X-Git-Url: https://codewiz.org/gitweb?a=blobdiff_plain;f=drv%2Fkdebug.c;h=f0afc9a899a4fb49defad37d8d4ead7b0af48659;hb=5f3952176a4e9a00ca8dd5ec4a6b994958f89e0a;hp=063df825415520e6fc83b916daed2aa5fe59a22e;hpb=c16f98494630501e5dd3919697732d834f3de4ef;p=bertos.git diff --git a/drv/kdebug.c b/drv/kdebug.c old mode 100755 new mode 100644 index 063df825..f0afc9a8 --- a/drv/kdebug.c +++ b/drv/kdebug.c @@ -1,61 +1,86 @@ -/*! +/** * \file * * - * \brief General pourpose debug functions. + * \brief General pourpose debug support for embedded systems (implementation). * * \version $Id$ - * * \author Bernardo Innocenti * \author Stefano Fedrigo */ -/* - * $Log$ - * Revision 1.8 2004/07/30 14:26:33 rasky - * Semplificato l'output dell'ASSERT - * Aggiunta ASSERT2 con stringa di help opzionalmente disattivabile - * - * Revision 1.7 2004/07/30 14:15:53 rasky - * Nuovo supporto unificato per detect della CPU - * - * Revision 1.6 2004/07/18 21:49:28 bernie - * Add ATmega8 support. - * - * Revision 1.5 2004/06/27 15:20:26 aleph - * Change UNUSED() macro to accept two arguments: type and name; - * Add macro GNUC_PREREQ to detect GCC version during build; - * Some spacing cleanups and typo fix - * - * Revision 1.4 2004/06/06 18:09:51 bernie - * Import DSP56800 changes; Print broken wall bricks in hex. - * - * Revision 1.3 2004/06/03 11:27:09 bernie - * Add dual-license information. - * - * Revision 1.2 2004/05/23 18:21:53 bernie - * Trim CVS logs and cleanup header info. - * - */ - -#include "kdebug.h" -#include "hw.h" -#include "config.h" +/*#* + *#* $Log$ + *#* Revision 1.31 2007/06/07 14:25:30 batt + *#* Merge from project_ks + *#* + *#* Revision 1.30 2007/01/28 09:18:06 batt + *#* Merge from project_ks. + *#* + *#* Revision 1.29 2006/11/23 13:19:39 batt + *#* Add BitBanged serial debug console. + *#* + *#* Revision 1.28 2006/07/19 12:56:25 bernie + *#* Convert to new Doxygen style. + *#* + *#* Revision 1.27 2006/06/01 12:32:06 marco + *#* Updated include reference. + *#* + *#* Revision 1.26 2006/04/27 05:40:27 bernie + *#* Break on assertion failures. + *#* + *#* Revision 1.25 2005/06/27 21:26:24 bernie + *#* Misc PGM fixes. + *#* + *#* Revision 1.24 2005/04/12 01:36:37 bernie + *#* Add hack to enable TX line at module initialization. + *#* + *#* Revision 1.23 2005/04/11 19:10:27 bernie + *#* Include top-level headers from cfg/ subdir. + *#* + *#* Revision 1.22 2005/02/18 11:18:33 bernie + *#* Fixes for Harvard processors from project_ks. + *#* + *#* Revision 1.21 2005/02/16 20:29:48 bernie + *#* TRACE(), TRACEMSG(): Reduce code and data footprint. + *#* + *#* Revision 1.20 2005/01/25 08:36:40 bernie + *#* kputnum(): Export. + *#* + *#* Revision 1.19 2004/12/31 17:47:45 bernie + *#* Rename UNUSED() to UNUSED_ARG(). + *#*/ + +#include +#include +#include /* for BV() */ +#include +#include /* for CLOCK_FREQ */ +#include /* Required for bus macros overrides */ #include /* for _formatted_write() */ #ifdef _DEBUG +#if CPU_HARVARD && !defined(_PROGMEM) + #error