* invalidate any other reasons why the executable file might be covered by
* the GNU General Public License.
*
- * Copyright 2003, 2004, 2005, 2006, 2007 Develer S.r.l. (http://www.develer.com/)
- * Copyright 2000, 2001, 2002 Bernie Innocenti <bernie@codewiz.org>
+ * Copyright 2011 Develer S.r.l. (http://www.develer.com/)
*
* -->
*
- * \brief AVR debug support (implementation).
*
- * \author Bernie Innocenti <bernie@codewiz.org>
- * \author Stefano Fedrigo <aleph@develer.com>
- * \author Francesco Sacchi <batt@develer.com>
- */
-
-#include <hw/hw_cpufreq.h> /* for CPU_FREQ */
-#include "hw/hw_ser.h" /* Required for bus macros overrides */
-
-#include "cfg/cfg_debug.h"
-#include <cfg/macros.h> /* for BV(), DIV_ROUND */
-
-#include <cpu/types.h>
-#include <cpu/attr.h>
-
-#include <avr/io.h>
-
-#if CONFIG_KDEBUG_PORT == 0
-
- /*
- * Support for special bus policies or external transceivers
- * on UART0 (to be overridden in "hw/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 { \
- UCR = 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_ATMEGA1281 || CPU_AVR_ATMEGA1280 \
- || CPU_AVR_ATMEGA168 || CPU_AVR_ATMEGA328P || CPU_AVR_ATMEGA2560
- #define UCR UCSR0B
- #define UDR UDR0
- #define USR UCSR0A
- #elif CPU_AVR_ATMEGA8 || CPU_AVR_ATMEGA32
- #define UCR UCSRB
- #define USR UCSRA
- #define TXEN0 TXEN
- #define UDRE0 UDRE
- #define TXC0 TXC
- #define TXCIE0 TXCIE
- #define UDRIE0 UDRIE
- #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/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;
-
-#elif CONFIG_KDEBUG_PORT == 2
-
- /*
- * Support for special bus policies or external transceivers
- * on UART2 (to be overridden in "hw/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_UART2_BUS_INIT
- #define KDBG_UART2_BUS_INIT do { \
- UCSR2B = BV(TXEN2); \
- } while (0)
- #endif
- #ifndef KDBG_UART2_BUS_RX
- #define KDBG_UART2_BUS_RX do {} while (0)
- #endif
- #ifndef KDBG_UART2_BUS_TX
- #define KDBG_UART2_BUS_TX do {} while (0)
- #endif
-
- #define KDBG_WAIT_READY() do { loop_until_bit_is_set(UCSR2A, UDRE2); } while(0)
- #define KDBG_WAIT_TXDONE() do { loop_until_bit_is_set(UCSR2A, TXC2); } while(0)
- #define KDBG_WRITE_CHAR(c) do { UCSR2A |= BV(TXC2); UDR2 = (c); } while(0)
-
- #define KDBG_MASK_IRQ(old) do { \
- (old) = UCSR2B; \
- UCSR2B |= BV(TXEN2); \
- UCSR2B &= ~(BV(TXCIE2) | BV(UDRIE2)); \
- KDBG_UART2_BUS_TX; \
- } while(0)
-
- #define KDBG_RESTORE_IRQ(old) do { \
- KDBG_WAIT_TXDONE(); \
- KDBG_UART2_BUS_RX; \
- UCSR2B = (old); \
- } while(0)
-
- typedef uint8_t kdbg_irqsave_t;
-
-#elif CONFIG_KDEBUG_PORT == 3
-
- /*
- * Support for special bus policies or external transceivers
- * on UART3 (to be overridden in "hw/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_UART3_BUS_INIT
- #define KDBG_UART3_BUS_INIT do { \
- UCSR3B = BV(TXEN3); \
- } while (0)
- #endif
- #ifndef KDBG_UART3_BUS_RX
- #define KDBG_UART3_BUS_RX do {} while (0)
- #endif
- #ifndef KDBG_UART3_BUS_TX
- #define KDBG_UART3_BUS_TX do {} while (0)
- #endif
-
- #define KDBG_WAIT_READY() do { loop_until_bit_is_set(UCSR3A, UDRE3); } while(0)
- #define KDBG_WAIT_TXDONE() do { loop_until_bit_is_set(UCSR3A, TXC3); } while(0)
- #define KDBG_WRITE_CHAR(c) do { UCSR3A |= BV(TXC3); UDR3 = (c); } while(0)
-
- #define KDBG_MASK_IRQ(old) do { \
- (old) = UCSR3B; \
- UCSR3B |= BV(TXEN3); \
- UCSR3B &= ~(BV(TXCIE3) | BV(UDRIE3)); \
- KDBG_UART3_BUS_TX; \
- } while(0)
-
- #define KDBG_RESTORE_IRQ(old) do { \
- KDBG_WAIT_TXDONE(); \
- KDBG_UART3_BUS_RX; \
- UCSR3B = (old); \
- } while(0)
-
- typedef uint8_t kdbg_irqsave_t;
-
-
-/*
- * Special debug port for BitBanged Serial see below for details...
