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[2.0.x] AVR: Atomic bit set and clear of upper pin ports without critical section (#10502) 

* AVR: Atomic bit set and clear

The critical section can be dropped, saving 3 cycles per access. Also simplified pin toggling for all ports.
Eduardo José Tagle 6 년 전
부모
02a711c4d6
커밋
c1e5ebbc1e
4개의 변경된 파일과 113개의 추가작업 그리고 108개의 파일을 삭제
분할 보기 변경상태 보기
  1. 27
    33
      Marlin/src/HAL/HAL_AVR/fastio_AVR.h
  2. 47
    45
      Marlin/src/HAL/HAL_DUE/fastio_Due.h
  3. 7
    6
      Marlin/src/HAL/HAL_STM32F1/fastio_Stm32f1.h
  4. 32
    24
      Marlin/src/HAL/HAL_TEENSY35_36/fastio_Teensy.h

+ 27
- 33
Marlin/src/HAL/HAL_AVR/fastio_AVR.h 파일 보기 

@@ -63,49 +63,43 @@
63 63 
  * Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
64 64 
  */
65 65
66 
-#define _READ(IO) ((bool)(DIO ## IO ## _RPORT & _BV(DIO ## IO ## _PIN)))
66 
+#define _READ(IO)             TEST(DIO ## IO ## _RPORT, DIO ## IO ## _PIN)
67 67
68 
-// On some boards pins > 0x100 are used. These are not converted to atomic actions. A critical section is needed.
68 
+#define _WRITE_NC(IO,V) do{ \
69 
+  if (V) SBI(DIO ## IO ## _WPORT, DIO ## IO ## _PIN); \
70 
+  else   CBI(DIO ## IO ## _WPORT, DIO ## IO ## _PIN); \
71 
+}while(0)
69 72
70 
-#define _WRITE_NC(IO, v)  do { if (v) {DIO ##  IO ## _WPORT |= _BV(DIO ## IO ## _PIN); } else {DIO ##  IO ## _WPORT &= ~_BV(DIO ## IO ## _PIN); }; } while (0)
73 
+#define _WRITE_C(IO,V) do{ \
74 
+  uint8_t port_bits = DIO ## IO ## _WPORT;                  /* Get a mask from the current port bits */ \
75 
+  if (V) port_bits = ~port_bits;                            /* For setting bits, invert the mask */ \
76 
+  DIO ## IO ## _RPORT = port_bits & _BV(DIO ## IO ## _PIN); /* Atomically toggle the output port bits */ \
77 
+}while(0)
71 78
72 
-#define _WRITE_C(IO, v)   do { if (v) { \
73 
-                                         CRITICAL_SECTION_START; \
74 
-                                         {DIO ##  IO ## _WPORT |= _BV(DIO ## IO ## _PIN); } \
75 
-                                         CRITICAL_SECTION_END; \
76 
-                                       } \
77 
-                                       else { \
78 
-                                         CRITICAL_SECTION_START; \
79 
-                                         {DIO ##  IO ## _WPORT &= ~_BV(DIO ## IO ## _PIN); } \
80 
-                                         CRITICAL_SECTION_END; \
81 
-                                       } \
82 
-                                     } \
