Working support for multiple UARTs.

Default behavior (printf, gets, etc.) routes to DEFAULT_UART, set in hal_uart.h. Use fputstr() to print to other UARTs. Bring
fgets() from hal_io.c out in hal_io.h if you want to read data from other UARTs.

Still blocking. No interrupt-driven stuff yet.

4 files changed, 120 insertions, 79 deletions

diff --git a/firmware/microblaze/lib/hal_io.c b/firmware/microblaze/lib/hal_io.c
index b68067308..8bb5e2af8 100644
--- a/firmware/microblaze/lib/hal_io.c
+++ b/firmware/microblaze/lib/hal_io.c
@@ -18,9 +18,9 @@
 
 // conditionalized on HAL_IO_USES_DBOARD_PINS && HAL_IO_USES_UART
 
-#include "hal_io.h"
 #include "memory_map.h"
 #include "hal_uart.h"
+#include "hal_io.h"
 #include <stdbool.h>
 #include <stdio.h>
 #include <string.h>
@@ -102,7 +102,7 @@ hal_finish(void)
 
 // %c
 inline int
-fputchar(int ch)
+putchar(int ch)
 {
   hal_gpio_set_rx((s << 8) | W, 0xff80);
   hal_gpio_set_rx(0, 0xff80);
@@ -124,16 +124,29 @@ hal_finish(void)
 
 // %c
 inline int
-fputchar(int ch)
+fputchar(hal_uart_name_t u, int ch)
+{
+  hal_uart_putc(u, ch);
+  return ch;
+}
+
+inline int
+putchar(int ch)
 {
-  hal_uart_putc(ch);
+  hal_uart_putc(DEFAULT_UART, ch);
   return ch;
 }
 
 int
-fgetchar(void)
+fgetchar(hal_uart_name_t u)
+{
+  return hal_uart_getc(u);
+}
+
+int
+getchar(void)
 {
-  return hal_uart_getc();
+  return fgetchar(DEFAULT_UART);
 }
 
 #else	// nop all i/o
@@ -172,34 +185,57 @@ getchar(void)
 
 // \n
 inline void 
-fnewline(void)
+fnewline(hal_uart_name_t u)
 {
-  putchar('\n');
+  fputchar(u, '\n');
+}
+
+inline void
+newline(void)
+{
+  fnewline(DEFAULT_UART);
 }
 
 int
-fputstr(const char *s)
+fputstr(hal_uart_name_t u, const char *s)
 {
   while (*s)
-    putchar(*s++);
+    fputchar(u, *s++);
 
   return 0;
 }
 
 int
-fputs(const char *s)
+putstr(const char *s)
+{
+  return fputstr(DEFAULT_UART, s);
+}
+
+int
+fputs(hal_uart_name_t u, const char *s)
 {
-  putstr(s);
-  putchar('\n');
+  fputstr(u, s);
+  fputchar(u, '\n');
   return 0;
 }
 
+int puts(const char *s)
+{
+  return fputs(DEFAULT_UART, s);
+}
+
 char *
-fgets(char * const s)
+fgets(hal_uart_name_t u, char * const s)
 {
 	char *x = s;
-	while((*x=(char)hal_uart_getc()) != '\n') x++;
+	while((*x=(char)hal_uart_getc(u)) != '\n') x++;
 	*x = 0;
 	return s;
 }
 
+char *
+gets(char * const s)
+{
+  return fgets(DEFAULT_UART, s);
+}
+
diff --git a/firmware/microblaze/lib/hal_io.h b/firmware/microblaze/lib/hal_io.h
index c67d96c62..99f8f7fc9 100644
--- a/firmware/microblaze/lib/hal_io.h
+++ b/firmware/microblaze/lib/hal_io.h
@@ -20,10 +20,12 @@
 #define INCLUDED_HAL_IO_H
 
 #include "memory_map.h"
+#include "hal_uart.h"
 
 void hal_io_init(void);
 void hal_finish();
 char *gets(char * const s);
+int fputstr(hal_uart_name_t u, const char *s);
 