+ * \author Luca Ottaviano <lottaviano@develer.com>
+ *
+ * \brief Low-level kdebug module for AVR (inplementation).
*/
-#elif CONFIG_KDEBUG_PORT == 666
- #include "hw/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 cpu_flags_t kdbg_irqsave_t;
-
- #define KDBG_DELAY (((CPU_FREQ + CONFIG_KDEBUG_BAUDRATE / 2) / CONFIG_KDEBUG_BAUDRATE) + 7) / 14
- static void _kdebug_bitbang_delay(void)
- {
- unsigned long i;
+#include <cpu/detect.h>
- for (i = 0; i < KDBG_DELAY; i++)
- {
- NOP;
- NOP;
- NOP;
- NOP;
- NOP;
- }
- }
-
- /**
- * 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 useful 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;
- }
- }
+#if CPU_AVR_MEGA
+ #include "kdebug_mega.c"
+#elif CPU_AVR_XMEGA
+ #include "kdebug_xmega.c"
#else
- #error CONFIG_KDEBUG_PORT should be either 0, 1, 2, 3 or 666
+ #error Unknown CPU
#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(CPU_FREQ / 16UL, CONFIG_KDEBUG_BAUDRATE) - 1;
-
- #if (CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA1281)
- #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_ATMEGA1280 || CPU_AVR_ATMEGA2560
- #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;
- #elif CONFIG_KDEBUG_PORT == 2
- UBRR2H = (uint8_t)(period>>8);
- UBRR2L = (uint8_t)period;
- KDBG_UART2_BUS_INIT;
- #elif CONFIG_KDEBUG_PORT == 3
- UBRR3H = (uint8_t)(period>>8);
- UBRR3L = (uint8_t)period;
- KDBG_UART3_BUS_INIT;
- #else
- #error CONFIG_KDEBUG_PORT must be either 0 or 1 or 2 or 3
- #endif
-
- #elif CPU_AVR_ATMEGA168 || CPU_AVR_ATMEGA328P
- #if CONFIG_KDEBUG_PORT == 0
- UBRR0H = (uint8_t)(period>>8);
- UBRR0L = (uint8_t)period;
- UCSR0A = 0; /* The Arduino Uno bootloader turns on U2X0 */
- KDBG_UART0_BUS_INIT;
- #else
- #error Only CONFIG_KDEBUG_PORT 0 is supported for this cpu
- #endif
-
- #elif CPU_AVR_ATMEGA8 || CPU_AVR_ATMEGA32
- #if CONFIG_KDEBUG_PORT == 0
- UBRRH = (uint8_t)(period>>8);
- UBRRL = (uint8_t)period;
- KDBG_UART0_BUS_INIT;
- #else
- #error Only CONFIG_KDEBUG_PORT 0 is supported for this cpu
- #endif
- #elif CPU_AVR_ATMEGA103
- #if CONFIG_KDEBUG_PORT == 0
- UBRR = (uint8_t)period;
- KDBG_UART0_BUS_INIT;
- #else
- #error Only CONFIG_KDEBUG_PORT 0 is supported for this cpu
- #endif
- #else
- #error Unknown CPU
- #endif
- #endif /* CONFIG_KDEBUG_PORT == 666 */
-}
-
--- /dev/null
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2003, 2004, 2005, 2006, 2007 Develer S.r.l. (http://www.develer.com/)
+ * Copyright 2000, 2001, 2002 Bernie Innocenti <bernie@codewiz.org>
+ *
+ * -->
+ *
+ * \brief AVR debug support (implementation).
