rmackay9
12 years ago
3 changed files with 267 additions and 0 deletions
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_Common.h> |
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#define BIT_READ(value, bit) (((value) >> (bit)) & 0x01) |
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#define BIT_SET(value, bit) ((value) |= (1UL << (bit))) |
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#define BIT_CLEAR(value, bit) ((value) &= ~(1UL << (bit))) |
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#define BIT_WRITE(value, bit, bitvalue) (bitvalue ? BIT_SET(value, bit) : BIT_CLEAR(value, bit)) |
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#if !defined(digitalPinToPortReg) |
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#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__) |
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// Arduino Mega Pins
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#define digitalPinToPortReg(P) \ |
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(((P) >= 22 && (P) <= 29) ? &PORTA : \
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((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &PORTB : \
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(((P) >= 30 && (P) <= 37) ? &PORTC : \
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((((P) >= 18 && (P) <= 21) || (P) == 38) ? &PORTD : \
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((((P) >= 0 && (P) <= 3) || (P) == 5) ? &PORTE : \
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(((P) >= 54 && (P) <= 61) ? &PORTF : \
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((((P) >= 39 && (P) <= 41) || (P) == 4) ? &PORTG : \
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((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &PORTH : \
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(((P) == 14 || (P) == 15) ? &PORTJ : \
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(((P) >= 62 && (P) <= 69) ? &PORTK : &PORTL)))))))))) |
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#define digitalPinToDDRReg(P) \ |
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(((P) >= 22 && (P) <= 29) ? &DDRA : \
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((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &DDRB : \
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(((P) >= 30 && (P) <= 37) ? &DDRC : \
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((((P) >= 18 && (P) <= 21) || (P) == 38) ? &DDRD : \
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((((P) >= 0 && (P) <= 3) || (P) == 5) ? &DDRE : \
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(((P) >= 54 && (P) <= 61) ? &DDRF : \
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((((P) >= 39 && (P) <= 41) || (P) == 4) ? &DDRG : \
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((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &DDRH : \
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(((P) == 14 || (P) == 15) ? &DDRJ : \
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(((P) >= 62 && (P) <= 69) ? &DDRK : &DDRL)))))))))) |
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#define digitalPinToPINReg(P) \ |
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(((P) >= 22 && (P) <= 29) ? &PINA : \
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((((P) >= 10 && (P) <= 13) || ((P) >= 50 && (P) <= 53)) ? &PINB : \
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(((P) >= 30 && (P) <= 37) ? &PINC : \
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((((P) >= 18 && (P) <= 21) || (P) == 38) ? &PIND : \
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((((P) >= 0 && (P) <= 3) || (P) == 5) ? &PINE : \
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(((P) >= 54 && (P) <= 61) ? &PINF : \
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((((P) >= 39 && (P) <= 41) || (P) == 4) ? &PING : \
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((((P) >= 6 && (P) <= 9) || (P) == 16 || (P) == 17) ? &PINH : \
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(((P) == 14 || (P) == 15) ? &PINJ : \
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(((P) >= 62 && (P) <= 69) ? &PINK : &PINL)))))))))) |
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#define __digitalPinToBit(P) \ |
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(((P) >= 7 && (P) <= 9) ? (P) - 3 : \
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(((P) >= 10 && (P) <= 13) ? (P) - 6 : \
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(((P) >= 22 && (P) <= 29) ? (P) - 22 : \
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(((P) >= 30 && (P) <= 37) ? 37 - (P) : \
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(((P) >= 39 && (P) <= 41) ? 41 - (P) : \
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(((P) >= 42 && (P) <= 49) ? 49 - (P) : \
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(((P) >= 50 && (P) <= 53) ? 53 - (P) : \
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(((P) >= 54 && (P) <= 61) ? (P) - 54 : \
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(((P) >= 62 && (P) <= 69) ? (P) - 62 : \
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(((P) == 0 || (P) == 15 || (P) == 17 || (P) == 21) ? 0 : \
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(((P) == 1 || (P) == 14 || (P) == 16 || (P) == 20) ? 1 : \
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(((P) == 19) ? 2 : \
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(((P) == 5 || (P) == 6 || (P) == 18) ? 3 : \
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(((P) == 2) ? 4 : \
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(((P) == 3 || (P) == 4) ? 5 : 7))))))))))))))) |
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// 15 PWM
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#define __digitalPinToTimer(P) \ |
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(((P) == 13 || (P) == 4) ? &TCCR0A : \
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(((P) == 11 || (P) == 12) ? &TCCR1A : \
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(((P) == 10 || (P) == 9) ? &TCCR2A : \
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(((P) == 5 || (P) == 2 || (P) == 3) ? &TCCR3A : \
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(((P) == 6 || (P) == 7 || (P) == 8) ? &TCCR4A : \
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(((P) == 46 || (P) == 45 || (P) == 44) ? &TCCR5A : 0)))))) |
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#define __digitalPinToTimerBit(P) \ |
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(((P) == 13) ? COM0A1 : (((P) == 4) ? COM0B1 : \
