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Optimized digitalWrite(), etc. from Alvaro Lopez.

This commit is contained in:
David A. Mellis 2011-02-11 17:53:24 -05:00
parent 80bb16db8c
commit 9dccd634c5
3 changed files with 537 additions and 21 deletions
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452
hardware/arduino/cores/arduino/pins_arduino.h
View File

@ -49,6 +49,10 @@
#define TIMER5B 15
#define TIMER5C 16
#ifndef INLINED
#define INLINED static __attribute__((always_inline)) inline
#endif
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
const static uint8_t SS = 53;
const static uint8_t MOSI = 51;
@ -72,17 +76,447 @@ extern const uint8_t PROGMEM digital_pin_to_port_PGM[];
extern const uint8_t PROGMEM digital_pin_to_bit_mask_PGM[];
extern const uint8_t PROGMEM digital_pin_to_timer_PGM[];
// inlined versions of lookup-table-based pin mappings. Don't use directly.
// Don't use PA, so on, might clash with sketch
#define PORT_INDEX_PA 1
#define PORT_INDEX_PB 2
#define PORT_INDEX_PC 3
#define PORT_INDEX_PD 4
#define PORT_INDEX_PE 5
#define PORT_INDEX_PF 6
#define PORT_INDEX_PG 7
#define PORT_INDEX_PH 8
#define PORT_INDEX_PJ 10
#define PORT_INDEX_PK 11
#define PORT_INDEX_PL 12
__attribute__((error("Invalid pin specified. This pin does not map to any I/O port"))) static void invalidPinSpecified(void);
#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
INLINED volatile uint8_t *inlined_portModeRegister(uint8_t port_index)
{
switch (port_index) {
case 1: return &DDRA;
case 2: return &DDRB;
case 3: return &DDRC;
case 4: return &DDRD;
case 5: return &DDRE;
case 6: return &DDRF;
case 7: return &DDRG;
case 8: return &DDRH;
case 10: return &DDRJ;
case 11: return &DDRK;
case 12: return &DDRL;
default: return NOT_A_PORT;
}
}
INLINED volatile uint8_t *inlined_portOutputRegister(uint8_t port_index)
{
switch (port_index) {
case 1: return &PORTA;
case 2: return &PORTB;
case 3: return &PORTC;
case 4: return &PORTD;
case 5: return &PORTE;
case 6: return &PORTF;
case 7: return &PORTG;
case 8: return &PORTH;
case 10: return &PORTJ;
case 11: return &PORTK;
case 12: return &PORTL;
default: return NOT_A_PORT;
}
}
INLINED volatile uint8_t *inlined_portInputRegister(uint8_t port_index)
{
switch (port_index) {
case 1: return &PINA;
case 2: return &PINB;
case 3: return &PINC;
case 4: return &PIND;
case 5: return &PINE;
case 6: return &PINF;
case 7: return &PING;
case 8: return &PINH;
case 10: return &PINJ;
case 11: return &PINK;
case 12: return &PINL;
default: return NOT_A_PIN;
}
};
INLINED uint8_t inlined_digitalPinToPort(uint8_t pin)
{
switch (pin) {
case 0: // PE 0 ** 0 ** USART0_RX
case 1: // PE 1 ** 1 ** USART0_TX
case 2: // PE 4 ** 2 ** PWM2
case 3: // PE 5 ** 3 ** PWM3
return PORT_INDEX_PE;
case 4: // PG 5 ** 4 ** PWM4
return PORT_INDEX_PG;
case 5: // PE 3 ** 5 ** PWM5
return PORT_INDEX_PE;
case 6: // PH 3 ** 6 ** PWM6