83 
-                                     while (0)
79 
+#define _WRITE(IO,V)          do{ if (&(DIO ## IO ## _RPORT) < (uint8_t*)0x100) _WRITE_NC(IO,V); else _WRITE_C(IO,V); }while(0)
84 80
85 
-#define _WRITE(IO, v) do { if (&(DIO ## IO ## _RPORT) >= (uint8_t *)0x100) {_WRITE_C(IO, v); } else {_WRITE_NC(IO, v); }; } while (0)
81 
+#define _TOGGLE(IO)           (DIO ## IO ## _RPORT = _BV(DIO ## IO ## _PIN))
86 82
87 
-#define _TOGGLE(IO) do {DIO ## IO ## _RPORT ^= _BV(DIO ## IO ## _PIN); } while (0)
83 
+#define _SET_INPUT(IO)        CBI(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
84 
+#define _SET_OUTPUT(IO)       SBI(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
88 85
89 
-#define _SET_INPUT(IO) do {DIO ## IO ## _DDR &= ~_BV(DIO ## IO ## _PIN); } while (0)
90 
-#define _SET_OUTPUT(IO) do {DIO ## IO ## _DDR |= _BV(DIO ## IO ## _PIN); } while (0)
86 
+#define _GET_INPUT(IO)       !TEST(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
87 
+#define _GET_OUTPUT(IO)       TEST(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
88 
+#define _GET_TIMER(IO)        DIO ## IO ## _PWM
91 89
92 
-#define _GET_INPUT(IO) ((DIO ## IO ## _DDR & _BV(DIO ## IO ## _PIN)) == 0)
93 
-#define _GET_OUTPUT(IO) ((DIO ## IO ## _DDR & _BV(DIO ## IO ## _PIN)) != 0)
94 
-#define _GET_TIMER(IO) (DIO ## IO ## _PWM)
90 
+#define READ(IO)              _READ(IO)
91 
+#define WRITE(IO,V)           _WRITE(IO,V)
92 
+#define TOGGLE(IO)            _TOGGLE(IO)
95 93
96 
-#define READ(IO) _READ(IO)
97 
-#define WRITE(IO,V) _WRITE(IO,V)
98 
-#define TOGGLE(IO) _TOGGLE(IO)
94 
+#define SET_INPUT(IO)         _SET_INPUT(IO)
95 
+#define SET_INPUT_PULLUP(IO)  do{ _SET_INPUT(IO); _WRITE(IO, HIGH); }while(0)
96 
+#define SET_OUTPUT(IO)        _SET_OUTPUT(IO)
99 97
100 
-#define SET_INPUT(IO) _SET_INPUT(IO)
101 
-#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _WRITE(IO, HIGH); }while(0)
102 
-#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
98 
+#define GET_INPUT(IO)         _GET_INPUT(IO)
99 
+#define GET_OUTPUT(IO)        _GET_OUTPUT(IO)
100 
+#define GET_TIMER(IO)         _GET_TIMER(IO)
103 101
104 
-#define GET_INPUT(IO) _GET_INPUT(IO)
105 
-#define GET_OUTPUT(IO) _GET_OUTPUT(IO)
106 
-#define GET_TIMER(IO) _GET_TIMER(IO)
107 
-
108 
-#define OUT_WRITE(IO, v) do{ SET_OUTPUT(IO); WRITE(IO, v); }while(0)
102 
+#define OUT_WRITE(IO,V)       do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0)
109 103
110 104 
 /**
111 105 
  * Timer and Interrupt Control