+ *
+ * \author Bernie Innocenti <bernie@codewiz.org>
+ * \author Stefano Fedrigo <aleph@develer.com>
+ * \author Francesco Sacchi <batt@develer.com>
+ */
+
+#include <hw/hw_cpufreq.h> /* for CPU_FREQ */
+#include "hw/hw_ser.h" /* Required for bus macros overrides */
+
+#include "cfg/cfg_debug.h"
+#include <cfg/macros.h> /* for BV(), DIV_ROUND */
+
+#include <cpu/types.h>
+#include <cpu/attr.h>
+
+#include <avr/io.h>
+
+#if CONFIG_KDEBUG_PORT == 0
+
+ /*
+ * Support for special bus policies or external transceivers
+ * on UART0 (to be overridden in "hw/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 { \
+ UCR = 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_ATMEGA1281 || CPU_AVR_ATMEGA1280 \
+ || CPU_AVR_ATMEGA168 || CPU_AVR_ATMEGA328P || CPU_AVR_ATMEGA2560
+ #define UCR UCSR0B
+ #define UDR UDR0
+ #define USR UCSR0A
+ #elif CPU_AVR_ATMEGA8 || CPU_AVR_ATMEGA32
+ #define UCR UCSRB
+ #define USR UCSRA
+ #define TXEN0 TXEN
+ #define UDRE0 UDRE
+ #define TXC0 TXC
+ #define TXCIE0 TXCIE
+ #define UDRIE0 UDRIE
+ #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/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;
+
+#elif CONFIG_KDEBUG_PORT == 2
+
+ /*
+ * Support for special bus policies or external transceivers
+ * on UART2 (to be overridden in "hw/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_UART2_BUS_INIT
+ #define KDBG_UART2_BUS_INIT do { \
+ UCSR2B = BV(TXEN2); \
+ } while (0)
+ #endif
+ #ifndef KDBG_UART2_BUS_RX
+ #define KDBG_UART2_BUS_RX do {} while (0)
+ #endif
+ #ifndef KDBG_UART2_BUS_TX
+ #define KDBG_UART2_BUS_TX do {} while (0)
+ #endif
+
+ #define KDBG_WAIT_READY() do { loop_until_bit_is_set(UCSR2A, UDRE2); } while(0)
+ #define KDBG_WAIT_TXDONE() do { loop_until_bit_is_set(UCSR2A, TXC2); } while(0)
+ #define KDBG_WRITE_CHAR(c) do { UCSR2A |= BV(TXC2); UDR2 = (c); } while(0)
+
+ #define KDBG_MASK_IRQ(old) do { \
+ (old) = UCSR2B; \
+ UCSR2B |= BV(TXEN2); \
+ UCSR2B &= ~(BV(TXCIE2) | BV(UDRIE2)); \
+ KDBG_UART2_BUS_TX; \
+ } while(0)
+
+ #define KDBG_RESTORE_IRQ(old) do { \
+ KDBG_WAIT_TXDONE(); \
+ KDBG_UART2_BUS_RX; \
+ UCSR2B = (old); \
+ } while(0)
+
+ typedef uint8_t kdbg_irqsave_t;
+
+#elif CONFIG_KDEBUG_PORT == 3
+
+ /*
+ * Support for special bus policies or external transceivers
+ * on UART3 (to be overridden in "hw/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_UART3_BUS_INIT
+ #define KDBG_UART3_BUS_INIT do { \
+ UCSR3B = BV(TXEN3); \
+ } while (0)
+ #endif
+ #ifndef KDBG_UART3_BUS_RX
+ #define KDBG_UART3_BUS_RX do {} while (0)
+ #endif
+ #ifndef KDBG_UART3_BUS_TX
+ #define KDBG_UART3_BUS_TX do {} while (0)
+ #endif
+
+ #define KDBG_WAIT_READY() do { loop_until_bit_is_set(UCSR3A, UDRE3); } while(0)
+ #define KDBG_WAIT_TXDONE() do { loop_until_bit_is_set(UCSR3A, TXC3); } while(0)
+ #define KDBG_WRITE_CHAR(c) do { UCSR3A |= BV(TXC3); UDR3 = (c); } while(0)
+
+ #define KDBG_MASK_IRQ(old) do { \
+ (old) = UCSR3B; \
+ UCSR3B |= BV(TXEN3); \
+ UCSR3B &= ~(BV(TXCIE3) | BV(UDRIE3)); \
+ KDBG_UART3_BUS_TX; \
+ } while(0)
+
+ #define KDBG_RESTORE_IRQ(old) do { \
