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sys/rtt_stdio: Support SEGGER RTT for stdin/stdout

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This commit is contained in:
Michael Andersen 2016-01-29 22:44:39 -08:00
parent 662076e150
commit 1d6b9c6f8d
5 changed files with 461 additions and 1 deletions
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8
Makefile.dep
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@ -333,7 +333,9 @@ ifneq (,$(filter newlib,$(USEMODULE)))
ifeq (,$(filter newlib_syscalls_%,$(USEMODULE))) ifeq (,$(filter newlib_syscalls_%,$(USEMODULE)))
USEMODULE += newlib_syscalls_default USEMODULE += newlib_syscalls_default
endif endif
USEMODULE += uart_stdio ifeq (,$(filter rtt_stdio,$(USEMODULE)))
USEMODULE += uart_stdio
endif
endif endif
ifneq (,$(filter posix_sockets,$(USEMODULE))) ifneq (,$(filter posix_sockets,$(USEMODULE)))
@ -341,6 +343,10 @@ ifneq (,$(filter posix_sockets,$(USEMODULE)))
USEMODULE += random USEMODULE += random
endif endif
ifneq (,$(filter rtt_stdio,$(USEMODULE)))
USEMODULE += xtimer
endif
ifneq (,$(filter uart_stdio,$(USEMODULE))) ifneq (,$(filter uart_stdio,$(USEMODULE)))
USEMODULE += tsrb USEMODULE += tsrb
endif endif

73
sys/include/rtt_stdio.h Normal file
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@ -0,0 +1,73 @@
/*
* Copyright (C) 2016 Michael Andersen <m.andersen@berkeley.edu>
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @defgroup sys_rtt_stdio SEGGER RTT stdio
* @ingroup sys
*
* @brief stdio init/read/write functions for SEGGER RTT. This is
* designed to shadow the functions in uart_stdio
*
* @{
* @file
*
* @author Michael Andersen <m.andersen@cs.berkeley.edu>
*/
#ifndef RTT_STDIO_H
#define RTT_STDIO_H
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief initialize the module. This is a noop.
*/
void uart_stdio_init(void);
/**
* @brief read @p len bytes from stdio uart into @p buffer
*
* @param[out] buffer buffer to read into
* @param[in] len nr of bytes to read
*
* @return nr of bytes read
* @return <0 on error
*/
int uart_stdio_read(char* buffer, int len);
/**
* @brief write @p len bytes from @p buffer into uart
*
* @param[in] buffer buffer to read from
* @param[in] len nr of bytes to write
*
* @return nr of bytes written
* @return <0 on error
*/
int uart_stdio_write(const char* buffer, int len);
/**
* @brief enable stdin polling, at a power consumption cost. This is enabled
* by default unless RTT_STDIO_DISABLE_STDIN is defined.
*/
void rtt_stdio_enable_stdin(void);
/**
* @brief enable stdout blocking and free space polling. This must be done
* with caution because if there is no RTT client attached, all
* writes to stdout will block indefinitely. This can be enabled
* automatically by defining RTT_STDIO_ENABLE_BLOCKING_STDOUT
*/
void rtt_stdio_enable_blocking_stdout(void);
#ifdef __cplusplus
}
#endif
/** @} */
#endif /* RTT_STDIO_H */

1
sys/rtt_stdio/Makefile Normal file
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@ -0,0 +1 @@
include $(RIOTBASE)/Makefile.base

45
sys/rtt_stdio/README.md Normal file
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@ -0,0 +1,45 @@
# RTT STDIO
This module will allow communication using SEGGER's Real Time Terminal protocol.
Briefly, it replaces UART stdio with a set of ringbuffers that are manipulated
over JTAG. There are several advantages to this system. The biggest is that
writing to stdout is extremely fast (as you are just copying to memory). This
is useful if you are adding print statements in timing-sensitive code as part
of debugging. The other advantage is that it frees your UART for other use
and enables stdio on platforms that do not have a UART.