+ 47
- 45
Marlin/src/HAL/HAL_DUE/fastio_Due.h 파일 보기 

@@ -48,7 +48,7 @@
48 48 
 #define USEABLE_HARDWARE_PWM(p) ((2 <= p) && (p <= 13))
49 49
50 50 
 #ifndef MASK
51 
-  #define MASK(PIN)  (1 << PIN)
51 
+  #define MASK(PIN) (1 << PIN)
52 52 
 #endif
53 53
54 54 
 /**
 
@@ -59,76 +59,78 @@
59 59 
  * Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
60 60 
  */
61 61
62 
-/// Read a pin
63 
-#define _READ(IO) ((bool)(DIO ## IO ## _WPORT -> PIO_PDSR & (MASK(DIO ## IO ## _PIN))))
62 
+// Read a pin
63 
+#define _READ(IO) bool(DIO ## IO ## _WPORT -> PIO_PDSR & MASK(DIO ## IO ## _PIN))
64 64
65 
-/// Write to a pin
66 
-#define _WRITE_VAR(IO, v)  do { \
65 
+// Write to a pin
66 
+#define _WRITE_VAR(IO,V) do { \
67 67 
   volatile Pio* port = g_APinDescription[IO].pPort; \
68 68 
   uint32_t mask = g_APinDescription[IO].ulPin; \
69 
-  if (v) port->PIO_SODR = mask; \
69 
+  if (V) port->PIO_SODR = mask; \
70 70 
   else port->PIO_CODR = mask; \
71 71 
 } while(0)
72 72
73 
-/// Write to a pin
74 
-#define _WRITE(IO, v) do { \
73 
+// Write to a pin
74 
+#define _WRITE(IO,V) do { \
75 75 
   volatile Pio* port = (DIO ##  IO ## _WPORT); \
76 76 
   uint32_t mask = MASK(DIO ## IO ## _PIN); \
77 
-  if (v) port->PIO_SODR = mask; \
77 
+  if (V) port->PIO_SODR = mask; \
78 78 
   else port->PIO_CODR = mask; \
79 79 
 } while(0)
80 80
81 
-/// toggle a pin
82 
-#define _TOGGLE(IO)  _WRITE(IO, !READ(IO))
81 
+// toggle a pin
82 
+#define _TOGGLE(IO) _WRITE(IO, !READ(IO))
83 83
84 
-/// set pin as input
85 
-#define _SET_INPUT(IO)  do{ pmc_enable_periph_clk(g_APinDescription[IO].ulPeripheralId); \
86 
-                            PIO_Configure(g_APinDescription[IO].pPort, PIO_INPUT, g_APinDescription[IO].ulPin, 0); \
87 
-                        }while(0)
88 
-/// set pin as output
89 
-#define _SET_OUTPUT(IO) do{ pmc_enable_periph_clk(g_APinDescription[IO].ulPeripheralId); \
90 
-                            PIO_Configure(g_APinDescription[IO].pPort, _READ(IO) ? PIO_OUTPUT_1 : PIO_OUTPUT_0, \
91 
-                                          g_APinDescription[IO].ulPin, g_APinDescription[IO].ulPinConfiguration); \
92 
-                            g_pinStatus[IO] = (g_pinStatus[IO] & 0xF0) | PIN_STATUS_DIGITAL_OUTPUT;\
93 
-                        }while(0)
84 
+// set pin as input
85 
+#define _SET_INPUT(IO) do{ \
86 
+  pmc_enable_periph_clk(g_APinDescription[IO].ulPeripheralId); \
87 
+  PIO_Configure(g_APinDescription[IO].pPort, PIO_INPUT, g_APinDescription[IO].ulPin, 0); \
88 
+}while(0)
94 89
95 
-/// set pin as input with pullup mode
96 
-#define _PULLUP(IO, v)  { pinMode(IO, v != LOW ? INPUT_PULLUP : INPUT); }
90 
+// set pin as output
