Dirty little bugs - a pin/macro approach

Program testing can be used to show the presence of bugs, but never to show their absence!

Edsger W. Dijkstra

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Measuring and observing usually (if not always) change what one is measuring. I've never seen Schrödinger's cat, at least not when leading with embedded systems nor in my garden, but the former implication causes many problems when trying to debug time-critical functions/operations in embedded software and hardware.

Usually a printf-like UART output works but that would slow down or even hang code which can't wait for the UART to stream its data out. Even though with a substantial buffer it will come a time where it will get stuck.

There is a nice, well known techinque, that uses output pins to reflect some state, such as which function or interrupt handler the microcontroller is doing at the time. Since setting the output value requires only a few instructions, this approach suits better the time-critical scenarios. This technique is helpful in many ways: one may measure from interrupt latency and cpu usage to interrupt or thread deadlock.

That's how the following code came up to mind, here is a simple header file which is based on the macros I posted some time ago here.

#ifndef _dbgpin_h_
#define _dbgpin_h_

#include "portutil.h"

/* Enables or disables debugging */
#if    DBGPIN_ENABLED 1

/* Debug pins */
#define DBGPIN_01    0,2
#define DBGPIN_02    0,3
//---- etc

/* Initialization */
#define DBGPIN_INIT( pin )    do { FPIN_AS_OUTPUT(pin); FPIN_CLR(pin);  } while(0);

/**
* Beware of returns, exclude them!
*/
#if    DBGPIN_ENABLED
#define DBGPIN_BLOCK( pin, block ) \
           FPIN_SET_( pin ); \
           do { \
               block \
           } while(0); \
           FPIN_CLR_( pin );
#else
#define    DBGPIN_BLOCK( pin, block ) block
#endif

#endif /* _dbgpin_h_ */

Here is an example:

DBGPIN_BLOCK( DBGPIN_01,
a = b;
callSomething();
);

There is a small drawback: the do-while structure won't let any variable declared inside 'block' to be visible outside. That can be solved by removing the do-while, if you need it that way just go ahead and delete those two lines.

Also notice that a return in 'block' won't allow the macro to clear the corresponding pin, so applying the macro to a function with many return points is messy. The alternative is to change the original function's name and call it through a sort of wrapper which does it inside a DBGPIN_BLOCK macro. It's not pure beauty but it works nice, and once you've done the debugging it can be disabled by changing DBGPIN_ENABLED to 0.

Writing portable Embedded code - Pin portability

EDIT: I've posted a C++ alternative using templates here.

Portability can be hard on embedded systems. The fact that we can code in C most of the time doesn't mean code is portable. Even worse, it means that you may have to rewrite many functions/macros in order to get the 'same' code to work on another platform/chip.

A nice approach is to write a simple yet powerful HAL (Hardware Abstraction Layer), sometimes called a driver. There are many protocols and peripherals whose functions are nearly the same between different vendors and chips, such as I2C, SPI, UART,MCI controllers. For SPI we would code at least three functions: SPI_init(), SPI_tx() and SPI_rx(). Actually SPI_tx() and SPI_rx() might be the same due to SPI's full duplex capability. There might be other functions or macros to control the chip select line. This approach works nice for standard peripherals, but we may need to access port pins individually to perform some task or communicate to a device by bit-banging.

Most LCD character displays work the same way and use the same protocol and control lines. A 'universal' C module for character LCD control sounds great, but pin compatibility should be addressed first, it's not attractive if we need to change tens of lines to port it.

We'll first define some useful string-concatenating macros:

#define    _CAT3(a,b,c)  a## b ##c

#define    CAT3(a,b,c)   _CAT3(a,b,c)

#define    _CAT2(a,b)    a## b

#define    CAT2(a,b)    _CAT2(a,b)

The macros are called twice to ensure tokens are preprocessed as we want them. Kernighan and Ritchie's wonderful C book has good information about how that works. These macros can be defined in a global header file so they can be included whenever they're needed.

