Merge pull request #15931 from haukepetersen/add_dbgpin3

sys: add `dbgpin` module for debugging and profiling (take 2)

cpu/atmega_common/Kconfig

@@ -9,6 +9,7 @@ config CPU_COMMON_ATMEGA
     select CPU_CORE_AVR
     select HAS_ATMEGA_PCINT0
     select HAS_CPP
+    select HAS_DBGPIN
     select HAS_PERIPH_CPUID
     select HAS_PERIPH_EEPROM
     select HAS_PERIPH_GPIO

cpu/atmega_common/Makefile.features

@@ -4,6 +4,7 @@ include $(RIOTCPU)/avr8_common/Makefile.features
 # Only add Additional features
 
 FEATURES_PROVIDED += atmega_pcint0
+FEATURES_PROVIDED += dbgpin
 FEATURES_PROVIDED += periph_cpuid
 FEATURES_PROVIDED += periph_eeprom
 FEATURES_PROVIDED += periph_gpio periph_gpio_irq

cpu/avr8_common/startup.c

@@ -30,6 +30,9 @@
 #ifdef MODULE_PUF_SRAM
 #include "puf_sram.h"
 #endif
+#ifdef MODULE_DBGPIN
+#include "dbgpin.h"
+#endif
 
 /**
  * @brief functions for initializing the board, std-lib and kernel
@@ -73,6 +76,11 @@ __attribute__((used)) void reset_handler(void)
 #ifdef MODULE_PUF_SRAM
     puf_sram_init((uint8_t *)RAMEND-SEED_RAM_LEN, SEED_RAM_LEN);
 #endif
+
+#ifdef MODULE_DBGPIN
+    dbgpin_init();
+#endif
+
     /* initialize the board and startup the kernel */
     board_init();
     /* startup the kernel */

cpu/cortexm_common/Kconfig

@@ -48,6 +48,7 @@ config CPU_CORE_CORTEX_M
     select HAS_SSP
     select HAS_CORTEXM_SVC
     select HAS_NEWLIB
+    select HAS_DBGPIN
 
 ## Common CPU symbols
 config CPU_CORE

cpu/cortexm_common/Makefile.features

@@ -4,6 +4,7 @@ FEATURES_PROVIDED += cortexm_svc
 FEATURES_PROVIDED += cpp
 FEATURES_PROVIDED += cpu_check_address
 FEATURES_PROVIDED += cpu_core_cortexm
+FEATURES_PROVIDED += dbgpin
 FEATURES_PROVIDED += libstdcpp
 FEATURES_PROVIDED += newlib
 FEATURES_PROVIDED += periph_pm

cpu/cortexm_common/vectors_cortexm.c

@@ -37,6 +37,9 @@
 #ifdef MODULE_PUF_SRAM
 #include "puf_sram.h"
 #endif
+#ifdef MODULE_DBGPIN
+#include "dbgpin.h"
+#endif
 
 #ifndef SRAM_BASE
 #define SRAM_BASE 0
@@ -172,6 +175,10 @@ void reset_handler_default(void)
 
     post_startup();
 
+#ifdef MODULE_DBGPIN
+    dbgpin_init();
+#endif
+
     /* initialize the board (which also initiates CPU initialization) */
     board_init();
 

cpu/kinetis/include/cpu_conf.h

@@ -19,6 +19,19 @@
 #ifndef CPU_CONF_H
 #define CPU_CONF_H
 
+/* This is needed to homogenize the symbolic IRQ names across different versions
+ * of the vendor headers. These must be defined before any vendor headers are
+ * included */
+#define FTFA_IRQn FTF_IRQn
+#define FTFA_Collision_IRQn Read_Collision_IRQn
+#define FTFE_IRQn FTF_IRQn
+#define FTFE_Collision_IRQn Read_Collision_IRQn
+#define FTFL_IRQn FTF_IRQn
+#define FTFL_Collision_IRQn Read_Collision_IRQn
+#define PMC_IRQn LVD_LVW_IRQn
+#define Watchdog_IRQn WDOG_EWM_IRQn
+#define LVD_LVW_DCDC_IRQn LVD_LVW_IRQn
+
 /* Dispatch to a separate file per family */
 #if defined(KINETIS_SERIES_K)
 #include "cpu_conf_kinetis_k.h"

cpu/kinetis/vectors.c

@@ -26,20 +26,6 @@
  * @name Interrupt vector definition
  * @{
  */
-
-/* This is needed to homogenize the symbolic IRQ names across different versions
- * of the vendor headers. These must be defined before any vendor headers are
- * included */
-#define FTFA_IRQn FTF_IRQn
-#define FTFA_Collision_IRQn Read_Collision_IRQn
-#define FTFE_IRQn FTF_IRQn
-#define FTFE_Collision_IRQn Read_Collision_IRQn
-#define FTFL_IRQn FTF_IRQn
-#define FTFL_Collision_IRQn Read_Collision_IRQn
-#define PMC_IRQn LVD_LVW_IRQn
-#define Watchdog_IRQn WDOG_EWM_IRQn
-#define LVD_LVW_DCDC_IRQn LVD_LVW_IRQn
-
 #include "vectors_kinetis.h"
 