91 
+#define _SET_OUTPUT(IO) do{ \
92 
+  pmc_enable_periph_clk(g_APinDescription[IO].ulPeripheralId); \
93 
+  PIO_Configure(g_APinDescription[IO].pPort, _READ(IO) ? PIO_OUTPUT_1 : PIO_OUTPUT_0, g_APinDescription[IO].ulPin, g_APinDescription[IO].ulPinConfiguration); \
94 
+  g_pinStatus[IO] = (g_pinStatus[IO] & 0xF0) | PIN_STATUS_DIGITAL_OUTPUT;\
95 
+}while(0)
97 96
98 
-/// check if pin is an input
97 
+// set pin as input with pullup mode
98 
+#define _PULLUP(IO,V) pinMode(IO, (V) ? INPUT_PULLUP : INPUT)
99 
+
100 
+// check if pin is an input
99 101 
 #define _GET_INPUT(IO)
100 
-/// check if pin is an output
102 
+// check if pin is an output
101 103 
 #define _GET_OUTPUT(IO)
102 104
103 
-/// check if pin is a timer
105 
+// check if pin is a timer
104 106 
 #define _GET_TIMER(IO)
105 107
106 
-/// Read a pin wrapper
107 
-#define READ(IO)  _READ(IO)
108 
+// Read a pin wrapper
109 
+#define READ(IO) _READ(IO)
108 110
109 
-/// Write to a pin wrapper
110 
-#define WRITE_VAR(IO, v)  _WRITE_VAR(IO, v)
111 
-#define WRITE(IO, v)  _WRITE(IO, v)
111 
+// Write to a pin wrapper
112 
+#define WRITE_VAR(IO,V) _WRITE_VAR(IO,V)
113 
+#define WRITE(IO,V) _WRITE(IO,V)
112 114
113 
-/// toggle a pin wrapper
114 
-#define TOGGLE(IO)  _TOGGLE(IO)
115 
+// toggle a pin wrapper
116 
+#define TOGGLE(IO) _TOGGLE(IO)
115 117
116 
-/// set pin as input wrapper
117 
-#define SET_INPUT(IO)  _SET_INPUT(IO)
118 
-/// set pin as input with pullup wrapper
118 
+// set pin as input wrapper
119 
+#define SET_INPUT(IO) _SET_INPUT(IO)
120 
+// set pin as input with pullup wrapper
119 121 
 #define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0)
120 
-/// set pin as output wrapper -  reads the pin and sets the output to that value
121 
-#define SET_OUTPUT(IO)  _SET_OUTPUT(IO)
122 
-/// check if pin is an input wrapper
123 
-#define GET_INPUT(IO)  _GET_INPUT(IO)
124 
-/// check if pin is an output wrapper
125 
-#define GET_OUTPUT(IO)  _GET_OUTPUT(IO)
122 
+// set pin as output wrapper -  reads the pin and sets the output to that value
123 
+#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
124 
+// check if pin is an input wrapper
125 
+#define GET_INPUT(IO) _GET_INPUT(IO)
126 
+// check if pin is an output wrapper
127 
+#define GET_OUTPUT(IO) _GET_OUTPUT(IO)
126 128
127 
-/// check if pin is a timer (wrapper)
128 
-#define GET_TIMER(IO)  _GET_TIMER(IO)
129 
+// check if pin is a timer (wrapper)
130 
+#define GET_TIMER(IO) _GET_TIMER(IO)
129 131
130 132 
 // Shorthand
131 
-#define OUT_WRITE(IO, v) { SET_OUTPUT(IO); WRITE(IO, v); }
133 
+#define OUT_WRITE(IO,V) { SET_OUTPUT(IO); WRITE(IO,V); }
132 134
133 135 
 /**
134 136 
  * Ports and functions

