pbio/drv/ioport_debug_uart: Follow uart updates.

This can be used to debug non-blocking protothreads like the Bluetooth driver. We need to explicitly call back to the relevant process since the uart drivers are no longer broadcasting to every process.
pybricks · Dec 2, 2024 · 0309019 · 0309019
1 parent 158cf0e
commit 0309019
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Showing 4 changed files with 41 additions and 101 deletions.
diff --git a/lib/pbio/drv/bluetooth/bluetooth_btstack.c b/lib/pbio/drv/bluetooth/bluetooth_btstack.c
@@ -40,8 +40,7 @@
 #endif
 
 #if 0
-#include <pbdrv/../../drv/ioport/ioport_debug_uart.h>
-#define DEBUG_PRINT pbdrv_ioport_debug_uart_printf
+#define DEBUG_PRINT(...)
 #else
 #define DEBUG_PRINT(...)
 #endif

diff --git a/lib/pbio/drv/bluetooth/bluetooth_stm32_cc2640.c b/lib/pbio/drv/bluetooth/bluetooth_stm32_cc2640.c
@@ -43,26 +43,22 @@
 
 #include "./bluetooth_stm32_cc2640.h"
 
-#define DEBUG_LL (0x01)
-#define DEBUG_PT (0x02)
+PROCESS(pbdrv_bluetooth_spi_process, "Bluetooth SPI");
 
-// Choose either/or DEBUG_LL | DEBUG_PT
-#define DEBUG (0)
+#define DEBUG_ON_LAST_UART_PORT (0)
 
-#if DEBUG
+#if DEBUG_ON_LAST_UART_PORT
 #include <pbdrv/../../drv/ioport/ioport_debug_uart.h>
-#endif
-#if (DEBUG & DEBUG_LL)
-#define DBG pbdrv_ioport_debug_uart_printf
-#else
 #define DBG(...)
-#endif
-#if (DEBUG & DEBUG_PT)
-#define DEBUG_PRINT pbdrv_ioport_debug_uart_printf
+#define DEBUG_PRINT(...)
 #define DEBUG_PRINT_PT PBDRV_IOPORT_DEBUG_UART_PT_PRINTF
+static void uart_poll_callback(pbdrv_uart_dev_t *uart) {
+    process_poll(&pbdrv_bluetooth_spi_process);
+}
 #else
-#define DEBUG_PRINT_PT(...)
+#define DBG(...)
 #define DEBUG_PRINT(...)
+#define DEBUG_PRINT_PT(...)
 #endif
 
 // hub name goes in special section so that it can be modified when flashing firmware
@@ -156,8 +152,6 @@ static uint16_t uart_service_handle, uart_service_end_handle, uart_rx_char_handl
 // Nordic UART tx notifications enabled
 static bool uart_tx_notify_en;
 
-PROCESS(pbdrv_bluetooth_spi_process, "Bluetooth SPI");
-
 LIST(task_queue);
 static bool bluetooth_ready;
 static pbdrv_bluetooth_on_event_t bluetooth_on_event;
@@ -2277,6 +2271,14 @@ PROCESS_THREAD(pbdrv_bluetooth_spi_process, ev, data) {
 
     PROCESS_BEGIN();
 
+    #if DEBUG_ON_LAST_UART_PORT
+    // Wait for the UART to be ready for debugging.
+    while (pbdrv_ioport_debug_uart_init(uart_poll_callback) != PBIO_SUCCESS) {
+        etimer_set(&timer, 100);
+        PROCESS_WAIT_EVENT_UNTIL(ev == PROCESS_EVENT_TIMER && etimer_expired(&timer));
+    }
+    #endif // DEBUG_ON_LAST_UART_PORT
+
 start:
     // take Bluetooth chip out of reset
     bluetooth_reset(RESET_STATE_OUT_HIGH);

diff --git a/lib/pbio/drv/ioport/ioport_debug_uart.c b/lib/pbio/drv/ioport/ioport_debug_uart.c
@@ -5,8 +5,6 @@
 
 #if PBDRV_CONFIG_IOPORT_DEBUG_UART
 
-#error "This driver can currently not be used."
-
 #include <stdio.h>
 #include <string.h>
 #include <stdarg.h>
@@ -22,16 +20,13 @@
 #error "PBDRV_CONFIG_IOPORT_DEBUG_UART requires exactly one port"
 #endif
 
-static char buffer[64];
-static pbdrv_uart_dev_t *debug_uart;
-
-#define UART_TIMEOUT (250)
+// Use globals for simplified debug macro inside protothreads.
+struct pt debug_printf_thread;
+char debug_buffer[64];
+pbdrv_uart_dev_t *debug_uart;
+pbio_error_t debug_err;
 
-static pbio_error_t pbdrv_ioport_init(void) {
-    // UART already initialized.
-    if (debug_uart) {
-        return PBIO_SUCCESS;
-    }
+pbio_error_t pbdrv_ioport_debug_uart_init(pbdrv_uart_poll_callback_t callback) {
 
     // Get the debug uart from last port.
     const pbdrv_ioport_pup_port_platform_data_t *port_data = &pbdrv_ioport_pup_platform_data.ports[PBDRV_CONFIG_IOPORT_NUM_DEV - 1];
@@ -41,6 +36,8 @@ static pbio_error_t pbdrv_ioport_init(void) {
         return err;
     }
 
