From 5e75e06e6a3e64c349957337611ab1d3adb1147e Mon Sep 17 00:00:00 2001 From: Michael Hayes Date: Fri, 2 Sep 2011 06:11:03 +0000 Subject: [PATCH] Use even faster and smaller PIO implemenation and add delay navswitch to fix read --- drivers/avr/pio.h | 14 +++--- drivers/navswitch.c | 9 +++- drivers/test/pio.c | 120 +++++++++++++++++++++++++++++++++++++++++++- drivers/test/pio.h | 107 +++++++++++++++++++++++---------------- 4 files changed, 196 insertions(+), 54 deletions(-) diff --git a/drivers/avr/pio.h b/drivers/avr/pio.h index f3a387c..29fd287 100644 --- a/drivers/avr/pio.h +++ b/drivers/avr/pio.h @@ -69,25 +69,25 @@ typedef enum pio_config_enum /** Define a PIO as a unique 16 bit number encoding the low part of - the PORT address in the low byte and the bit mask in the high - byte. PORTB is used for the pattern since PORTA is not always - defined for some AVRs. */ -#define PIO_DEFINE(PORT, PORTBIT) (((((PORT) - PORT_B) * 3 + (uint16_t) (&PORTB)) & 0xff) + (BIT(PORTBIT) << 8)) + the PORT address offset in the low byte and the bit mask in the + high byte. PORTB is used for the pattern since PORTA is not + always defined for some AVRs. */ +#define PIO_DEFINE(PORT, PORTBIT) ((((PORT) - PORT_B) * 3) | (BIT(PORTBIT) << 8)) /** Private macro to lookup bitmask. */ -#define PIO_BITMASK_(pio) (pio >> 8) +#define PIO_BITMASK_(PIO) ((PIO) >> 8) /** Private macro to lookup port register. */ -#define PIO_PORT_(pio) ((pio_port_t)(pio & 0xff)) +#define PIO_PORT_(PIO) (&PORTB + ((PIO) & 0xff)) /** Private macro to map a pio to its corresponding data direction register (DDR). NB, the DDR and PORT registers must be separated by the same number of bytes in all cases. PORTB is used for the pattern since PORTA is not always defined for some AVRs. */ -#define PIO_DDR_(pio) (*(PIO_PORT_ (pio) + (&DDRB - &PORTB))) +#define PIO_DDR_(PIO) (*(PIO_PORT_ (PIO) + (&DDRB - &PORTB))) /** Private macro to map a pio to its input register (PIN). NB, the PIN and PORT registers must be separated by the same number of diff --git a/drivers/navswitch.c b/drivers/navswitch.c index 2780cf7..723eef0 100644 --- a/drivers/navswitch.c +++ b/drivers/navswitch.c @@ -123,6 +123,13 @@ navswitch_update (void) /* Switch PIO to an input to read switch. */ pio_config_set (navswitch_cfg[i].pio, PIO_PULLUP); + + /* I'm unsure why this is needed. It wasn't required for the + slightly slower PIO implementation. There may be a minimum + number of CPU clock cycles for the synchronising flip flops + to propagate the input state? */ + DELAY_US (1.0); + navswitch_state[i].current = pio_input_get (navswitch_cfg[i].pio) == 0; /* Restore PIO state. */ @@ -136,5 +143,3 @@ void navswitch_init (void) { /* Nothing to do since we configure PIOs when polling the switch. */ } - - diff --git a/drivers/test/pio.c b/drivers/test/pio.c index f5d1115..c183d8f 100644 --- a/drivers/test/pio.c +++ b/drivers/test/pio.c @@ -2,6 +2,122 @@ @author M. P. Hayes, UCECE @date 11 Jan 2006 @brief PIO hardware abstraction for AVR microcontroller. - @note This implementation is empty; inline functions are used - in pio.h instead for performance. + @note Inline functions are used in pio.h instead for performance. */ +#include "system.h" +#include "pio.h" + +#ifdef DEBUG + +/** Configure pio. + @param pio PIO to configure + @param config PIO configuration type + @return non-zero for success. */ +bool pio_config_set (pio_t pio, pio_config_t config) +{ + switch (config) + { + case PIO_OUTPUT_LOW: + PIO_DATA_ (pio) &= ~PIO_BITMASK_ (pio); + PIO_DDR_ (pio) |= PIO_BITMASK_ (pio); + return 1; + + case PIO_OUTPUT_HIGH: + PIO_DATA_ (pio) |= PIO_BITMASK_ (pio); + PIO_DDR_ (pio) |= PIO_BITMASK_ (pio); + return 1; + + case PIO_INPUT: + PIO_DDR_ (pio) &= ~PIO_BITMASK_ (pio); + PIO_DATA_ (pio) &= ~PIO_BITMASK_ (pio); + return 1; + + case PIO_PULLUP: + PIO_DDR_ (pio) &= ~PIO_BITMASK_ (pio); + PIO_DATA_ (pio) |= PIO_BITMASK_ (pio); + return 1; + + default: + return 0; + } +} + + +/** Return pio configuration + @param pio + @return config */ +pio_config_t pio_config_get (pio_t pio) +{ + bool ddr; + bool port; + + ddr = PIO_DDR_ (pio) & PIO_BITMASK_ (pio); + port = PIO_DATA_ (pio) & PIO_BITMASK_ (pio); + + if (ddr) + { + if (port) + return PIO_OUTPUT_HIGH; + else + return PIO_OUTPUT_LOW; + } + + if (port) + return PIO_PULLUP; + + return PIO_INPUT; +} + + + +/** Set pio high. + @param pio */ +void pio_output_high (pio_t pio) +{ + PIO_DATA_ (pio) |= PIO_BITMASK_ (pio); +} + + +/** Set pio low. + @param pio */ +void pio_output_low (pio_t pio) +{ + PIO_DATA_ (pio) &= ~PIO_BITMASK_ (pio); +} + + +/** Toggle pio. + @param pio */ +void pio_output_toggle (pio_t pio) +{ + PIO_DATA_ (pio) ^= PIO_BITMASK_ (pio); +} + + +/** Read input state from pio. + @param pio + @return input state of pio */ +bool pio_input_get (pio_t pio) +{ + return (PIO_PIN_ (pio) & PIO_BITMASK_ (pio)) != 0; +} + + +/** Get output state of pio. + @param pio + @return output state of pio */ +bool pio_output_get (pio_t pio) +{ + return (PIO_DATA_ (pio) & PIO_BITMASK_ (pio)) != 0; +} + + +/** Set pio to desired state. + @param pio + @param state value to write pio */ +void pio_output_set (pio_t pio, bool state) +{ + state ? pio_output_high (pio) : pio_output_low (pio); +} + +#endif diff --git a/drivers/test/pio.h b/drivers/test/pio.h index b9b2d63..330f072 100644 --- a/drivers/test/pio.h +++ b/drivers/test/pio.h @@ -39,44 +39,11 @@ /** Define port names, note not all the ports are available on some AVRs. */ -#ifdef PORTA -#define PORT_A &PORTA -#endif - -#ifdef PORTB -#define PORT_B &PORTB -#endif - -#ifdef PORTC -#define PORT_C &PORTC -#endif - -#ifdef PORTD -#define PORT_D &PORTD -#endif - -#ifdef PORTE -#define PORT_E &PORTE -#endif - -#ifdef PORTF -#define PORT_F &PORTF -#endif - -#ifdef PORTG -#define PORT_G &PORTG -#endif - +enum {PORT_A, PORT_B, PORT_C, PORT_D, PORT_E, PORT_F, PORT_G}; typedef volatile uint8_t *pio_port_t; typedef uint8_t pio_mask_t; - - -typedef struct -{ - pio_port_t port; - pio_mask_t bitmask; -} pio_t; +typedef uint16_t pio_t; /** Define PIO pin types. The two flavours of PIO_OUTPUT are to @@ -99,24 +66,26 @@ typedef enum pio_config_enum */ -/** Define a PIO as a compound literal structure in terms of a port and - a bitmask. */ -#define PIO_DEFINE(PORT, PORTBIT) (pio_t){.port = PORT, .bitmask = BIT (PORTBIT)} +/** Define a PIO as a unique 16 bit number encoding the low part of + the PORT address in the low byte and the bit mask in the high + byte. PORTB is used for the pattern since PORTA is not always + defined for some AVRs. */ +#define PIO_DEFINE(PORT, PORTBIT) ((((PORT) - PORT_B) * 3) | (BIT(PORTBIT) << 8)) /** Private macro to lookup bitmask. */ -#define PIO_BITMASK_(pio) (pio.bitmask) +#define PIO_BITMASK_(PIO) ((PIO) >> 8) /** Private macro to lookup port register. */ -#define PIO_PORT_(pio) (pio.port) +#define PIO_PORT_(PIO) (&PORTB + ((PIO) & 0xff)) /** Private macro to map a pio to its corresponding data direction register (DDR). NB, the DDR and PORT registers must be separated by the same number of bytes in all cases. PORTB is used for the pattern since PORTA is not always defined for some AVRs. */ -#define PIO_DDR_(pio) (*(PIO_PORT_ (pio) + (&DDRB - &PORTB))) +#define PIO_DDR_(PIO) (*(PIO_PORT_ (PIO) + (&DDRB - &PORTB))) /** Private macro to map a pio to its input register (PIN). NB, the PIN and PORT registers must be separated by the same number of @@ -128,6 +97,59 @@ typedef enum pio_config_enum #define PIO_DATA_(pio) (*PIO_PORT_ (pio)) +#ifdef DEBUG +/** Configure pio. + @param pio PIO to configure + @param config PIO configuration type + @return non-zero for success. */ +bool pio_config_set (pio_t pio, pio_config_t config); + + +/** Return pio configuration + @param pio + @return config */ +pio_config_t pio_config_get (pio_t pio); + + +/** Set pio high. + @param pio */ +void pio_output_high (pio_t pio); + + +/** Set pio low. + @param pio */ +void pio_output_low (pio_t pio); + + +/** Toggle pio. + @param pio */ +void pio_output_toggle (pio_t pio); + + +/** Read input state from pio. + @param pio + @return input state of pio */ +bool pio_input_get (pio_t pio); + + +/** Read input state from pio. + @param pio + @return input state of pio */ +bool pio_input_get (pio_t pio); + + +/** Get output state of pio. + @param pio + @return output state of pio */ +bool pio_output_get (pio_t pio); + + +/** Set pio to desired state. + @param pio + @param state value to write pio */ +void pio_output_set (pio_t pio, bool state); + +#else /** Configure pio. @param pio PIO to configure @@ -248,7 +270,6 @@ void pio_output_set (pio_t pio, bool state) state ? pio_output_high (pio) : pio_output_low (pio); } - /** Set input state for pio (this is only for use by the test scaffold). @param pio @param state value for pio input */ @@ -260,6 +281,6 @@ void pio_input_set (pio_t pio, bool state) else PIO_PIN_ (pio) &= ~PIO_BITMASK_ (pio); } - +#endif #endif