+ 7
- 6
Marlin/src/HAL/HAL_STM32F1/fastio_Stm32f1.h 파일 보기 

@@ -32,23 +32,24 @@
32 32 
 #include <libmaple/gpio.h>
33 33
34 34 
 #define READ(IO)              (PIN_MAP[IO].gpio_device->regs->IDR & (1U << PIN_MAP[IO].gpio_bit) ? HIGH : LOW)
35 
-#define WRITE(IO, v)          (PIN_MAP[IO].gpio_device->regs->BSRR = (1U << PIN_MAP[IO].gpio_bit) << (16 * !(bool)v))
35 
+#define WRITE(IO,V)           (PIN_MAP[IO].gpio_device->regs->BSRR = (1U << PIN_MAP[IO].gpio_bit) << (16 * !(bool)v))
36 36 
 #define TOGGLE(IO)            (PIN_MAP[IO].gpio_device->regs->ODR = PIN_MAP[IO].gpio_device->regs->ODR ^ (1U << PIN_MAP[IO].gpio_bit))
37 
-#define WRITE_VAR(IO, v)      WRITE(io, v)
37 
+#define WRITE_VAR(IO,V)       WRITE(io,V)
38 38
39 
-#define _GET_MODE(IO)         (gpio_get_mode(PIN_MAP[IO].gpio_device, PIN_MAP[IO].gpio_bit))
40 
-#define _SET_MODE(IO,M)       do{ gpio_set_mode(PIN_MAP[IO].gpio_device, PIN_MAP[IO].gpio_bit, M); } while (0)
39 
+#define _GET_MODE(IO)         gpio_get_mode(PIN_MAP[IO].gpio_device, PIN_MAP[IO].gpio_bit)
40 
+#define _SET_MODE(IO,M)       gpio_set_mode(PIN_MAP[IO].gpio_device, PIN_MAP[IO].gpio_bit, M)
41 41 
 #define _SET_OUTPUT(IO)       _SET_MODE(IO, GPIO_OUTPUT_PP)
42 42
43 
+#define OUT_WRITE(IO,V)       do{ _SET_OUTPUT(IO); WRITE(IO,V); }while(0)
44 
+
43 45 
 #define SET_INPUT(IO)         _SET_MODE(IO, GPIO_INPUT_FLOATING)
44 46 
 #define SET_INPUT_PULLUP(IO)  _SET_MODE(IO, GPIO_INPUT_PU)
45 
-#define SET_OUTPUT(IO)        do{ _SET_OUTPUT(IO); WRITE(IO, LOW); }while(0)
47 
+#define SET_OUTPUT(IO)        OUT_WRITE(IO,LOW)
46 48
47 49 
 #define GET_INPUT(IO)         (_GET_MODE(IO) == GPIO_INPUT_FLOATING || _GET_MODE(IO) == GPIO_INPUT_ANALOG || _GET_MODE(IO) == GPIO_INPUT_PU || _GET_MODE(IO) == GPIO_INPUT_PD)
48 50 
 #define GET_OUTPUT(IO)        (_GET_MODE(IO) == GPIO_OUTPUT_PP)
49 51 
 #define GET_TIMER(IO)         (PIN_MAP[IO].timer_device != NULL)
50 52
51 
-#define OUT_WRITE(IO, v)      { _SET_OUTPUT(IO); WRITE(IO, v); }
52 53 
 /**
53 54 
  * TODO: Write a macro to test if PIN is PWM or not.
54 55 
  */

+ 32
- 24
Marlin/src/HAL/HAL_TEENSY35_36/fastio_Teensy.h 파일 보기 

@@ -30,7 +30,7 @@
30 30 
 #define _FASTIO_TEENSY_H
31 31
32 32 
 #ifndef MASK
33 
-  #define MASK(PIN)  (1 << PIN)
33 
+  #define MASK(PIN) (1 << PIN)
34 34 
 #endif
35 35
36 36 
 #define GPIO_BITBAND_ADDR(reg, bit) (((uint32_t)&(reg) - 0x40000000) * 32 + (bit) * 4 + 0x42000000)
 