Basic operations on port pins include setting a pin as output or input, clearing a bit, setting a bit and reading it's value when configured as input. Given that I defined another header file which looks like this, specially made for the Philips LPC23xx family (ARM7):

/* Set bit */
#define FPIN_SET(port,bit)  CAT3(FIO,port,SET) = (1<<(bit))
#define FPIN_SET_(port_bit) FPIN_SET(port_bit)


/* Clear bit */
#define FPIN_CLR(port,bit)  CAT3(FIO,port,CLR) = (1<<(bit))
#define FPIN_CLR_(port_bit) FPIN_CLR(port_bit)


/* Set as input */
#define FPIN_AS_INPUT(port,bit)  CAT3(FIO,port,DIR) &=~(1<<(bit))
#define FPIN_AS_INPUT_(port_bit) FPIN_AS_INPUT(port_bit)

/* Set as output */
#define FPIN_AS_OUTPUT(port,bit)  CAT3(FIO,port,DIR) |= (1<<(bit))
#define FPIN_AS_OUTPUT_(port_bit) FPIN_AS_OUTPUT(port_bit)


/* when used as input */
#define FPIN_ISHIGH(port,bit)  ( CAT3(FIO,port,PIN) &  (1<<(bit)) )
#define FPIN_ISHIGH_(port_bit) FPIN_ISHIGH(port_bit)

/* returns !=0 if pin is LOW */
#define FPIN_ISLOW(port,bit)  (!( CAT3(FIO,port,PIN)& (1<<(bit)) ))
#define FPIN_ISLOW_(port_bit) FPIN_ISLOW(port_bit)

Done this we can set bit 2.1 by ussuing FPIN_SET(2,1), or clear it by doing FPIN_CLR(2,1). The functions ending with an underscore are meant to be used when pin position is given as a #define macro, such as:

#define LEDA 2,1
#define LEDB 2,1

FPIN_AS_OUTPUT_( LEDA );
FPIN_SET_( LEDA );
FPIN_CLR_( LEDB );

I agree this may sound complicated, but by defining all these functions it's possible to manipulate all port pins easily and in a portable way. If we want to change the pin or port LEDA is using we only need to change it once, the macros will take care of it.

If we were to do the same on an AVR it's a question of changing the macros as shown below. Don't forget ports are named with letters (A,B,C,D...) rather than numbers.

/* Set bit */
#define FPIN_SET(port,bit)  CAT2(PORT,port) |= (1<<(bit))
#define FPIN_SET_(port_bit) FPIN_SET(port_bit)


/* Clear bit */
#define FPIN_CLR(port,bit)  CAT2(PORT,port) &=~(1<<(bit))
#define FPIN_CLR_(port_bit) FPIN_CLR(port_bit)


/* Set as input */
#define FPIN_AS_INPUT(port,bit)  CAT2(DDR,port) &= ~(1<<(bit))
#define FPIN_AS_INPUT_(port_bit) FPIN_AS_INPUT (port_bit)

/* Set as output */
#define FPIN_AS_OUTPUT(port,bit)  CAT2(DDR,port) |= (1<<(bit))
#define FPIN_AS_OUTPUT_(port_bit) FPIN_AS_OUTPUT(port_bit)


/* when used as input */
#define FPIN_ISHIGH(port,bit)  CAT2(PIN,port) & (1<<(bit)))
#define FPIN_ISHIGH_(port_bit) PIN_ISHIGH(port_bit)


/* returns !=0 if LOW */
#define FPIN_ISLOW(port,bit)  (!( CAT2(PIN,port) & (1<<(bit))) )
#define FPIN_ISLOW_(port_bit) FPIN_ISLOW(port_bit)

Now the LCD routines are really portable. Minor changes might be needed if there are other pin registers to modify, but the basic pin functionality is covered by the macros defined above.