+ KDBG_WAIT_TXDONE(); \
+ KDBG_UART3_BUS_RX; \
+ UCSR3B = (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/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 cpu_flags_t kdbg_irqsave_t;
+
+ #define KDBG_DELAY (((CPU_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;
+ }
+ }
+
+ /**
+ * 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 useful 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;
+ }
+ }
+#else
+ #error CONFIG_KDEBUG_PORT should be either 0, 1, 2, 3 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(CPU_FREQ / 16UL, CONFIG_KDEBUG_BAUDRATE) - 1;
+
+ #if (CPU_AVR_ATMEGA64 || CPU_AVR_ATMEGA128 || CPU_AVR_ATMEGA1281)
+ #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_ATMEGA1280 || CPU_AVR_ATMEGA2560
+ #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;
+ #elif CONFIG_KDEBUG_PORT == 2
+ UBRR2H = (uint8_t)(period>>8);
+ UBRR2L = (uint8_t)period;
+ KDBG_UART2_BUS_INIT;
+ #elif CONFIG_KDEBUG_PORT == 3
+ UBRR3H = (uint8_t)(period>>8);
+ UBRR3L = (uint8_t)period;
+ KDBG_UART3_BUS_INIT;
+ #else
+ #error CONFIG_KDEBUG_PORT must be either 0 or 1 or 2 or 3
+ #endif
+
+ #elif CPU_AVR_ATMEGA168 || CPU_AVR_ATMEGA328P
+ #if CONFIG_KDEBUG_PORT == 0
+ UBRR0H = (uint8_t)(period>>8);
+ UBRR0L = (uint8_t)period;
+ UCSR0A = 0; /* The Arduino Uno bootloader turns on U2X0 */
+ KDBG_UART0_BUS_INIT;
+ #else
+ #error Only CONFIG_KDEBUG_PORT 0 is supported for this cpu
+ #endif
+
+ #elif CPU_AVR_ATMEGA8 || CPU_AVR_ATMEGA32
+ #if CONFIG_KDEBUG_PORT == 0
+ UBRRH = (uint8_t)(period>>8);
+ UBRRL = (uint8_t)period;
+ KDBG_UART0_BUS_INIT;
+ #else
+ #error Only CONFIG_KDEBUG_PORT 0 is supported for this cpu
+ #endif
+ #elif CPU_AVR_ATMEGA103
+ #if CONFIG_KDEBUG_PORT == 0
+ UBRR = (uint8_t)period;
+ KDBG_UART0_BUS_INIT;
+ #else
+ #error Only CONFIG_KDEBUG_PORT 0 is supported for this cpu
+ #endif
+ #else
+ #error Unknown CPU
+ #endif
+ #endif /* CONFIG_KDEBUG_PORT == 666 */
+}
+
--- /dev/null
+/**
+ * \file
+ * <!--
+ * This file is part of BeRTOS.
+ *
+ * Bertos is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * As a special exception, you may use this file as part of a free software
+ * library without restriction. Specifically, if other files instantiate
+ * templates or use macros or inline functions from this file, or you compile
+ * this file and link it with other files to produce an executable, this
+ * file does not by itself cause the resulting executable to be covered by
+ * the GNU General Public License. This exception does not however
+ * invalidate any other reasons why the executable file might be covered by
+ * the GNU General Public License.
+ *
+ * Copyright 2003, 2004, 2005, 2006, 2007 Develer S.r.l. (http://www.develer.com/)
+ * Copyright 2000, 2001, 2002 Bernie Innocenti <bernie@codewiz.org>
+ * Copyright 2011 Onno <developer@gorgoz.org>
+ *
+ * -->
+ *
+ * \brief AVR XMega debug support (implementation).
+ *
+ * This file is heavily inspired by the AVR implementation for BeRTOS,
+ * but uses a different approach for implementing the different debug
+ * ports, by using the USART_t structs.