@@ -44,38 +44,46 @@
44 44 
  * Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
45 45 
  */
46 46
47 
-#define _READ(p) ((bool)(CORE_PIN ## p ## _PINREG & CORE_PIN ## p ## _BITMASK))
48 
-#define _WRITE(p, v) do { if (v) CORE_PIN ## p ## _PORTSET = CORE_PIN ## p ## _BITMASK; \
49 
-                            else CORE_PIN ## p ## _PORTCLEAR = CORE_PIN ## p ## _BITMASK; } while (0)
50 
-#define _TOGGLE(p)  (*(&(CORE_PIN ## p ## _PORTCLEAR)+1) = CORE_PIN ## p ## _BITMASK)
51 
-#define _SET_INPUT(p)   do { CORE_PIN ## p ## _CONFIG = PORT_PCR_MUX(1); \
52 
-                          GPIO_BITBAND(CORE_PIN ## p ## _DDRREG , CORE_PIN ## p ## _BIT) = 0; \
53 
-                          } while (0)
54 
-#define _SET_OUTPUT(p)  do { CORE_PIN ## p ## _CONFIG = PORT_PCR_MUX(1)|PORT_PCR_SRE|PORT_PCR_DSE; \
55 
-                          GPIO_BITBAND(CORE_PIN ## p ## _DDRREG , CORE_PIN ## p ## _BIT) = 1; \
56 
-                          } while (0)
47 
+#define _READ(p) bool(CORE_PIN ## p ## _PINREG & CORE_PIN ## p ## _BITMASK)
57 48
58 
-//#define _PULLUP(IO, v)  { pinMode(IO, (v!=LOW ? INPUT_PULLUP : INPUT)); }
49 
+#define _WRITE(P,V) do{ \
50 
+  if (V) CORE_PIN ## P ## _PORTSET = CORE_PIN ## P ## _BITMASK; \
51 
+  else CORE_PIN ## P ## _PORTCLEAR = CORE_PIN ## P ## _BITMASK; \
52 
+}while(0)
59 53
60 
-#define _GET_INPUT(p)   ((CORE_PIN ## p ## _DDRREG & CORE_PIN ## p ## _BITMASK) == 0)
61 
-#define _GET_OUTPUT(p)  ((CORE_PIN ## p ## _DDRREG & CORE_PIN ## p ## _BITMASK) == 0)
54 
+#define _TOGGLE(P) (*(&(CORE_PIN ## P ## _PORTCLEAR)+1) = CORE_PIN ## P ## _BITMASK)
55 
+
56 
+#define _SET_INPUT(P) do{ \
57 
+  CORE_PIN ## P ## _CONFIG = PORT_PCR_MUX(1); \
58 
+  GPIO_BITBAND(CORE_PIN ## P ## _DDRREG , CORE_PIN ## P ## _BIT) = 0; \
59 
+}while(0)
60 
+
61 
+#define _SET_OUTPUT(P) do{ \
62 
+  CORE_PIN ## P ## _CONFIG = PORT_PCR_MUX(1)|PORT_PCR_SRE|PORT_PCR_DSE; \
63 
+  GPIO_BITBAND(CORE_PIN ## P ## _DDRREG , CORE_PIN ## P ## _BIT) = 1; \
64 
+}while(0)
65 
+
66 
+//#define _PULLUP(IO,V)  { pinMode(IO, (v!=LOW ? INPUT_PULLUP : INPUT)); }
67 
+
68 
+#define _GET_INPUT(P)   ((CORE_PIN ## P ## _DDRREG & CORE_PIN ## P ## _BITMASK) == 0)
69 
+#define _GET_OUTPUT(P)  ((CORE_PIN ## P ## _DDRREG & CORE_PIN ## P ## _BITMASK) == 0)
62 70
63 71 
 //#define _GET_TIMER(IO)
64 72
65 
-#define READ(IO)  _READ(IO)
73 
+#define READ(IO)              _READ(IO)
66 74
67 
-#define WRITE_VAR(IO, v)  _WRITE_VAR(IO, v)
68 
-#define WRITE(IO, v)  _WRITE(IO, v)
69 
-#define TOGGLE(IO)  _TOGGLE(IO)
75 
+#define WRITE_VAR(IO,V)       _WRITE_VAR(IO,V)
76 
+#define WRITE(IO,V)           _WRITE(IO,V)
77 
+#define TOGGLE(IO)            _TOGGLE(IO)
70 78
71 
-#define SET_INPUT(IO)  _SET_INPUT(IO)
72 
-#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _WRITE(IO, HIGH); }while(0)
73 
-#define SET_OUTPUT(IO)  _SET_OUTPUT(IO)
79 
+#define SET_INPUT(IO)         _SET_INPUT(IO)
80 
+#define SET_INPUT_PULLUP(IO)  do{ _SET_INPUT(IO); _WRITE(IO,HIGH); }while(0)
81 
+#define SET_OUTPUT(IO)        _SET_OUTPUT(IO)
74 82
75 
-#define GET_INPUT(IO)  _GET_INPUT(IO)
76 
-#define GET_OUTPUT(IO)  _GET_OUTPUT(IO)
83 
+#define GET_INPUT(IO)         _GET_INPUT(IO)
84 
+#define GET_OUTPUT(IO)        _GET_OUTPUT(IO)
77 85
78 
-#define OUT_WRITE(IO, v) { SET_OUTPUT(IO); WRITE(IO, v); }
86 
+#define OUT_WRITE(IO,V)       do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0)
79 87
80 88 
 /**
81 89 
  * Ports, functions, and pins

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