case 7: // PH 4 ** 7 ** PWM7
case 8: // PH 5 ** 8 ** PWM8
case 9: // PH 6 ** 9 ** PWM9
return PORT_INDEX_PH;
case 10: // PB 4 ** 10 ** PWM10
case 11: // PB 5 ** 11 ** PWM11
case 12: // PB 6 ** 12 ** PWM12
case 13: // PB 7 ** 13 ** PWM13
return PORT_INDEX_PB;
case 14: // PJ 1 ** 14 ** USART3_TX
case 15: // PJ 0 ** 15 ** USART3_RX
return PORT_INDEX_PJ;
case 16: // PH 1 ** 16 ** USART2_TX
case 17: // PH 0 ** 17 ** USART2_RX
return PORT_INDEX_PH;
case 18: // PD 3 ** 18 ** USART1_TX
case 19: // PD 2 ** 19 ** USART1_RX
case 20: // PD 1 ** 20 ** I2C_SDA
case 21: // PD 0 ** 21 ** I2C_SCL
return PORT_INDEX_PD;
case 22: // PA 0 ** 22 ** D22
case 23: // PA 1 ** 23 ** D23
case 24: // PA 2 ** 24 ** D24
case 25: // PA 3 ** 25 ** D25
case 26: // PA 4 ** 26 ** D26
case 27: // PA 5 ** 27 ** D27
case 28: // PA 6 ** 28 ** D28
case 29: // PA 7 ** 29 ** D29
return PORT_INDEX_PA;
case 30: // PC 7 ** 30 ** D30
case 31: // PC 6 ** 31 ** D31
case 32: // PC 5 ** 32 ** D32
case 33: // PC 4 ** 33 ** D33
case 34: // PC 3 ** 34 ** D34
case 35: // PC 2 ** 35 ** D35
case 36: // PC 1 ** 36 ** D36
case 37: // PC 0 ** 37 ** D37
return PORT_INDEX_PC;
case 38: // PD 7 ** 38 ** D38
return PORT_INDEX_PD;
case 39: // PG 2 ** 39 ** D39
case 40: // PG 1 ** 40 ** D40
case 41: // PG 0 ** 41 ** D41
return PORT_INDEX_PG;
case 42: // PL 7 ** 42 ** D42
case 43: // PL 6 ** 43 ** D43
case 44: // PL 5 ** 44 ** D44
case 45: // PL 4 ** 45 ** D45
case 46: // PL 3 ** 46 ** D46
case 47: // PL 2 ** 47 ** D47
case 48: // PL 1 ** 48 ** D48
case 49: // PL 0 ** 49 ** D49
return PORT_INDEX_PL;
case 50: // PB 3 ** 50 ** SPI_MISO
case 51: // PB 2 ** 51 ** SPI_MOSI
case 52: // PB 1 ** 52 ** SPI_SCK
case 53: // PB 0 ** 53 ** SPI_SS
return PORT_INDEX_PB;
case 54: // PF 0 ** 54 ** A0
case 55: // PF 1 ** 55 ** A1
case 56: // PF 2 ** 56 ** A2
case 57: // PF 3 ** 57 ** A3
case 58: // PF 4 ** 58 ** A4
case 59: // PF 5 ** 59 ** A5
case 60: // PF 6 ** 60 ** A6
case 61: // PF 7 ** 61 ** A7
return PORT_INDEX_PF;
case 62: // PK 0 ** 62 ** A8
case 63: // PK 1 ** 63 ** A9
case 64: // PK 2 ** 64 ** A10
case 65: // PK 3 ** 65 ** A11
case 66: // PK 4 ** 66 ** A12
case 67: // PK 5 ** 67 ** A13
case 68: // PK 6 ** 68 ** A14
case 69: // PK 7 ** 69 ** A15
return PORT_INDEX_PK;
default:
invalidPinSpecified();
}
}
INLINED uint8_t inlined_digitalPinToBitMask(uint8_t pin)
{
switch(pin) {
case 0: return _BV( 0 ); // PE 0 ** 0 ** USART0_RX
case 1: return _BV( 1 ); // PE 1 ** 1 ** USART0_TX
case 2: return _BV( 4 ); // PE 4 ** 2 ** PWM2
case 3: return _BV( 5 ); // PE 5 ** 3 ** PWM3
case 4: return _BV( 5 ); // PG 5 ** 4 ** PWM4
case 5: return _BV( 3 ); // PE 3 ** 5 ** PWM5
case 6: return _BV( 3 ); // PH 3 ** 6 ** PWM6
case 7: return _BV( 4 ); // PH 4 ** 7 ** PWM7
case 8: return _BV( 5 ); // PH 5 ** 8 ** PWM8
case 9: return _BV( 6 ); // PH 6 ** 9 ** PWM9
case 10: return _BV( 4 ); // PB 4 ** 10 ** PWM10
case 11: return _BV( 5 ); // PB 5 ** 11 ** PWM11