+    pbdrv_uart_set_poll_callback(debug_uart, callback);
+
     // Enable and configure uart.
     const pbdrv_ioport_pup_pins_t *pins = &port_data->pins;
     pbdrv_gpio_alt(&pins->uart_rx, pins->uart_alt);
@@ -52,60 +49,11 @@ static pbio_error_t pbdrv_ioport_init(void) {
     return PBIO_SUCCESS;
 }
 
-pbio_error_t pbdrv_ioport_debug_uart_printf(const char *format, ...) {
-
-    // Get the debug uart.
-    pbio_error_t err = pbdrv_ioport_init();
-    if (err != PBIO_SUCCESS) {
-        return err;
-    }
-
-    // If still writing, just ignore this debug message.
-    err = pbdrv_uart_write_end(debug_uart);
-    if (err != PBIO_SUCCESS) {
-        return err;
-    }
-
-    // Buffer result.
-    va_list args;
-    va_start(args, format);
-    vsnprintf(buffer, sizeof(buffer), format, args);
-    va_end(args);
-
-    // Write to uart.
-    return pbdrv_uart_write_begin(debug_uart, (uint8_t *)buffer, strlen(buffer), UART_TIMEOUT);
-}
-
-// Protothread set up here for simplified debug macro inside protothreads.
-struct pt printf_thread;
-
-PT_THREAD(pbdrv_ioport_debug_uart_printf_thread(struct pt *pt, const char *format, ...)) {
-    static pbio_error_t err;
-
-    PT_BEGIN(pt);
-
-    // Only print if port initialized.
-    err = pbdrv_ioport_init();
-    if (err != PBIO_SUCCESS) {
-        PT_EXIT(pt);
-    }
-
-    // Buffer result.
+void pbdrv_ioport_debug_uart_printf_buffer(const char *format, ...) {
     va_list args;
     va_start(args, format);
-    vsnprintf(buffer, sizeof(buffer), format, args);
+    vsnprintf(debug_buffer, sizeof(debug_buffer), format, args);
     va_end(args);
-
-    // Wait for uart to be ready then write.
-    PT_WAIT_UNTIL((pt), (err = pbdrv_uart_write_begin(debug_uart, (uint8_t *)buffer, strlen(buffer), UART_TIMEOUT)) != PBIO_ERROR_AGAIN);
-    if (err != PBIO_SUCCESS) {
-        PT_EXIT(pt);
-    }
-
-    // Wait for uart to finish.
-    PT_WAIT_UNTIL((pt), (err = pbdrv_uart_write_end(debug_uart)) != PBIO_ERROR_AGAIN);
-
-    PT_END(pt);
 }
 
 #endif // PBDRV_CONFIG_IOPORT_DEBUG_UART
diff --git a/lib/pbio/drv/ioport/ioport_debug_uart.h b/lib/pbio/drv/ioport/ioport_debug_uart.h
@@ -9,28 +9,18 @@
 #include <pbio/error.h>
 
 #include <pbdrv/config.h>
+#include <pbdrv/uart.h>
 
 #if PBDRV_CONFIG_IOPORT_DEBUG_UART
 
-extern struct pt printf_thread;
+extern char debug_buffer[];
+extern struct pt debug_printf_thread;
+extern pbdrv_uart_dev_t *debug_uart;
+extern pbio_error_t debug_err;
 
-/**
- * Prints debug information on the last ioport.
- *
- * Will not print anything if the debug uart is already in use by another
- * debug message, to avoid blocking.
- *
- * Useful outside of a protothread or when timing is more critical while
- * complete information is not.
- *
- * @param [in]  format  Format string.
- * @param [in]  ...     Arguments.
- *
- * @return Error code.
- */
-pbio_error_t pbdrv_ioport_debug_uart_printf(const char *format, ...);
+PT_THREAD(pbdrv_ioport_debug_uart_debug_printf_thread(struct pt *pt, const char *format, ...));
 
-PT_THREAD(pbdrv_ioport_debug_uart_printf_thread(struct pt *pt, const char *format, ...));
+void pbdrv_ioport_debug_uart_printf_buffer(const char *format, ...);
 
 /**
  * Spawns a task to print debug information on the last ioport.
@@ -42,13 +32,14 @@ PT_THREAD(pbdrv_ioport_debug_uart_printf_thread(struct pt *pt, const char *forma
  * @param [in]  ...    Format string and arguments.
  */
 #define PBDRV_IOPORT_DEBUG_UART_PT_PRINTF(pt, ...) \
-    PT_SPAWN(pt, &printf_thread, pbdrv_ioport_debug_uart_printf_thread(&printf_thread, __VA_ARGS__))
+    pbdrv_ioport_debug_uart_printf_buffer(__VA_ARGS__); \
+    if (debug_uart) { \
+        PT_SPAWN(pt, &debug_printf_thread, pbdrv_uart_write(&debug_printf_thread, debug_uart, (uint8_t *)debug_buffer, strlen(debug_buffer), 250, &debug_err)); \
+    } \
 
-#else // PBDRV_CONFIG_IOPORT_DEBUG_UART
+pbio_error_t pbdrv_ioport_debug_uart_init(pbdrv_uart_poll_callback_t callback);
 
-static inline pbio_error_t pbdrv_ioport_debug_uart_printf(const char *format, ...) {
-    return PBIO_ERROR_NOT_SUPPORTED;
-}
+#else // PBDRV_CONFIG_IOPORT_DEBUG_UART
 
 #define PBDRV_IOPORT_DEBUG_UART_PT_PRINTF(pt, ...)