To use this module, add
```
USEMODULE += rtt_stdio
```
to your makefile. By default the module will drop bytes written to stdout if the
buffer is full. If you know for certain that the debugger is attached, you
can obtain lossless stdout by adding
```
CFLAGS += -DRTT_STDIO_ENABLE_BLOCKING_STDOUT
```
to your makefile. Note well that if you do NOT plug in the debugger and run
the SEGGER RTT software (or compatible software) this will then lock up the
system as it waits forever. Typically you would only define this during
development on the lab bench.
If you are printing significant data out (pages a second), you can increase
your stdout bandwidth by lowering the poll interval. The default is 50ms.
A choice of 5ms is good during printf-heavy debugging:
```
CFLAGS += -DSTDIO_POLL_INTERVAL=5000U
```
SEGGER RTT supports stdin as well, and this is enabled by default. It requires
polling the stdin ringbuffer, however, which on low duty cycle systems
can increase the number of unnecessary wakeups from sleep. To disable stdin,
add this to your makefile:
```
CFLAGS += -DRTT_STDIO_DISABLE_STDIN
```

335
sys/rtt_stdio/rtt_stdio.c Normal file
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@ -0,0 +1,335 @@
/*
* Copyright (C) 2016 Michael Andersen <m.andersen@cs.berkeley.edu>
*
* This file was based on SEGGER's reference implementation
* which can be found here: https://www.segger.com/jlink-rtt.html
* (c) 2014-2016 SEGGER Microcontroller GmbH & Co. KG
* This implementation bore the following license notes:
**********************************************************************
* SEGGER MICROCONTROLLER GmbH & Co. KG *
* Solutions for real time microcontroller applications *
**********************************************************************
* *
* (c) 2014 - 2016 SEGGER Microcontroller GmbH & Co. KG *
* *
* www.segger.com Support: support@segger.com *
* *
**********************************************************************
* *
* SEGGER RTT * Real Time Transfer for embedded targets *
* *
**********************************************************************
* *
* All rights reserved. *
* *
* SEGGER strongly recommends to not make any changes *
* to or modify the source code of this software in order to stay *
* compatible with the RTT protocol and J-Link. *
* *
* Redistribution and use in source and binary forms, with or *
* without modification, are permitted provided that the following *
* conditions are met: *
* *
* o Redistributions of source code must retain the above copyright *
* notice, this list of conditions and the following disclaimer. *
* *
* o 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. *
* *
* o Neither the name of SEGGER Microcontroller GmbH & Co. KG *
* 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 COPYRIGHT HOLDERS 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 SEGGER Microcontroller 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. *
* *
**********************************************************************/
/**
* @ingroup sys
* @{
*
* @file
* @brief SEGGER RTT stdio implementation
*
* This file implements UART read/write functions, but it
* is actually a virtual UART backed by a ringbuffer that
* complies with SEGGER RTT. It is designed to shadow
* uart_stdio that is used by newlib.