case 12: return _BV( 6 ); // PB 6 ** 12 ** PWM12
case 13: return _BV( 7 ); // PB 7 ** 13 ** PWM13
case 14: return _BV( 1 ); // PJ 1 ** 14 ** USART3_TX
case 15: return _BV( 0 ); // PJ 0 ** 15 ** USART3_RX
case 16: return _BV( 1 ); // PH 1 ** 16 ** USART2_TX
case 17: return _BV( 0 ); // PH 0 ** 17 ** USART2_RX
case 18: return _BV( 3 ); // PD 3 ** 18 ** USART1_TX
case 19: return _BV( 2 ); // PD 2 ** 19 ** USART1_RX
case 20: return _BV( 1 ); // PD 1 ** 20 ** I2C_SDA
case 21: return _BV( 0 ); // PD 0 ** 21 ** I2C_SCL
case 22: return _BV( 0 ); // PA 0 ** 22 ** D22
case 23: return _BV( 1 ); // PA 1 ** 23 ** D23
case 24: return _BV( 2 ); // PA 2 ** 24 ** D24
case 25: return _BV( 3 ); // PA 3 ** 25 ** D25
case 26: return _BV( 4 ); // PA 4 ** 26 ** D26
case 27: return _BV( 5 ); // PA 5 ** 27 ** D27
case 28: return _BV( 6 ); // PA 6 ** 28 ** D28
case 29: return _BV( 7 ); // PA 7 ** 29 ** D29
case 30: return _BV( 7 ); // PC 7 ** 30 ** D30
case 31: return _BV( 6 ); // PC 6 ** 31 ** D31
case 32: return _BV( 5 ); // PC 5 ** 32 ** D32
case 33: return _BV( 4 ); // PC 4 ** 33 ** D33
case 34: return _BV( 3 ); // PC 3 ** 34 ** D34
case 35: return _BV( 2 ); // PC 2 ** 35 ** D35
case 36: return _BV( 1 ); // PC 1 ** 36 ** D36
case 37: return _BV( 0 ); // PC 0 ** 37 ** D37
case 38: return _BV( 7 ); // PD 7 ** 38 ** D38
case 39: return _BV( 2 ); // PG 2 ** 39 ** D39
case 40: return _BV( 1 ); // PG 1 ** 40 ** D40
case 41: return _BV( 0 ); // PG 0 ** 41 ** D41
case 42: return _BV( 7 ); // PL 7 ** 42 ** D42
case 43: return _BV( 6 ); // PL 6 ** 43 ** D43
case 44: return _BV( 5 ); // PL 5 ** 44 ** D44
case 45: return _BV( 4 ); // PL 4 ** 45 ** D45
case 46: return _BV( 3 ); // PL 3 ** 46 ** D46
case 47: return _BV( 2 ); // PL 2 ** 47 ** D47
case 48: return _BV( 1 ); // PL 1 ** 48 ** D48
case 49: return _BV( 0 ); // PL 0 ** 49 ** D49
case 50: return _BV( 3 ); // PB 3 ** 50 ** SPI_MISO
case 51: return _BV( 2 ); // PB 2 ** 51 ** SPI_MOSI
case 52: return _BV( 1 ); // PB 1 ** 52 ** SPI_SCK
case 53: return _BV( 0 ); // PB 0 ** 53 ** SPI_SS
case 54: return _BV( 0 ); // PF 0 ** 54 ** A0
case 55: return _BV( 1 ); // PF 1 ** 55 ** A1
case 56: return _BV( 2 ); // PF 2 ** 56 ** A2
case 57: return _BV( 3 ); // PF 3 ** 57 ** A3
case 58: return _BV( 4 ); // PF 4 ** 58 ** A4
case 59: return _BV( 5 ); // PF 5 ** 59 ** A5
case 60: return _BV( 6 ); // PF 6 ** 60 ** A6
case 61: return _BV( 7 ); // PF 7 ** 61 ** A7
case 62: return _BV( 0 ); // PK 0 ** 62 ** A8
case 63: return _BV( 1 ); // PK 1 ** 63 ** A9
case 64: return _BV( 2 ); // PK 2 ** 64 ** A10
case 65: return _BV( 3 ); // PK 3 ** 65 ** A11
case 66: return _BV( 4 ); // PK 4 ** 66 ** A12
case 67: return _BV( 5 ); // PK 5 ** 67 ** A13
case 68: return _BV( 6 ); // PK 6 ** 68 ** A14
case 69: return _BV( 7 ); // PK 7 ** 69 ** A15
default:
// TODO: add error here
invalidPinSpecified();
}
}
INLINED uint8_t inlined_digitalPinToTimer(uint8_t pin)