This module build correctly only in program memory! +#endif + #if defined(_EMUL) #include - #define KDBG_WAIT_READY() do {/*nop*/} while(0) + #define KDBG_WAIT_READY() do { /*nop*/ } while(0) #define KDBG_WRITE_CHAR(c) putchar((c)) - #define KDBG_MASK_IRQ(old) do {/*nop*/} while(0) - #define KDBG_RESTORE_IRQ() do {/*nop*/} while(0) + #define KDBG_MASK_IRQ(old) do { (void)(old); } while(0) + #define KDBG_RESTORE_IRQ(old) do { /*nop*/ } while(0) + typedef char kdbg_irqsave_t; /* unused */ + + #if CONFIG_KDEBUG_PORT == 666 + #error BITBANG debug console missing for this platform + #endif #elif CPU_I196 #include "Util196.h" #define KDBG_WAIT_READY() do {} while (!(SP_STAT & (SPSF_TX_EMPTY | SPSF_TX_INT))) @@ -66,41 +91,201 @@ INT_MASK1 &= ~INT1F_TI; \ } while(0) #define KDBG_RESTORE_IRQ(old) do { INT_MASK1 |= (old); } + typedef uint16_t kdbg_irqsave_t; /* FIXME: unconfirmed */ + + #if CONFIG_KDEBUG_PORT == 666 + #error BITBANG debug console missing for this platform + #endif #elif CPU_AVR #include + #if CONFIG_KDEBUG_PORT == 0 - #if defined(__AVR_ATmega64__) + + /* + * 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 defined(__AVR_ATmega8__) + #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, UDRE); } while(0) - #define KDBG_WRITE_CHAR(c) do { UCR |= BV(TXEN); UDR = (c); } while(0) - #define KDBG_MASK_IRQ(old) do { (old) = UCR & BV(TXCIE); cbi(UCR, TXCIE); } while(0) - #define KDBG_RESTORE_IRQ(old) do { UCR |= (old); } while(0) + + #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 - #define KDBG_WAIT_READY() do { loop_until_bit_is_set(UCSR1A, UDRE); } while(0) - #define KDBG_WRITE_CHAR(c) do { UCSR1B |= BV(TXEN); UDR1 = (c); } while(0) - #define KDBG_MASK_IRQ(old) do { (old) = UCSR1B & BV(TXCIE); cbi(UCSR1B, TXCIE); } while(0) - #define KDBG_RESTORE_IRQ(old) do { UCSR1B |= (old); } while(0) + + /* + * 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; + } + } #else - #error CONFIG_KDEBUG_PORT should be either 0 or 1 + #error CONFIG_KDEBUG_PORT should be either 0, 1 or 666 #endif #elif defined(__MWERKS__) && CPU_DSP56K /* Debugging go through the JTAG interface. The MSL library already implements the console I/O correctly. */ #include - #define KDBG_WAIT_READY() - #define KDBG_WRITE_CHAR(c) do { char ch=c; fwrite(&ch,1,1,stdout); } while (0) - #define KDBG_MASK_IRQ(old) - #define KDBG_RESTORE_IRQ(old) + #define KDBG_WAIT_READY() do { } while (0) + #define KDBG_WRITE_CHAR(c) __put_char(c, stdout) + #define KDBG_MASK_IRQ(old) do { (void)(old); } while (0) + #define KDBG_RESTORE_IRQ(old) do { (void)(old); } while (0) + typedef uint8_t kdbg_irqsave_t; /* unused */ + #if CONFIG_KDEBUG_PORT == 666 + #error BITBANG debug console missing for this platform + #endif #else #error Unknown architecture #endif +#if CONFIG_KDEBUG_PORT == 666 + /** + * Putchar for BITBANG serial debug console. + * Sometimes, we can't permit to use a whole serial for debugging purpose. + * Since debug console is in output only it is usefull to