+ *
+ * \author Onno <developer@gorgoz.org>
+ */
+
+#include <hw/hw_cpufreq.h> /* for CPU_FREQ */
+#include "hw/hw_ser.h" /* Required for bus macros overrides */
+
+#include "cfg/cfg_debug.h" /* for debugging configuration settings */
+#include <cfg/macros.h> /* for BV(), DIV_ROUND */
+
+#include <cpu/types.h>
+#include <cpu/attr.h>
+
+#include <avr/io.h>
+
+/* Set KDBG_USART, KDBG_USART_PORT and KDBG_USART_TX_PIN_bm
+ * according to the CONFIG_KDEBUG_PORT setting
+ * The Xmega A and D families support at least 2 UARTS
+ */
+#if CONFIG_KDEBUG_PORT == 0
+ #define KDBG_USART USARTC0
+ #define KDBG_USART_PORT PORTC
+ #define KDBG_USART_TX_PIN_bm PIN3_bm
+#elif CONFIG_KDEBUG_PORT == 1
+ #define KDBG_USART USARTD0
+ #define KDBG_USART_PORT PORTD
+ #define KDBG_USART_TX_PIN_bm PIN3_bm
+#endif
+/* Allow the configuration of the extra 3 UARTS for the
+ * Xmega A family
+ */
+#ifdef CPU_AVR_XMEGA_A
+ #if CONFIG_KDEBUG_PORT == 2
+ #define KDBG_USART USARTC1
+ #define KDBG_USART_PORT PORTC
+ #define KDBG_USART_TX_PIN_bm PIN7_bm
+ #elif CONFIG_KDEBUG_PORT == 3
+ #define KDBG_USART USARTD1
+ #define KDBG_USART_PORT PORTD
+ #define KDBG_USART_TX_PIN_bm PIN7_bm
+ #elif CONFIG_KDEBUG_PORT == 4
+ #define KDBG_USART USARTE0
+ #define KDBG_USART_PORT PORTE
+ #define KDBG_USART_TX_PIN_bm PIN3_bm
+ #endif
+#endif
+/* Check if all required KDBG_ macros are defined
+ */
+#ifndef KDBG_USART
+ #if CPU_AVR_XMEGA_D
+ #error CONFIG_KDEBUG_PORT should be either 0 or 1
+ #elif CPU_AVR_XMEGA_A
+ #error CONFIG_KDEBUG_PORT should be either 0, 1, 2, 3 or 4
+ #endif
+#endif
+
+/*
+ * Scalefactor to use for computing the baudrate
+ * this scalefactor should be an integer value between -7
+ * and 7
+ */
+#ifndef KDBG_USART_SCALE_FACTOR
+ #define KDBG_USART_SCALE_FACTOR (-7)
+#else
+ #if KDBG_USART_SCALE_FACTOR > 7 || KDBG_USART_SCALE_FACTOR < -7
+ #error KDBG_USART_SCALE_FACTOR should be an integer between -7 and 7
+ #endif
+#endif
+
+/*
+ * \name KDBG macros
+ *
+ * Used to set or alter the KDB_USART operation,
+ * enable the usart or send a byte.