*
* @author Michael Andersen <m.andersen@cs.berkeley.edu>
*
* @}
*/
#include <stdio.h>
#include <string.h>
#include <rtt_stdio.h>
#include "thread.h"
#include "mutex.h"
#include "xtimer.h"
/* This parameter affects the bandwidth of both input and output. Decreasing
it will significantly improve bandwidth at the cost of CPU time. */
#ifndef STDIO_POLL_INTERVAL
#define STDIO_POLL_INTERVAL 50000U
#endif
#define MIN(a, b) (((a) < (b)) ? (a) : (b))
#define MAX(a, b) (((a) > (b)) ? (a) : (b))
#ifndef STDIO_TX_BUFSIZE
#define STDIO_TX_BUFSIZE (512)
#endif
#ifndef STDIO_RX_BUFSIZE
#define STDIO_RX_BUFSIZE (32)
#endif
/**
* @brief use mutex for waiting on stdin being enabled
*/
static mutex_t _rx_mutex = MUTEX_INIT;
/**
* @brief buffer holding stdout
*/
static char up_buffer [STDIO_TX_BUFSIZE];
/**
* @brief buffer holding stdin
*/
static char down_buffer [STDIO_RX_BUFSIZE];
/**
* @brief flag that enables stdin polling
*/
static char stdin_enabled = 0;
/**
* @brief flag that enables stdout blocking/polling
*/
static char blocking_stdout = 0;
/**
* @brief SEGGER's ring buffer implementation
*/
typedef struct {
const char* channel_name; /* Optional name. Standard names so far are:
"Terminal", "VCom" */
char* buf_ptr; /* Pointer to start of buffer */
int32_t buf_size; /* Buffer size in bytes. Note that one byte is
lost, as this implementation does not fill up
the buffer in order to avoid the problem of
being unable to distinguish between full and
empty. */
volatile int32_t wr_off; /* Position of next item to be written by either
host (down-buffer) or target (up-buffer). Must
be volatile since it may be modified by host
(down-buffer) */
volatile int32_t rd_off; /* Position of next item to be read by target
(down-buffer) or host (up-buffer). Must be
volatile since it may be modified by host
(up-buffer) */
int32_t flags; /* Contains configuration flags */
} rtt_ringbuf_t;
/**
* @brief RTT control block which describes the number of buffers available
* as well as the configuration for each buffer. The struct definition
* is fixed, as it is expected by SEGGER's software
*/
typedef struct {
char sentinel[16]; /* Initialized to "SEGGER RTT" */
int32_t max_up_buffers; /* Initialized to 1 */
int32_t max_down_buffers; /* Initialized to 1 */
rtt_ringbuf_t up[1]; /* Up buffers, transferring information up
from target via debug probe to host */
rtt_ringbuf_t down[1]; /* Down buffers, transferring information
down from host via debug probe to target */
} segger_rtt_cb_t;
/**
* @brief The SEGGER Real-Time-Terminal control block (CB)
*/
static segger_rtt_cb_t rtt_cb = {
"SEGGER RTT",
1,
1,
{{ "Terminal", &up_buffer[0], sizeof(up_buffer), 0, 0, 0 }},
{{ "Terminal", &down_buffer[0], sizeof(down_buffer), 0, 0, 0 }},
};
/**
* @brief read bytes from the down buffer. This function does not block.
* The logic here is unmodified from SEGGER's reference, it is just
* refactored to match code style. The string is not null terminated.
*
* @return the number of bytes read
*/
static int rtt_read(char* buf_ptr, uint16_t buf_size) {
int16_t num_bytes_rem;
uint16_t num_bytes_read;
int16_t rd_off;
int16_t wr_off;
rd_off = rtt_cb.down[0].rd_off;
wr_off = rtt_cb.down[0].wr_off;
num_bytes_read = 0;
/* Read from current read position to wrap-around of buffer, first */
if (rd_off > wr_off) {
num_bytes_rem = rtt_cb.down[0].buf_size - rd_off;
num_bytes_rem = MIN(num_bytes_rem, (int)buf_size);
memcpy(buf_ptr, rtt_cb.down[0].buf_ptr + rd_off, num_bytes_rem);
num_bytes_read += num_bytes_rem;
buf_ptr += num_bytes_rem;
buf_size -= num_bytes_rem;
rd_off += num_bytes_rem;
/* Handle wrap-around of buffer */
if (rd_off == rtt_cb.down[0].buf_size) {
rd_off = 0;
}
}
/* Read remaining items of buffer */
num_bytes_rem = wr_off - rd_off;
num_bytes_rem = MIN(num_bytes_rem, (int)buf_size);
if (num_bytes_rem > 0) {
memcpy(buf_ptr, rtt_cb.down[0].buf_ptr + rd_off, num_bytes_rem);
num_bytes_read += num_bytes_rem;
rd_off += num_bytes_rem;
}
if (num_bytes_read) {
rtt_cb.down[0].rd_off = rd_off;
}
return num_bytes_read;
}
/**
* @brief write bytes to the up buffer. This function does not block.