use a single generic I/O pin for debug. + * This is achieved by this simple function, that shift out the data like a UART, but + * in software :) + * The only requirement is that SER_BITBANG_* macros will be defined somewhere (usually hw_ser.h) + * \note All interrupts are disabled during debug prints! + */ + 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; + } + } +#endif + + + void kdbg_init(void) { @@ -115,28 +300,39 @@ void kdbg_init(void) BAUD_RATE = 0x80; #elif CPU_AVR - - /* Compute the baud rate */ - uint16_t period = (((CLOCK_FREQ / 16UL) + (CONFIG_KDEBUG_BAUDRATE / 2)) / CONFIG_KDEBUG_BAUDRATE) - 1; - - #if defined(__AVR_ATmega64__) - #if CONFIG_KDEBUG_PORT == 0 + #if CONFIG_KDEBUG_PORT == 666 + SER_BITBANG_INIT; + #else /* CONFIG_KDEBUG_PORT != 666 */ + /* Compute the baud rate */ + uint16_t period = (((CLOCK_FREQ / 16UL) + (CONFIG_KDEBUG_BAUDRATE / 2)) / 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; - #elif CONFIG_KDEBUG_PORT == 1 - UBRR1H = (uint8_t)(period>>8); - UBRR1L = (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 CONFIG_KDEBUG_PORT must be either 0 or 1 + #error Unknown CPU #endif - #elif defined(__AVR_ATmega8__) - UBRRH = (uint8_t)(period>>8); - UBRRL = (uint8_t)period; - #elif defined(__AVR_ATmega103__) - UBRR = (uint8_t)period; - #else - #error Unknown arch - #endif + #endif /* CONFIG_KDEBUG_PORT == 666 */ #endif /* !CPU_I196 && !CPU_AVR */ @@ -144,10 +340,10 @@ void kdbg_init(void) } -/*! +/** * Output one character to the debug console */ -static void kputchar(char c, UNUSED(void *, unused)) +static void __kputchar(char c, UNUSED_ARG(void *, unused)) { /* Poll while serial buffer is still busy */ KDBG_WAIT_READY(); @@ -163,54 +359,136 @@ static void kputchar(char c, UNUSED(void *, unused)) } -void PGM_FUNC(kprintf)(const char * PGM_ATTR fmt, ...) +void kputchar(char c) { - va_list ap; + /* Mask serial TX intr */ + kdbg_irqsave_t irqsave; + KDBG_MASK_IRQ(irqsave); + + __kputchar(c, 0); + + /* Restore serial TX intr */ + KDBG_RESTORE_IRQ(irqsave); +} + +static void PGM_FUNC(kvprintf)(const char * PGM_ATTR fmt, va_list ap) +{ +#if CONFIG_PRINTF /* Mask serial TX intr */ - unsigned char irqsave; + kdbg_irqsave_t irqsave; KDBG_MASK_IRQ(irqsave); - va_start(ap, fmt); - PGM_FUNC(_formatted_write)(fmt, kputchar, 0, ap); - va_end(ap); + PGM_FUNC(_formatted_write)(fmt, __kputchar, 0, ap); /* Restore serial TX intr */ KDBG_RESTORE_IRQ(irqsave); +#else + /* A better than nothing printf() surrogate. */ + PGM_FUNC(kputs)(fmt); +#endif /* CONFIG_PRINTF */ } +void PGM_FUNC(kprintf)(const char * PGM_ATTR fmt, ...) +{ + va_list ap; + + va_start(ap, fmt); + PGM_FUNC(kvprintf)(fmt, ap); + va_end(ap); +} void PGM_FUNC(kputs)(const char * PGM_ATTR str) { char c; /* Mask serial TX intr */ - unsigned char irqsave; + kdbg_irqsave_t irqsave; KDBG_MASK_IRQ(irqsave); while ((c = PGM_READ_CHAR(str++))) - kputchar(c, 0); + __kputchar(c, 0); KDBG_RESTORE_IRQ(irqsave); } -int PGM_FUNC(__assert)(const char * PGM_ATTR