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(((P) == 11) ? COM1A1 : (((P) == 12) ? COM1B1 : \
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(((P) == 10) ? COM2A1 : (((P) == 9) ? COM2B1 : \
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(((P) == 5) ? COM3A1 : (((P) == 2) ? COM3B1 : (((P) == 3) ? COM3C1 : \
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(((P) == 6) ? COM4A1 : (((P) == 7) ? COM4B1 : (((P) == 8) ? COM4C1 : \
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(((P) == 46) ? COM5A1 : (((P) == 45) ? COM5B1 : COM5C1)))))))))))))) |
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#else |
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// Standard Arduino Pins
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#define digitalPinToPortReg(P) \ |
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(((P) >= 0 && (P) <= 7) ? &PORTD : (((P) >= 8 && (P) <= 13) ? &PORTB : &PORTC)) |
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#define digitalPinToDDRReg(P) \ |
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(((P) >= 0 && (P) <= 7) ? &DDRD : (((P) >= 8 && (P) <= 13) ? &DDRB : &DDRC)) |
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#define digitalPinToPINReg(P) \ |
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(((P) >= 0 && (P) <= 7) ? &PIND : (((P) >= 8 && (P) <= 13) ? &PINB : &PINC)) |
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#define __digitalPinToBit(P) \ |
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(((P) >= 0 && (P) <= 7) ? (P) : (((P) >= 8 && (P) <= 13) ? (P) - 8 : (P) - 14)) |
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#if defined(__AVR_ATmega8__) |
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// 3 PWM
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#define __digitalPinToTimer(P) \ |
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(((P) == 9 || (P) == 10) ? &TCCR1A : (((P) == 11) ? &TCCR2 : 0)) |
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#define __digitalPinToTimerBit(P) \ |
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(((P) == 9) ? COM1A1 : (((P) == 10) ? COM1B1 : COM21)) |
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#else //168,328
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// 6 PWM
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#define __digitalPinToTimer(P) \ |
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(((P) == 6 || (P) == 5) ? &TCCR0A : \
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(((P) == 9 || (P) == 10) ? &TCCR1A : \
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(((P) == 11 || (P) == 3) ? &TCCR2A : 0))) |
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#define __digitalPinToTimerBit(P) \ |
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(((P) == 6) ? COM0A1 : (((P) == 5) ? COM0B1 : \
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(((P) == 9) ? COM1A1 : (((P) == 10) ? COM1B1 : \
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(((P) == 11) ? COM2A1 : COM2B1))))) |
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#endif //defined(__AVR_ATmega8__)
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#endif //mega
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#endif //#if !defined(digitalPinToPortReg)
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#define __atomicWrite__(A,P,V) \ |
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if ( (int)(A) < 0x40) { bitWrite(*(A), __digitalPinToBit(P), (V) );} \
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else { \
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uint8_t register saveSreg = SREG; \
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cli(); \
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bitWrite(*(A), __digitalPinToBit(P), (V) ); \
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SREG=saveSreg; \
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}
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#ifndef digitalWriteFast |
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#define digitalWriteFast(P, V) \ |
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do { \
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if (__builtin_constant_p(P) && __builtin_constant_p(V)) __atomicWrite__((uint8_t*) digitalPinToPortReg(P),P,V) \
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else digitalWrite((P), (V)); \
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}while (0) |
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#endif //#ifndef digitalWriteFast2
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#if !defined(pinModeFast) |
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#define pinModeFast(P, V) \ |
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do {if (__builtin_constant_p(P) && __builtin_constant_p(V)) __atomicWrite__((uint8_t*) digitalPinToDDRReg(P),P,V) \
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else pinMode((P), (V)); \
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} while (0) |
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#endif |
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#ifndef noAnalogWrite |
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#define noAnalogWrite(P) \ |
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do {if (__builtin_constant_p(P) ) __atomicWrite((uint8_t*) __digitalPinToTimer(P),P,0) \
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else turnOffPWM((P)); \
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} while (0) |
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#endif |
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#ifndef digitalReadFast |
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#define digitalReadFast(P) ( (int) _digitalReadFast_((P)) ) |
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#define _digitalReadFast_(P ) \ |
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(__builtin_constant_p(P) ) ? ( \
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( BIT_READ(*digitalPinToPINReg(P), __digitalPinToBit(P))) ) : \
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digitalRead((P)) |
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#endif |
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@ -0,0 +1,105 @@
@@ -0,0 +1,105 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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* Example of DigitalWriteFast library. |
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* DIYDrones.com |
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* DigitalFastWrite code by John Rains |