{
switch(pin) {
case 2: return TIMER3B; // PE 4 ** 2 ** PWM2
case 3: return TIMER3C; // PE 5 ** 3 ** PWM3
case 4: return TIMER0B; // PG 5 ** 4 ** PWM4
case 5: return TIMER3A; // PE 3 ** 5 ** PWM5
case 6: return TIMER4A; // PH 3 ** 6 ** PWM6
case 7: return TIMER4B; // PH 4 ** 7 ** PWM7
case 8: return TIMER4C; // PH 5 ** 8 ** PWM8
case 9: return TIMER2B; // PH 6 ** 9 ** PWM9
case 10: return TIMER2A; // PB 4 ** 10 ** PWM10
case 11: return TIMER1A; // PB 5 ** 11 ** PWM11
case 12: return TIMER1B; // PB 6 ** 12 ** PWM12
case 13: return TIMER0A; // PB 7 ** 13 ** PWM13
case 44: return TIMER5C; // PL 5 ** 44 ** D44
case 45: return TIMER5B; // PL 4 ** 45 ** D45
case 46: return TIMER5A; // PL 3 ** 46 ** D46
default: invalidPinSpecified();
}
}
#else // defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
INLINED volatile uint8_t *inlined_portModeRegister(uint8_t port_index)
{
switch (port_index) {
case 2: return &DDRB;
case 3: return &DDRC;
case 4: return &DDRD;
default: invalidPinSpecified();
}
}
INLINED volatile uint8_t *inlined_portOutputRegister(uint8_t port_index)
{
switch (port_index) {
case 2: return &PORTB;
case 3: return &PORTC;
case 4: return &PORTD;
default: invalidPinSpecified();
}
}
INLINED volatile uint8_t *inlined_portInputRegister(uint8_t port_index)
{
switch (port_index) {
case 2: return &PINB;
case 3: return &PINC;
case 4: return &PIND;
default: invalidPinSpecified();
}
}
INLINED uint8_t inlined_digitalPinToPort(uint8_t pin)
{
switch(pin) {
case 0:
case 1:
case 2:
case 3:
case 4:
case 5:
case 6:
case 7:
return PORT_INDEX_PD;
case 8:
case 9:
case 10:
case 11:
case 12:
case 13:
return PORT_INDEX_PB;
case 14:
case 15:
case 16:
case 17:
case 18:
case 19:
return PORT_INDEX_PC;
default:
invalidPinSpecified();
}
}
INLINED uint8_t inlined_digitalPinToBitMask(uint8_t pin)
{
switch(pin) {
case 0: return _BV(0); /* 0, port D */
case 1: return _BV(1);
case 2: return _BV(2);
case 3: return _BV(3);
case 4: return _BV(4);
case 5: return _BV(5);
case 6: return _BV(6);
case 7: return _BV(7);
case 8: return _BV(0); /* 8, port B */
case 9: return _BV(1);
case 10: return _BV(2);
case 11: return _BV(3);
case 12: return _BV(4);
case 13: return _BV(5);
case 14: return _BV(0); /* 14, port C */
case 15: return _BV(1);
case 16: return _BV(2);
case 17: return _BV(3);
case 18: return _BV(4);
case 19: return _BV(5);
default:
// TODO: throw error here
invalidPinSpecified();
}
}
INLINED uint8_t inlined_digitalPinToTimer(uint8_t pin)
{
switch(pin) {
#if defined(__AVR_ATmega8__)
case 11: return TIMER2;
#else
case 3: return TIMER2B;
case 5: return TIMER0B;
case 6: return TIMER0A;
case 11: return TIMER2A;
#endif
case 9: return TIMER1A;
case 10: return TIMER1B;
default: invalidPinSpecified();
}
}
#endif // defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
// Get the bit location within the hardware port of the given virtual pin.