+ * Some of these methods are called/included from kdbg_hw_init()
+ * others are called/included from the cpu independ kdebug implementation
+ * These macros are heavily imspired by the examples provided by atmel
+ *
+ * \{
+ */
+#define KDBG_SET_FORMAT(_charSize, _parityMode, _twoStopBits) \
+ (KDBG_USART).CTRLC = (uint8_t) _charSize | _parityMode | \
+ (_twoStopBits ? USART_SBMODE_bm : 0)
+
+#define KDBG_SET_BAUDRATE(_bselValue, _bScaleFactor) \
+ (KDBG_USART).BAUDCTRLA =(uint8_t)_bselValue; \
+ (KDBG_USART).BAUDCTRLB =(_bScaleFactor << USART_BSCALE0_bp)|(_bselValue >> 8)
+
+#define KDBG_TX_ENABLE() ((KDBG_USART).CTRLB |= USART_TXEN_bm)
+
+#define KDBG_SET_MODE(_usartMode) \
+ ((KDBG_USART).CTRLC = ((KDBG_USART).CTRLC & (~USART_CMODE_gm)) | _usartMode)
+
+#define KDBG_WAIT_READY() do{ loop_until_bit_is_set((KDBG_USART).STATUS, USART_DREIF_bp); } while(0)
+#define KDBG_WAIT_TXDONE() do { loop_until_bit_is_set((KDBG_USART).STATUS, USART_TXCIF_bp); } while(0)
+#define KDBG_WRITE_CHAR(c) do { (KDBG_USART).DATA = (c); } while(0)
+
+#define KDBG_SET_TX_INTERRUPTLEVEL(_txdIntLevel) \
+ (KDBG_USART).CTRLA = ((KDBG_USART).CTRLA & ~USART_TXCINTLVL_gm) | _txdIntLevel
+
+#define KDBG_SET_DRE_INTERRUPTLEVEL(_dreIntLevel) \
+ (KDBG_USART).CTRLA = ((KDBG_USART).CTRLA & ~USART_DREINTLVL_gm) | _dreIntLevel
+
+/*\}*/
+
+/*
+ * To restore the USART state, to registers need to be restored
+ * These registers (CTRLA and CTRLB) can be saved to the
+ * kdbg_avr_xmaga_irqsave structure
+ */
+struct kdbg_avr_xmega_irqsave
+{
+ uint8_t ctrlb;
+ uint8_t ctrla;
+};
+typedef struct kdbg_avr_xmega_irqsave kdbg_irqsave_t;
+
+/*
+ * param is the kdbg_irqsave_t structure
+ *
+ * * Stores the current state of the USART.CTRLA and
+ * the USART.CTRLB registers
+ * * Disables Transmit Complete and Date Register Empty interrupts
+ * * Enabled the transmitter
+ */
+#define KDBG_MASK_IRQ(old) do { \
+ (old).ctrlb = KDBG_USART.CTRLB; \
+ (old).ctrla = KDBG_USART.CTRLA; \
+ KDBG_SET_TX_INTERRUPTLEVEL(USART_TXCINTLVL_OFF_gc); \
+ KDBG_SET_DRE_INTERRUPTLEVEL(USART_DREINTLVL_OFF_gc); \
+ KDBG_TX_ENABLE(); \
+} while(0)
+
+/*
+ * param is the kdbg_irqsave_t structure
+ *
+ * * waits until all data has been transmitted
+ * * restores the USART.CTRLA and USART.CTRLB registers
+ */
+#define KDBG_RESTORE_IRQ(old) do { \
+ KDBG_WAIT_TXDONE(); \
+ KDBG_USART.CTRLB = (old).ctrlb; \
+ KDBG_USART.CTRLA = (old).ctrla; \
+} while(0)
+
+
+/*
+ * method included from the cpu independent kdebug.c file.
+ * it initializes KDBG_USART by:
+ * * Setting the KDBG_USART_TX_PIN_bm as an outputpin
+ * * Setting KDBG_USART to use 8 bits, No parity, 1 stopbit
+ * * Setting the baudrate to 115200
+ * * Enabeling the transmitter
+ */
+INLINE void kdbg_hw_init(void)
+{
+ //set transmit pin as output
+ KDBG_USART_PORT.OUT = KDBG_USART_PORT.OUT & ~KDBG_USART_TX_PIN_bm;
+ KDBG_USART_PORT.DIRSET = KDBG_USART_TX_PIN_bm;
+ //set 8 bits, no parity, 1 stop bit
+ KDBG_SET_FORMAT(USART_CHSIZE_8BIT_gc, USART_PMODE_DISABLED_gc, false);
+ //compute and set the baud rate
+ /* Compute baud-rate period, this requires a valid USART_SCALE_FACTOR */
+ #if KDBG_USART_SCALE_FACTOR < 0
+ uint16_t bsel = DIV_ROUND((1 << (-(KDBG_USART_SCALE_FACTOR))) * (CPU_FREQ - (16 * CONFIG_KDEBUG_BAUDRATE)), 16 * CONFIG_KDEBUG_BAUDRATE);
+ #else
+ uint16_t bsel = DIV_ROUND(CPU_FREQ, (1 << (KDBG_USART_SCALE_FACTOR)) * 16 * CONFIG_KDEBUG_BAUDRATE) - 1;
+ #endif
+ KDBG_SET_BAUDRATE(bsel, KDBG_USART_SCALE_FACTOR);
+ //enable the Transmitter
+ KDBG_TX_ENABLE();
+}
projects / bertos.git / commitdiff