG_UART1_BUS_RX
133 #define KDBG_UART1_BUS_RX do {} while (0)
135 #ifndef KDBG_UART1_BUS_TX
136 #define KDBG_UART1_BUS_TX do {} while (0)
139 #define KDBG_WAIT_READY() do { loop_until_bit_is_set(UCSR1A, UDRE1); } while(0)
140 #define KDBG_WAIT_TXDONE() do { loop_until_bit_is_set(UCSR1A, TXC1); } while(0)
141 #define KDBG_WRITE_CHAR(c) do { UCSR1A |= BV(TXC1); UDR1 = (c); } while(0)
143 #define KDBG_MASK_IRQ(old) do { \
145 UCSR1B |= BV(TXEN1); \
146 UCSR1B &= ~(BV(TXCIE1) | BV(UDRIE1)); \
150 #define KDBG_RESTORE_IRQ(old) do { \
151 KDBG_WAIT_TXDONE(); \
156 typedef uint8_t kdbg_irqsave_t;
159 * Special debug port for BitBanged Serial see below for details...
161 #elif CONFIG_KDEBUG_PORT == 666
163 #define KDBG_WAIT_READY() do { /*nop*/ } while(0)
164 #define KDBG_WRITE_CHAR(c) _kdebug_bitbang_putchar((c))
165 #define KDBG_MASK_IRQ(old) do { IRQ_SAVE_DISABLE((old)); } while(0)
166 #define KDBG_RESTORE_IRQ(old) do { IRQ_RESTORE((old)); } while(0)
167 typedef cpuflags_t kdbg_irqsave_t;
169 #define KDBG_DELAY (((CLOCK_FREQ + CONFIG_KDEBUG_BAUDRATE / 2) / CONFIG_KDEBUG_BAUDRATE) + 7) / 14
171 static void _kdebug_bitbang_delay(void)
175 for (i = 0; i < KDBG_DELAY; i++)
186 * Putchar for BITBANG serial debug console.
187 * Sometimes, we can't permit to use a whole serial for debugging purpose.
188 * Since debug console is in output only it is usefull to use a single generic I/O pin for debug.
189 * This is achieved by this simple function, that shift out the data like a UART, but
191 * The only requirement is that SER_BITBANG_* macros will be defined somewhere (usually hw_ser.h)
192 * \note All interrupts are disabled during debug prints!
194 static void _kdebug_bitbang_putchar(char c)
207 for (i = 0; i < 10; i++)
213 _kdebug_bitbang_delay();
218 #error CONFIG_KDEBUG_PORT should be either 0, 1 or 666
222 INLINE void kdbg_hw_init(void)
224 #if CONFIG_KDEBUG_PORT == 666
226 #else /* CONFIG_KDEBUG_PORT != 666 */
227 /* Compute the baud rate */
228 uint16_t period = DIV_ROUND(CLOCK_FREQ / 16UL, CONFIG_KDEBUG_BAUDRATE) - 1;
230 #if (CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128)
231 #if CONFIG_KDEBUG_PORT == 0
232 UBRR0H = (uint8_t)(period>>8);
233 UBRR0L = (uint8_t)period;
235 #elif CONFIG_KDEBUG_PORT == 1
236 UBRR1H = (uint8_t)(period>>8);
237 UBRR1L = (uint8_t)period;
240 #error CONFIG_KDEBUG_PORT must be either 0 or 1
243 #elif CPU_AVR_ATMEGA168
244 UBRR0H = (uint8_t)(period>>8);
245 UBRR0L = (uint8_t)period;
247 #elif CPU_AVR_ATMEGA8
248 UBRRH = (uint8_t)(period>>8);
249 UBRRL = (uint8_t)period;
250 #elif CPU_AVR_ATMEGA103
251 UBRR = (uint8_t)period;
256 #endif /* CONFIG_KDEBUG_PORT == 666 */