console: use buffer and interrupts instead of busy loops for UART debug output

2 files changed, 52 insertions, 13 deletions

diff --git a/firmware/libboard/common/include/board_common.h b/firmware/libboard/common/include/board_common.h
index c3bb235..8349698 100644
--- a/firmware/libboard/common/include/board_common.h
+++ b/firmware/libboard/common/include/board_common.h
@@ -65,10 +65,14 @@
 /** UART0 */
 /** Console baudrate always using 115200. */
 #define CONSOLE_BAUDRATE    115200
-/** Usart Hw interface used by the console (UART0). */
-#define CONSOLE_USART       UART0
-/** Usart Hw ID used by the console (UART0). */
+/** UART peripheral used by the console (UART0). */
+#define CONSOLE_UART       UART0
+/** UART peripheral ID used by the console (UART0). */
 #define CONSOLE_ID          ID_UART0
+/** UART ISR used by the console (UART0). */
+#define CONSOLE_ISR         UART0_IrqHandler
+/** UART IRQ used by the console (UART0). */
+#define CONSOLE_IRQ         UART0_IRQn
 /** Pins description corresponding to Rxd,Txd, (UART pins) */
 #define CONSOLE_PINS        {PINS_UART}
 
diff --git a/firmware/libboard/common/source/uart_console.c b/firmware/libboard/common/source/uart_console.c
index 2fda8ba..e52cd51 100644
--- a/firmware/libboard/common/source/uart_console.c
+++ b/firmware/libboard/common/source/uart_console.c
@@ -43,6 +43,8 @@
 #include <stdio.h>

 #include <stdint.h>

 

+#include "ringbuffer.h"

+

 /*----------------------------------------------------------------------------

  *        Definitions

  *----------------------------------------------------------------------------*/

@@ -52,7 +54,9 @@
  *----------------------------------------------------------------------------*/

 

 /** Is Console Initialized. */

-static uint8_t _ucIsConsoleInitialized=0 ;

+static uint8_t _ucIsConsoleInitialized=0;

+/** Ring buffer to queue data to be sent */

+static ringbuf uart_tx_buffer;

 

 /**

  * \brief Configures an USART peripheral with the specified parameters.

@@ -63,7 +67,7 @@ static uint8_t _ucIsConsoleInitialized=0 ;
 extern void UART_Configure( uint32_t baudrate, uint32_t masterClock)

 {

     const Pin pPins[] = CONSOLE_PINS;

-    Uart *pUart = CONSOLE_USART;

+    Uart *pUart = CONSOLE_UART;

 

     /* Configure PIO */

     PIO_Configure(pPins, PIO_LISTSIZE(pPins));

@@ -85,12 +89,34 @@ extern void UART_Configure( uint32_t baudrate, uint32_t masterClock)
     /* Disable PDC channel */

     pUart->UART_PTCR = UART_PTCR_RXTDIS | UART_PTCR_TXTDIS;

 

+    /* Reset transmit ring buffer */

+    rbuf_reset(&uart_tx_buffer);

+

+    /* Enable TX interrupts */

+    pUart->UART_IER = UART_IER_TXRDY;

+    NVIC_EnableIRQ(CONSOLE_IRQ);

+    

     /* Enable receiver and transmitter */

     pUart->UART_CR = UART_CR_RXEN | UART_CR_TXEN;

 

+    /* Remember the configuration is complete */

     _ucIsConsoleInitialized=1 ;

 }

 

+/** Interrupt Service routine to transmit queued data */

+void CONSOLE_ISR(void)

+{

+	Uart *uart = CONSOLE_UART;

+	if (uart->UART_SR & UART_SR_TXRDY) {

+		if (!rbuf_is_empty(&uart_tx_buffer)) {

+			//uart->UART_IER = UART_IER_TXRDY;

+			uart->UART_THR = rbuf_read(&uart_tx_buffer);

+		} else {

+			uart->UART_IDR = UART_IER_TXRDY;

+		}

+	}

+}

+

 /**

  * \brief Outputs a character on the UART line.

  *

@@ -99,19 +125,28 @@ extern void UART_Configure( uint32_t baudrate, uint32_t masterClock)
  */

 extern void UART_PutChar( uint8_t c )

 {

-    Uart *pUart=CONSOLE_USART ;

+    Uart *pUart = CONSOLE_UART ;

 

+    /* Initialize console is not already done */

     if ( !_ucIsConsoleInitialized )

     {

         UART_Configure(CONSOLE_BAUDRATE, BOARD_MCK);

     }

 

-    /* Wait for the transmitter to be ready */

-    while ( (pUart->UART_SR & UART_SR_TXEMPTY) == 0 ) ;

-

-    /* Send character */

-    pUart->UART_THR=c ;

+    /* Wait until there is space in the buffer */

+    while (rbuf_is_full(&uart_tx_buffer)) {

+        if (pUart->UART_SR & UART_SR_TXEMPTY) {

+            pUart->UART_IER = UART_IER_TXRDY;

+            CONSOLE_ISR();

+        }

+    }

 

+    /* Put character into buffer */

+    rbuf_write(&uart_tx_buffer, c);

+    if (pUart->UART_SR & UART_SR_TXEMPTY) {

+        pUart->UART_IER = UART_IER_TXRDY;

+        CONSOLE_ISR();

+    }

 }

 

 /**

@@ -122,7 +157,7 @@ extern void UART_PutChar( uint8_t c )
  */

 extern uint32_t UART_GetChar( void )

 {

-    Uart *pUart=CONSOLE_USART ;

+    Uart *pUart = CONSOLE_UART ;

 

     if ( !_ucIsConsoleInitialized )

     {

@@ -142,7 +177,7 @@ extern uint32_t UART_GetChar( void )
  */

 extern uint32_t UART_IsRxReady( void )

 {

-    Uart *pUart=CONSOLE_USART ;

+    Uart *pUart = CONSOLE_UART;

 

     if ( !_ucIsConsoleInitialized )

     {