 /*
  * ------------------------------------------------------------------------
diff --git a/firmware/microblaze/lib/hal_uart.c b/firmware/microblaze/lib/hal_uart.c
index 91d67b5e0..6717cd5e8 100644
--- a/firmware/microblaze/lib/hal_uart.c
+++ b/firmware/microblaze/lib/hal_uart.c
@@ -16,93 +16,88 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "memory_map.h"
 #include "hal_uart.h"
 #include "hal_io.h"
-#include "memory_map.h"
-
-// First pass, no interrupts
 
-// Replaced with divisors.py which generates best divisor
-//#define CALC_DIVISOR(rate) (WISHBONE_CLK_RATE / ((rate) * 16))
+//just to save you from going insane, note that firmware/FPGA UARTs [0-2] correspond to serial ports [1-3].
+//so in software, we refer to UART_DEBUG as UART0, but it transmits on pin TXD<1>. see the UART assignments in hal_uart.h.
 
 #define NSPEEDS 6
 #define	MAX_WB_DIV 4
 
+//if you're going to recalculate the divisors, it's just uart_clock_rate / baud_rate.
+//uart_clock_rate is 50MHz for USRP2.
 static const uint16_t
-divisor_table[MAX_WB_DIV+1][NSPEEDS] = {
-  {   2,   2,   2,   2,  2,  2},   // 0: can't happen
-  { 651, 326, 163, 109, 54, 27 },  // 1: 100 MHz
-  { 326, 163,  81,  54, 27, 14 },  // 2:  50 MHz
-  { 217, 109,  54,  36, 18,  9 },  // 3:  33.3333 MHz
-  { 163,  81,  41,  27, 14,  7 },  // 4:  25 MHz
+divisor_table[NSPEEDS] = {
+  5208,	//    9600
+  2604,	//   19200
+  1302,	//   38400
+  868,	//   57600
+  434,	//  115200
+  217	//  230400
 };
 
-//we wrap hal_uart_putc hal_uart_putc_nowait, and hal_uart_getc to accept a UART pointer given by hal_get_uart. we modify hal_io.c to use the new versions.
+static char uart_mode[4] = {
+  [UART_DEBUG] = UART_MODE_ONLCR, 
+  [UART_EXP] = UART_MODE_ONLCR, 
+  [UART_GPS] = UART_MODE_ONLCR
+};
 
-static char uart_mode[4] = {UART_MODE_ONLCR, UART_MODE_ONLCR, UART_MODE_ONLCR, UART_MODE_ONLCR};
+static char uart_speeds[4] = {
+  [UART_DEBUG] = US_230400,
+  [UART_EXP] = US_230400,
+  [UART_GPS] = US_230400
+};
 
 void
-hal_uart_set_mode(int uart, int mode)
+hal_uart_set_mode(hal_uart_name_t uart, int mode)
 {
   uart_mode[uart] = mode;
 }
 
+void hal_uart_set_speed(hal_uart_name_t uart, hal_uart_speed_t speed)
+{
+  uart_regs[uart].clkdiv = divisor_table[speed];
+}
+
 void
 hal_uart_init(void)
 {
-  for(int i = 0; i < 4; i++) {
-  	hal_uart_set_mode(i, UART_MODE_ONLCR);
-    u->clkdiv = 217;  // 230400 bps TODO: change to reflect new quad UART
+  for(int i = 0; i < 2; i++) { //uart 3 is unused
+  	hal_uart_set_mode(i, uart_mode[i]);
+    hal_uart_set_speed(i, uart_speeds[i]);
   }
 }
 
 void
-hal_uart_putc(uart_regs_t *u, int ch)
+hal_uart_putc(hal_uart_name_t u, int ch)
 {
-  if (ch == '\n')// && (uart_mode[uart] == UART_MODE_ONLCR))		//map \n->\r\n if necessary
+  if ((ch == '\n') && (uart_mode[u] == UART_MODE_ONLCR))		//map \n->\r\n if necessary
     hal_uart_putc(u, '\r');
 
-  while (u->txlevel == 0)	 // wait for fifo to have space
+  while (uart_regs[u].txlevel == 0)	 // wait for fifo to have space
     ;
 
