--- /dev/null
+/*
+ * Copyright (c) 2005
+ * The President and Fellows of Harvard College.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the University nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE UNIVERSITY AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE UNIVERSITY OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+
+/*
+ * Writes printf like output to the UART.
+ * This works only on the AVR and MSP430 Microcontrollers!
+ * <p>
+ * Note: For AVR we explicitly place the print statements in ROM; for
+ * MSP430 this is done by default! For AVR, if we don't place it
+ * explicitely in ROM, the statements will go in RAM, which will
+ * quickly cause a descent size program to run out of RAM. By default
+ * it doesn't disable the interupts; disabling the interupts when
+ * writing to the UART, slows down/makes the mote quite unresponsive,
+ * and can lead to problems! If you wish to disable all printfs to
+ * the UART, then comment the flag: <code>PRINTFUART_ENABLED</code>.
+
+ * <p> <pre>
+ * How to use:
+ * // (1) Call printfUART_init() from your initialization function
+ * // to initialize the UART
+ * printfUART_init();
+ * // (2) Set your UART client to the correct baud rate. Look at
+ * // the comments in printfUART_init(), to figure out what
+ * // baud to use for your particular mote
+ *
+ * // (3) Send printf statements like this:
+ * printfUART("Hello World, we are in year= %i\n", 2004);
+ *
+ * Examples and caveats:
+ * // (1) - If no parameters are passed, then the second quotes
+ * are required because of how the macro is defined
+ * printfUART("Timer fired\n", "");
+ * // (2) - Must use curly braces in single section statements
+ * if (x < 3)
+ * {printfUART("The value of x is %i\n", x);}
+ * // (3) - Otherwise it more or less works like regular printf
+ * printfUART("\nThe value of x=%i, and y=%i\n", x, y);
+ * </pre>
+ * <pre>URL: http://www.eecs.harvard.edu/~konrad/projects/motetrack</pre>
+ * @author Konrad Lorincz
+ * @version 2.0, January 5, 2005
+ */
+#ifndef PRINTFUART_H
+#define PRINTFUART_H
+#include <stdarg.h>
+//#include <stdio.h>
+
+// Comment out the line below to DISABLE printf statements.
+//#define PRINTFUART_ENABLED
+
+
+// -------------------------------------------------------------------
+#ifdef PRINTFUART_ENABLED
+ #define DEBUGBUF_SIZE 256
+ char debugbuf[DEBUGBUF_SIZE];
+ char debugbufROMtoRAM[DEBUGBUF_SIZE];
+
+ #if defined(PLATFORM_MICAZ) || defined(PLATFORM_MICA2) || defined(PLATFORM_MICA2DOT)
+ #define printfUART(__format, __args...) { \
+ static const char strROM[] PROGMEM = __format; \
+ strcpy_P((char*) &debugbufROMtoRAM, (PGM_P) &strROM); \
+ sprintf(debugbuf, debugbufROMtoRAM, __args); \
+ writedebug(); \
+ }
+ #else // assume MSP430 architecture (e.g. TelosA, TelosB, etc.)
+ #define printfUART(__format, __args...) { \
+ sprintf(debugbuf, __format, __args); \
+ writedebug(); \
+ }
+ #endif
+#else
+ #define printfUART(__format, __args...)
+ void printfUART_init() {}
+#endif
+
+#define NOprintfUART(__format, __args...)
+
+
+/** Used for terminating the program from a non-nesc file. Calling <code>exit(1)</code>
+ * from a non-nesc file doesn't terminate the program immeditely
+ */
+static int EXIT_PROGRAM = 0;
+
+
+
+// -------------------------------------------------------------------
+#ifdef PRINTFUART_ENABLED
+
+/**
+ * Initialize the UART port. Call this from your startup routine.
+ */
+#define printfUART_init() {atomic printfUART_init_private();}
+void printfUART_init_private()
+{
+ #if defined(PLATFORM_MICAZ) || defined(PLATFORM_MICA2)
+ // 56K baud
+ outp(0,UBRR0H);
+ outp(15, UBRR0L); //set baud rate
+ outp((1<<U2X),UCSR0A); // Set UART double speed
+ outp(((1 << UCSZ1) | (1 << UCSZ0)) , UCSR0C); // Set frame format: 8 data-bits, 1 stop-bit
+ inp(UDR0);
+ outp((1 << TXEN) ,UCSR0B); // Enable uart reciever and transmitter
+
+ #else
+ #if defined(PLATFORM_MICA2DOT)
+ // 19.2K baud
+ outp(0,UBRR0H); // Set baudrate to 19.2 KBps
+ outp(12, UBRR0L);
+ outp(0,UCSR0A); // Disable U2X and MPCM
+ outp(((1 << UCSZ1) | (1 << UCSZ0)) , UCSR0C);
+ inp(UDR0);
+ outp((1 << TXEN) ,UCSR0B);
+
+ #else // assume TelosA, TelosB, etc.