* The logic here is unmodified from SEGGER's reference, it is just
* refactored to match code style. The string does not need to be null
* terminated.
*
* @return the number of bytes read
*/
int rtt_write(const char* buf_ptr, unsigned num_bytes) {
int num_bytes_to_write;
unsigned num_bytes_written;
int rd_off;
rd_off = rtt_cb.up[0].rd_off;
num_bytes_to_write = rd_off - rtt_cb.up[0].wr_off - 1;
if (num_bytes_to_write < 0) {
num_bytes_to_write += rtt_cb.up[0].buf_size;
}
/* If the complete data does not fit in the buffer, trim the data */
if ((int)num_bytes > num_bytes_to_write) {
num_bytes = num_bytes_to_write;
}
/* Early out if there is nothing to do */
if (num_bytes == 0) {
return 0;
}
/* Write data to buffer and handle wrap-around if necessary */
num_bytes_written = 0;
do {
/* May be changed by host (debug probe) in the meantime */
rd_off = rtt_cb.up[0].rd_off;
num_bytes_to_write = rd_off - rtt_cb.up[0].wr_off - 1;
if (num_bytes_to_write < 0) {
num_bytes_to_write += rtt_cb.up[0].buf_size;
}
/* Number of bytes that can be written until buffer wrap-around */
num_bytes_to_write = MIN(num_bytes_to_write, (rtt_cb.up[0].buf_size -
rtt_cb.up[0].wr_off));
num_bytes_to_write = MIN(num_bytes_to_write, (int)num_bytes);
memcpy(rtt_cb.up[0].buf_ptr + rtt_cb.up[0].wr_off, buf_ptr, num_bytes_to_write);
num_bytes_written += num_bytes_to_write;
buf_ptr += num_bytes_to_write;
num_bytes -= num_bytes_to_write;
rtt_cb.up[0].wr_off += num_bytes_to_write;
if (rtt_cb.up[0].wr_off == rtt_cb.up[0].buf_size) {
rtt_cb.up[0].wr_off = 0;
}
} while (num_bytes);
return num_bytes_written;
}
void uart_stdio_init(void) {
#ifndef RTT_STDIO_DISABLE_STDIN
stdin_enabled = 1;
#endif
#ifdef RTT_STDIO_ENABLE_BLOCKING_STDOUT
blocking_stdout = 1;
#endif
/* the mutex should start locked */
mutex_lock(&_rx_mutex);
}
void rtt_stdio_enable_stdin(void) {
stdin_enabled = 1;
mutex_unlock(&_rx_mutex);
}
void rtt_stdio_enable_blocking_stdout(void) {
blocking_stdout = 1;
}
/* The reason we have this strange logic is as follows:
If we have an RTT console, we are powered, and so don't care
that polling uses a lot of power. If however, we do not
actually have an RTT console (because we are deployed on
a battery somewhere) then we REALLY don't want to poll
especially since we are not expecting to EVER get input. */
int uart_stdio_read(char* buffer, int count) {
int res = rtt_read(buffer, count);
if (res == 0) {
if (!stdin_enabled) {
mutex_lock(&_rx_mutex);
/* We only unlock when rtt_stdio_enable_stdin is called
Note that we assume only one caller invoked this function */
}
uint32_t last_wakeup = xtimer_now();
while(1) {
xtimer_periodic_wakeup(&last_wakeup, STDIO_POLL_INTERVAL);
res = rtt_read(buffer, count);
if (res > 0)
return res;
}
}
return res;
}
int uart_stdio_write(const char* buffer, int len) {
int written = rtt_write(buffer, len);
uint32_t last_wakeup = xtimer_now();
while (blocking_stdout && written < len) {
xtimer_periodic_wakeup(&last_wakeup, STDIO_POLL_INTERVAL);
written += rtt_write(&buffer[written], len-written);
}
return written;
}