-  u->txchar = ch;
+  uart_regs[u].txchar = ch;
 }
 
 void
-hal_uart_putc_nowait(uart_regs_t *u, int ch)
+hal_uart_putc_nowait(hal_uart_name_t u, int ch)
 {
-  if (ch == '\n')// && (uart_mode[uart] == UART_MODE_ONLCR))		//map \n->\r\n if necessary
+  if ((ch == '\n') && (uart_mode[u] == UART_MODE_ONLCR))		//map \n->\r\n if necessary
     hal_uart_putc(u, '\r');
 
-  if(u->txlevel)   // If fifo has space
-    u->txchar = ch;
+  if(uart_regs[u].txlevel)   // If fifo has space
+    uart_regs[u].txchar = ch;
 }
 
 int
-hal_uart_getc(uart_regs_t *u)
+hal_uart_getc(hal_uart_name_t u)
 {
-  while ((u->rxlevel) == 0)  // wait for data to be ready
+  while ((uart_regs[u].rxlevel) == 0)  // wait for data to be ready
     ;
 
-  return u->rxchar;
+  return uart_regs[u].rxchar;
 }
 
-uart_regs_t *
-hal_get_uart(int number)
-{
-  switch(number) {
-  case 0:
-    return uart_regs_0;
-    break;
-  case 1:
-    return uart_regs_1;
-    break;
-  case 2:
-    return uart_regs_2;
-    break;
-  case 3:
-    return uart_regs_3;
-    break;
-  default:
-    return uart_regs_0; //for safety
-}
diff --git a/firmware/microblaze/lib/hal_uart.h b/firmware/microblaze/lib/hal_uart.h
index 218bd7cb4..81f4a6777 100644
--- a/firmware/microblaze/lib/hal_uart.h
+++ b/firmware/microblaze/lib/hal_uart.h
@@ -25,29 +25,37 @@
 #define	UART_MODE_RAW		0x0000	// no mapping on input or output
 #define	UART_MODE_ONLCR	0x0001	// map \n to \r\n on output (default)
 
+#define DEFAULT_UART UART_DEBUG //which UART printf, gets, etc. use
+
+typedef enum {
+  US_9600   = 0,
+  US_19200  = 1,
+  US_38400  = 2,
+  US_57600  = 3,
+  US_115200 = 4,
+  US_230400 = 5
+} hal_uart_speed_t;
+
+typedef struct {
+  hal_uart_speed_t	speed;
+} hal_uart_config_t;
+
+typedef enum {
+  UART_DEBUG = 0,
+  UART_EXP   = 1,
+  UART_GPS   = 2
+} hal_uart_name_t;
+
 /*
  * \brief Set uart mode
  */
-void hal_uart_set_mode(int uart, int flags);
+void hal_uart_set_mode(hal_uart_name_t uart, int flags);
 
 /*!
  * \brief one-time call to init
  */
 void hal_uart_init(void);
 
-typedef enum {
-  US_9600,
-  US_19200,
-  US_38400,
-  US_57600,
-  US_115200,
-  US_230400,
-} hal_uart_speed_t;
-
-typedef struct {
-  hal_uart_speed_t	speed;
-} hal_uart_config_t;
-
 /*!
  * \brief Set uart parameters
  *  Default is 115,200 bps, 8N1.
@@ -62,17 +70,17 @@ void hal_uart_get_config(hal_uart_config_t *c);
 /*!
  * \brief Enqueue \p ch for output over serial port
  */
-void hal_uart_putc(uart_regs_t *u, int ch);
+void hal_uart_putc(hal_uart_name_t u, int ch);
 
 /*!
  * \brief Enqueue \p ch for output over serial port, silent fail if queue is full
  */
-void hal_uart_putc_nowait(uart_regs_t *u, int ch);
+void hal_uart_putc_nowait(hal_uart_name_t u, int ch);
 
 /*
  * \brief Blocking read of next char from serial port
  */
-int hal_uart_getc(uart_regs_t *u);
+int hal_uart_getc(hal_uart_name_t u);
 
 
 #endif /* INCLUDED_HAL_UART_H */