+ //9.6K baud
+ uint16_t l_br = 0;
+ uint8_t l_mctl = 0;
+ uint8_t l_ssel = 0;
+
+
+ TOSH_SEL_UTXD1_MODFUNC();
+ TOSH_SEL_URXD1_MODFUNC();
+
+
+ UCTL1 = SWRST;
+ UCTL1 |= CHAR; // 8-bit char, UART-mode
+
+ U1RCTL &= ~URXEIE; // even erroneous characters trigger interrupts
+
+ UCTL1 = SWRST;
+ UCTL1 |= CHAR; // 8-bit char, UART-mode
+
+ if (l_ssel & 0x80) {
+ U1TCTL &= ~(SSEL_0 | SSEL_1 | SSEL_2 | SSEL_3);
+ U1TCTL |= (l_ssel & 0x7F);
+ }
+ else {
+ U1TCTL &= ~(SSEL_0 | SSEL_1 | SSEL_2 | SSEL_3);
+ U1TCTL |= SSEL_ACLK; // use ACLK, assuming 32khz
+ }
+
+ if ((l_mctl != 0) || (l_br != 0)) {
+ U1BR0 = l_br & 0x0FF;
+ U1BR1 = (l_br >> 8) & 0x0FF;
+ U1MCTL = l_mctl;
+ }
+ else {
+ U1BR0 = 0x03; // 9600 baud
+ U1BR1 = 0x00;
+ U1MCTL = 0x4A;
+ }
+
+ ME2 &= ~USPIE1; // USART1 SPI module disable
+ ME2 |= (UTXE1 | URXE1); // USART1 UART module enable
+
+ U1CTL &= ~SWRST;
+
+ IFG2 &= ~(UTXIFG1 | URXIFG1);
+ IE2 &= ~(UTXIE1 | URXIE1); // interrupt disabled
+
+ #endif
+ #endif
+}
+
+#if defined(PLATFORM_MICAZ) || defined(PLATFORM_MICA2) || defined(PLATFORM_MICA2DOT)
+#else // assume AVR architecture (e.g. TelosA, TelosB)
+ bool isTxIntrPending()
+ {
+ if (U1TCTL & TXEPT) {
+ return TRUE;
+ }
+ return FALSE;
+ }
+#endif
+
+/**
+ * Outputs a char to the UART.
+ */
+void UARTPutChar(char c)
+{
+ if (c == '\n')
+ UARTPutChar('\r');
+
+
+ #if defined(PLATFORM_MICAZ) || defined(PLATFORM_MICA2) || defined(PLATFORM_MICA2DOT)
+ loop_until_bit_is_set(UCSR0A, UDRE);
+ outb(UDR0,c);
+ #else // assume AVR architecture (e.g. TelosA, TelosB)
+ U1TXBUF = c;
+ while( !isTxIntrPending() )
+ continue;
+ #endif
+}
+
+/**
+ * Outputs the entire debugbuf to the UART, or until it encounters '\0'.
+ */
+void writedebug()
+{
+ uint16_t i = 0;
+
+ while (debugbuf[i] != '\0' && i < DEBUGBUF_SIZE)
+ UARTPutChar(debugbuf[i++]);
+}
+
+
+
+/**
+ * Simplified sprintf
+ */
+#define SCRATCH 16
+int sprintf(uint8_t *buf, const uint8_t *format, ...)
+{
+ uint8_t scratch[SCRATCH];
+ uint8_t format_flag;
+ uint32_t u_val=0, base;//modified by Andre Cunha
+ uint8_t *ptr;
+ va_list ap;
+
+ //memset(scratch, 0, SCRATCH);
+
+ buf[0] = '\0'; // KLDEBUG - fixes subtle bug ...
+ va_start (ap, format);
+ for (;;){
+ while ((format_flag = *format++) != '%'){ // Until '%' or '\0'
+ if (!format_flag) {va_end (ap); return (0);}
+ *buf = format_flag; buf++; *buf=0;
+ }
+
+ switch (format_flag = *format++){
+
+ case 'c':
+ format_flag = va_arg(ap,int);
+ default:
+ *buf = format_flag; buf++; *buf=0;
+ continue;
+ case 'S':
+ case 's':
+ ptr = va_arg(ap,char *);
+ strcat(buf, ptr);
+ continue;
+ case 'o':
+ base = 8;
+ *buf = '0'; buf++; *buf=0;
+ goto CONVERSION_LOOP;
+ case 'i':
+ if (((int)u_val) < 0){
+ u_val = - u_val;
+ *buf = '-'; buf++; *buf=0;
+ }
+ base = 10;
+ goto CONVERSION_LOOP;
+ // no break -> run into next case
+ case 'd'://added by Andre Cunha
+ if (((int32_t)u_val) < 0){
+ u_val = - u_val;
+ *buf = '-'; buf++; *buf=0;
+ }
+
+ base = 10;
+ goto CONVERSION_LOOP32;
+ case 'u':
+ base = 10;
+ goto CONVERSION_LOOP;
+ case 'x':
+ base = 16;
+ goto CONVERSION_LOOP;
+
+ case 'y'://unsigned int 32 bits hexadecimal//added by Andre Cunha
+ base = 16;
+ goto CONVERSION_LOOP32;
+
+ CONVERSION_LOOP:
+ u_val = va_arg(ap,int);
+ ptr = scratch + SCRATCH;
+ *--ptr = 0;
+ do {
+ char ch = u_val % base + '0';
+ if (ch > '9')
+ ch += 'a' - '9' - 1;
+ *--ptr = ch;
+ u_val /= base;
+ } while (u_val);
+ strcat(buf, ptr);
+ buf += strlen(ptr);
+ break;
+
+ CONVERSION_LOOP32:
+ u_val = va_arg(ap,int32_t);
+ ptr = scratch + SCRATCH;
+ *--ptr = 0;
+ do {
+ char ch = u_val % base + '0';
+ if (ch > '9')
+ ch += 'a' - '9' - 1;
+ *--ptr = ch;
+ u_val /= base;
+ } while (u_val);
+ strcat(buf, ptr);
+ buf += strlen(ptr);
+ }
+ }
+}
+
+
+#endif // PRINTFUART_ENABLED
+// -------------------------------------------------------------------
+
+#endif // PRINTFUART_H
+
projects / tinyos-2.x.git / commitdiff