// This comes from the pins_*.c file for the active board configuration.
//
// These perform slightly better as macros compared to inline functions
//
#define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) )
#define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) )
#define digitalPinToTimer(P) ( pgm_read_byte( digital_pin_to_timer_PGM + (P) ) )
#define analogInPinToBit(P) (P)
#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_output_PGM + (P))) )
#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_input_PGM + (P))) )
#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_mode_PGM + (P))) )
INLINED uint8_t digitalPinToPort(uint8_t pin) {
if (__builtin_constant_p(pin))
return inlined_digitalPinToPort(pin);
else
return pgm_read_byte( digital_pin_to_port_PGM + pin );
}
INLINED uint8_t digitalPinToBitMask(uint8_t pin) {
if (__builtin_constant_p(pin))
return inlined_digitalPinToBitMask(pin);
else
return pgm_read_byte( digital_pin_to_bit_mask_PGM + pin );
}
INLINED uint8_t digitalPinToTimer(uint8_t pin) {
if (__builtin_constant_p(pin))
return inlined_digitalPinToTimer(pin);
else
return pgm_read_byte( digital_pin_to_timer_PGM + pin );
}
INLINED volatile uint8_t *portOutputRegister(uint8_t index) {
if (__builtin_constant_p(index))
return inlined_portOutputRegister(index);
else
return (volatile uint8_t *)( pgm_read_word( port_to_output_PGM + index ) );
}
INLINED volatile uint8_t* portInputRegister(uint8_t index) {
if (__builtin_constant_p(index))
return inlined_portInputRegister(index);
else
return (volatile uint8_t *)( pgm_read_word( port_to_input_PGM + index) );
}
INLINED volatile uint8_t* portModeRegister(uint8_t index) {
if (__builtin_constant_p(index))
return inlined_portModeRegister(index);
else
return (volatile uint8_t *)( pgm_read_word( port_to_mode_PGM + index) );
}
#endif

73
hardware/arduino/cores/arduino/wiring.h
View File

@ -26,8 +26,10 @@
#define Wiring_h
#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdlib.h>
#include "binary.h"
#include "pins_arduino.h"
#ifdef __cplusplus
extern "C"{
@ -106,9 +108,9 @@ typedef uint8_t byte;
void init(void);
void pinMode(uint8_t, uint8_t);
void digitalWrite(uint8_t, uint8_t);
int digitalRead(uint8_t);
void pinMode_lookup(uint8_t, uint8_t);
void digitalWrite_lookup(uint8_t, uint8_t);
int digitalRead_lookup(uint8_t);
int analogRead(uint8_t);
void analogReference(uint8_t mode);
void analogWrite(uint8_t, int);
@ -128,6 +130,71 @@ void detachInterrupt(uint8_t);
void setup(void);
void loop(void);
/*
* Check if a given pin requires locking.
* When accessing lower 32 IO ports we can use SBI/CBI instructions, which are atomic. However
* other IO ports require load+modify+store and we need to make them atomic by disabling
* interrupts.