 /* CPU specific interrupt vector table */

cpu/msp430_common/Kconfig

@@ -10,6 +10,7 @@ config CPU_ARCH_MSP430
     bool
     select HAS_ARCH_16BIT
     select HAS_ARCH_MSP430
+    select HAS_DBGPIN
     select HAS_PERIPH_FLASHPAGE
     select HAS_PERIPH_FLASHPAGE_PAGEWISE
     select HAS_NEWLIB

cpu/msp430_common/Makefile.features

@@ -3,6 +3,7 @@ CPU_CORE = msp430
 
 FEATURES_PROVIDED += arch_16bit
 FEATURES_PROVIDED += arch_msp430
+FEATURES_PROVIDED += dbgpin
 FEATURES_PROVIDED += newlib
 FEATURES_PROVIDED += periph_flashpage
 FEATURES_PROVIDED += periph_flashpage_pagewise

cpu/msp430_common/startup.c

@@ -27,6 +27,9 @@
 #include "stdio_base.h"
 #include "irq.h"
 #include "log.h"
+#ifdef MODULE_DBGPIN
+#include "dbgpin.h"
+#endif
 
 extern void board_init(void);
 
@@ -34,6 +37,10 @@ __attribute__((constructor)) static void startup(void)
 {
     board_init();
 
+#ifdef MODULE_DBGPIN
+    dbgpin_init();
+#endif
+
 #ifdef MODULE_NEWLIB
     void _init(void);
     _init();

kconfigs/Kconfig.features

@@ -52,6 +52,12 @@ config HAS_CPU_CHECK_ADDRESS
     help
         Indicates that address validity check is supported.
 
+config HAS_DBGPIN
+    bool
+    help
+        Indicates that a platform provides the neccessary initialization hooks
+        for the dbgpin module.
+
 config HAS_EMULATOR_RENODE
     bool
     help

makefiles/pseudomodules.inc.mk

@@ -20,6 +20,7 @@ PSEUDOMODULES += cortexm_fpu
 PSEUDOMODULES += cortexm_svc
 PSEUDOMODULES += cpu_check_address
 PSEUDOMODULES += crypto_%	# crypto_aes or crypto_3des
+PSEUDOMODULES += dbgpin
 PSEUDOMODULES += devfs_%
 PSEUDOMODULES += dhcpv6_%
 PSEUDOMODULES += ecc_%

sys/Makefile.dep

@@ -1126,4 +1126,9 @@ ifneq (,$(filter ecc_%,$(USEMODULE)))
   USEMODULE += ecc
 endif
 
+ifneq (,$(filter dbgpin,$(USEMODULE)))
+  FEATURES_REQUIRED += periph_gpio
+  FEATURES_REQUIRED += dbgpin
+endif
+
 include $(RIOTBASE)/sys/test_utils/Makefile.dep