cond, const char *file, int line) +/** + * Cheap function to print small integers without using printf(). + */ +int kputnum(int num) +{ + int output_len = 0; + int divisor = 10000; + int digit; + + do + { + digit = num / divisor; + num %= divisor; + + if (digit || output_len || divisor == 1) + { + kputchar(digit + '0'); + ++output_len; + } + } + while (divisor /= 10); + + return output_len; +} + + +static void klocation(const char * PGM_ATTR file, int line) { PGM_FUNC(kputs)(file); - PGM_FUNC(kprintf)(PSTR(":%d: Assertion failed: "), line); + kputchar(':'); + kputnum(line); + PGM_FUNC(kputs)(PGM_STR(": ")); +} + +int PGM_FUNC(__assert)(const char * PGM_ATTR cond, const char * PGM_ATTR file, int line) +{ + klocation(file, line); + PGM_FUNC(kputs)(PGM_STR("Assertion failed: ")); PGM_FUNC(kputs)(cond); - PGM_FUNC(kputs)(PSTR("\n")); + kputchar('\n'); + BREAKPOINT; return 1; } +/* + * Unfortunately, there's no way to get __func__ in + * program memory, so we waste quite a lot of RAM in + * AVR and other Harvard processors. + */ +void PGM_FUNC(__trace)(const char *name) +{ + PGM_FUNC(kprintf)(PGM_STR("%s()\n"), name); +} + +void PGM_FUNC(__tracemsg)(const char *name, const char * PGM_ATTR fmt, ...) +{ + va_list ap; + + PGM_FUNC(kprintf)(PGM_STR("%s(): "), name); + va_start(ap, fmt); + PGM_FUNC(kvprintf)(fmt, ap); + va_end(ap); + kputchar('\n'); +} int PGM_FUNC(__invalid_ptr)(void *value, const char * PGM_ATTR name, const char * PGM_ATTR file, int line) { - PGM_FUNC(kputs)(file); - PGM_FUNC(kprintf)(PSTR(":%d: Invalid pointer: "), line); + klocation(file, line); + PGM_FUNC(kputs)(PGM_STR("Invalid ptr: ")); PGM_FUNC(kputs)(name); - PGM_FUNC(kprintf)(PSTR(" = 0x%x\n"), value); + #if CONFIG_PRINTF + PGM_FUNC(kprintf)(PGM_STR(" = 0x%x\n"), (unsigned int)value); + #else + (void)value; + kputchar('\n'); + #endif return 1; } @@ -222,7 +500,7 @@ void __init_wall(long *wall, int size) } -int __check_wall(long *wall, int size, const char *name, const char *file, int line) +int PGM_FUNC(__check_wall)(long *wall, int size, const char * PGM_ATTR name, const char * PGM_ATTR file, int line) { int i, fail = 0; @@ -230,8 +508,14 @@ int __check_wall(long *wall, int size, const char *name, const char *file, int l { if (wall[i] != WALL_VALUE) { - kprintf("%s:%d: Wall broken: %s[%d] (0x%p) = 0x%lx\n", - file, line, name, i, wall + i, wall[i]); + klocation(file, line); + PGM_FUNC(kputs)(PGM_STR("Wall broken: ")); + PGM_FUNC(kputs)(name); + #if CONFIG_PRINTF + PGM_FUNC(kprintf)(PGM_STR("[%d] (0x%p) = 0x%lx\n"), i, wall + i, wall[i]); + #else + kputchar('\n'); + #endif fail = 1; } } @@ -240,7 +524,9 @@ int __check_wall(long *wall, int size, const char *name, const char *file, int l } -/*! +#if CONFIG_PRINTF + +/** * Dump binary data in hex */ void kdump(const void *_buf, size_t len) @@ -249,7 +535,9 @@ void kdump(const void *_buf, size_t len) while (len--) kprintf("%02X", *buf++); - kputs("\n"); + kputchar('\n'); } +#endif /* CONFIG_PRINTF */ + #endif /* _DEBUG */