*/
INLINED int portWriteNeedsLocking(uint8_t pin)
{
/* SBI/CBI instructions only work on lower 32 IO ports */
if (inlined_portOutputRegister(inlined_digitalPinToPort(pin)) > (volatile uint8_t*)&_SFR_IO8(0x1F)) {
return 1;
}
return 0;
}
/*
* These functions will perform OR/AND on a given register, and are atomic.
*/
extern void __digitalWriteOR_locked(volatile uint8_t*out, uint8_t bit);
extern void __digitalWriteAND_locked(volatile uint8_t*out, uint8_t bit);
INLINED void digitalWrite(uint8_t pin, uint8_t value)
{
if (__builtin_constant_p(pin)) {
if (portWriteNeedsLocking(pin)) {
if (value==LOW) {
__digitalWriteAND_locked(inlined_portOutputRegister(inlined_digitalPinToPort(pin)),~inlined_digitalPinToBitMask(pin));
} else {
__digitalWriteOR_locked(inlined_portOutputRegister(inlined_digitalPinToPort(pin)),inlined_digitalPinToBitMask(pin));
}
} else {
if (value==LOW) {
*inlined_portOutputRegister(inlined_digitalPinToPort(pin)) &= ~(inlined_digitalPinToBitMask(pin));
} else {
*inlined_portOutputRegister(inlined_digitalPinToPort(pin)) |= inlined_digitalPinToBitMask(pin);
}
}
} else {
digitalWrite_lookup(pin,value);
}
}
INLINED void pinMode(uint8_t pin, uint8_t mode)
{
if (__builtin_constant_p(pin)) {
if (mode==INPUT) {
*inlined_portModeRegister(inlined_digitalPinToPort(pin)) &= ~(inlined_digitalPinToBitMask(pin));
} else {
*inlined_portModeRegister(inlined_digitalPinToPort(pin)) |= inlined_digitalPinToBitMask(pin);
}
} else {
pinMode_lookup(pin,mode);
}
}
INLINED int digitalRead(uint8_t pin)
{
if (__builtin_constant_p(pin)) {
return !! *inlined_portInputRegister(inlined_digitalPinToPort(pin));
} else {
return digitalRead_lookup(pin);
}
}
#ifdef __cplusplus
} // extern "C"
#endif

33
hardware/arduino/cores/arduino/wiring_digital.c
View File

@ -27,7 +27,7 @@
#include "wiring_private.h"
#include "pins_arduino.h"
void pinMode(uint8_t pin, uint8_t mode)
void pinMode_lookup(uint8_t pin, uint8_t mode)
{
uint8_t bit = digitalPinToBitMask(pin);
uint8_t port = digitalPinToPort(pin);
@ -121,7 +121,23 @@ static void turnOffPWM(uint8_t timer)
}
}
void digitalWrite(uint8_t pin, uint8_t val)
void __digitalWriteOR_locked(volatile uint8_t*out, uint8_t bit)
{
uint8_t oldSREG = SREG;
cli();
*out |= bit;
SREG=oldSREG;
}
void __digitalWriteAND_locked(volatile uint8_t*out, uint8_t bit)
{
uint8_t oldSREG = SREG;
cli();
*out &= bit; // NOTE - no inversion here, invert before calling!!!
SREG=oldSREG;
}
void digitalWrite_lookup(uint8_t pin, uint8_t val)
{
uint8_t timer = digitalPinToTimer(pin);
uint8_t bit = digitalPinToBitMask(pin);
@ -136,20 +152,19 @@ void digitalWrite(uint8_t pin, uint8_t val)
out = portOutputRegister(port);
uint8_t oldSREG = SREG;
cli();
if (val == LOW) {
uint8_t oldSREG = SREG;
cli();
*out &= ~bit;
SREG = oldSREG;
} else {
uint8_t oldSREG = SREG;
cli();
*out |= bit;
SREG = oldSREG;
}
SREG = oldSREG;
}
int digitalRead(uint8_t pin)
int digitalRead_lookup(uint8_t pin)
{
uint8_t timer = digitalPinToTimer(pin);
uint8_t bit = digitalPinToBitMask(pin);