sys/include/dbgpin.h

@@ -0,0 +1,129 @@
+/*
+ * Copyright (C) 2020 Freie Universität Berlin
+ *
+ * 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_dbgpin Direct pin control for debugging/profiling
+ * @ingroup     sys
+ *
+ * @warning     This module does not verify the given pin number, so make sure
+ *              the pin numbers you use are actually configured!
+ *
+ * @{
+ * @file
+ * @brief       GPIO wrapper for debugging/profiling purposes
+ *
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ */
+
+#ifndef DBGPIN_H
+#define DBGPIN_H
+
+#include "kernel_defines.h"
+#include "periph/gpio.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#ifndef DBGPIN_PINS
+#error Please specify the pins to use with the dbgpin module (DBGPIN_PINS)
+#endif
+
+/**
+ * @brief   Set the given debug pin to HIGH
+ *
+ * @param[in] pin       pin to set, pin number is offset to the list of defined
+ *                      debug pins in DBGPIN_PINS
+ */
+static inline void dbgpin_set(unsigned pin)
+{
+    static const gpio_t dbgpin_pins[] = { DBGPIN_PINS };
+    gpio_set(dbgpin_pins[pin]);
+}
+
+/**
+ * @brief   Set the given debug pin to LOW
+ *
+ * @param[in] pin       pin to set, pin number is offset to the list of defined
+ *                      debug pins in DBGPIN_PINS
+ */
+static inline void dbgpin_clear(unsigned pin)
+{
+    static const gpio_t dbgpin_pins[] = { DBGPIN_PINS };
+    gpio_clear(dbgpin_pins[pin]);
+}
+
+/**
+ * @brief   Toggle the given debug pin
+ *
+ * @param[in] pin       pin to set, pin number is offset to the list of defined
+ *                      debug pins in DBGPIN_PINS
+ */
+static inline void dbgpin_toggle(unsigned pin)
+{
+    static const gpio_t dbgpin_pins[] = { DBGPIN_PINS };
+    gpio_toggle(dbgpin_pins[pin]);
+}
+
+/**
+ * @brief   Output a pulse on the given debug pin (toggles the pin twice)
+ *
+ * @param[in] pin       pin to set, pin number is offset to the list of defined
+ *                      debug pins in DBGPIN_PINS
+ */
+static inline void dbgpin_pulse(unsigned pin)
+{
+    dbgpin_toggle(pin);
+    dbgpin_toggle(pin);
+}
+
+/**
+ * @brief   Output a specified number of pulses on the given debug pin
+ *
+ * @param[in] pin       pin to set, pin number is offset to the list of defined
+ *                      debug pins in DBGPIN_PINS
+ * @param[in] num       number of pulses to output
+ */
+static inline void dbgpin_signal(unsigned pin, unsigned num)
+{
+    for (unsigned i = 0; i < num; i++) {
+        dbgpin_pulse(pin);
+    }
+}
+
+/**
+ * @brief   Get the number of configured debug pins
+ *
+ * @return  number of configured debug pins
+ */
+static inline size_t dbgpin_count(void)
+{
+    static const gpio_t dbgpin_pins[] = { DBGPIN_PINS };
+    return ARRAY_SIZE(dbgpin_pins);
+}
+
+
+/**
+ * @brief   Initialize the configured input pins
+ */
+static inline void dbgpin_init(void)
+{
+    static const gpio_t dbgpin_pins[] = { DBGPIN_PINS };
+    for (unsigned i = 0; i < ARRAY_SIZE(dbgpin_pins); i++) {
+        gpio_init(dbgpin_pins[i], GPIO_OUT);
+        gpio_clear(dbgpin_pins[i]);
+    }
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* DBGPIN_H */
+/** @} **/

tests/dbgpin/Makefile

@@ -0,0 +1,9 @@
+include ../Makefile.tests_common
+
+USEMODULE += dbgpin
+USEMODULE += xtimer
+
+DBGPIN_PINS ?= GPIO_PIN(0,0)
+CFLAGS += -DDBGPIN_PINS="$(DBGPIN_PINS)"
+
+include $(RIOTBASE)/Makefile.include

tests/dbgpin/main.c

@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2020 Freie Universität Berlin
+ *
+ * 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.
+ */
+
+/**
+ * @ingroup     tests
+ * @{
+ *
+ * @file
+ * @brief       Test for the dbgpin module
+ *
+ * @author      Hauke Petersen <hauke.petersen@fu-berlin.de>
+ *
+ * @}
+ */
+
+#include <stdio.h>
+
+#include "dbgpin.h"
+#include "xtimer.h"
+
+#define TICK_MS         5U
+
+int main(void)
+{
+    printf("Found %i configured debug pin(s)\n", dbgpin_count());
+
+    for (unsigned p = 0; p < dbgpin_count(); p++) {
+        printf("Testing pin %u\n", p);
+        dbgpin_set(p);
+        xtimer_msleep(TICK_MS);
+        dbgpin_clear(p);
+        xtimer_msleep(TICK_MS);
+        dbgpin_toggle(p);
+        xtimer_msleep(2 * TICK_MS);
+        dbgpin_toggle(p);
+        xtimer_msleep(TICK_MS);
+        dbgpin_pulse(p);
+        xtimer_msleep(TICK_MS);
+        for (unsigned i = 2; i <= 5; i++) {
+            dbgpin_signal(p, i);
+            xtimer_msleep(TICK_MS);
+        }
+    }
+
+    puts("Test successful.");
+
+    return 0;
+}

tests/dbgpin/tests/01-run.py

@@ -0,0 +1,12 @@
+#!/usr/bin/env python3
+
+import sys
+from testrunner import run
+
+
+def testfunc(child):
+    child.expect_exact('Test successful.')
+
+
+if __name__ == "__main__":
+    sys.exit(run(testfunc))