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* http://code.google.com/p/digitalwritefast |
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*/ |
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#include <FastSerial.h> |
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#include <AP_Common.h> |
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#include <DigitalWriteFast.h> // Compass Library |
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#define LED_ON LOW |
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#define LED_OFF HIGH |
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#define APM_HARDWARE_APM1 1 |
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#define APM_HARDWARE_APM2 2 |
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// select your hardware |
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//#define CONFIG_APM_HARDWARE APM_HARDWARE_APM1 |
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#define CONFIG_APM_HARDWARE APM_HARDWARE_APM2 |
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#if CONFIG_APM_HARDWARE == APM_HARDWARE_APM1 |
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# define A_LED_PIN 37 |
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# define B_LED_PIN 36 |
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# define C_LED_PIN 35 |
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# define LED_ON HIGH |
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# define LED_OFF LOW |
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#elif CONFIG_APM_HARDWARE == APM_HARDWARE_APM2 |
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# define A_LED_PIN 27 |
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# define B_LED_PIN 26 |
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# define C_LED_PIN 25 |
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# define LED_ON LOW |
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# define LED_OFF HIGH |
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#endif |
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FastSerialPort0(Serial); |
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void setup() |
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{ |
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Serial.begin(115200); |
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Serial.println("DigitalFastWrite library test version 1.0"); |
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// setup pins |
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pinMode(A_LED_PIN, OUTPUT); |
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pinMode(B_LED_PIN, OUTPUT); |
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pinMode(C_LED_PIN, OUTPUT); |
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} |
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void loop() |
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{ |
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uint32_t start_time = micros(); |
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uint32_t regular_time, fast_time; |
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// flash leds to show that we're operational |
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flash_leds(); |
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// time regular digital write calls |
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start_time = micros(); |
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for( uint16_t i=0; i<=500; i++ ) { |
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digitalWrite(A_LED_PIN,LED_ON); |
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digitalWrite(A_LED_PIN,LED_OFF); |
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} |
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regular_time = (micros() - start_time) / 1000; |
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// flash leds to show that we're operational |
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flash_leds(); |
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// time fast digital write calls |
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start_time = micros(); |
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for( uint16_t i=0; i<=500; i++ ) { |
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digitalWriteFast(A_LED_PIN,LED_ON); |
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digitalWriteFast(A_LED_PIN,LED_OFF); |
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} |
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fast_time = (micros() - start_time) / 1000; |
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// display results |
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Serial.println("Timing results (in microseconds):"); |
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Serial.printf("DigitalWrite: %ul\n",regular_time); |
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Serial.printf("DigitalWriteFast: %ul\n", fast_time); |
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// turn everything off |
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digitalWriteFast(A_LED_PIN,LED_OFF); |
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digitalWriteFast(B_LED_PIN,LED_OFF); |
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digitalWriteFast(C_LED_PIN,LED_OFF); |
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// delay 10 seconds |
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delay(10000); |
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} |
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void flash_leds() |
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{ |
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uint8_t i; |
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for(i=0; i<5; i++ ){ |
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digitalWriteFast(A_LED_PIN,LED_ON); |
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digitalWriteFast(B_LED_PIN,LED_ON); |
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digitalWriteFast(C_LED_PIN,LED_ON); |
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delay(100); |
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digitalWriteFast(A_LED_PIN,LED_OFF); |
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digitalWriteFast(B_LED_PIN,LED_OFF); |
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digitalWriteFast(C_LED_PIN,LED_OFF); |
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delay(100); |
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} |
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} |
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