mirror of
https://github.com/k3ng/k3ng_rotator_controller.git
synced 2024-12-19 21:27:56 +00:00
56e6ed8233
FEATURE_STEPPER_MOTOR
Removed OPTION_STEPPER_MOTOR_MAX_50_KHZ. Too much overhead from interrupts.
Implemented faster digital writes using digitalWriteFast library (library now included in Github)
Added OPTION_STEPPER_DO_NOT_USE_DIGITALWRITEFAST_LIBRARY to disable digitalWriteFast library use
354 lines
11 KiB
C
Executable File
354 lines
11 KiB
C
Executable File
/*
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Optimized digital functions for AVR microcontrollers
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by Watterott electronic (www.watterott.com)
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based on http://code.google.com/p/digitalwritefast
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*/
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#ifndef __digitalWriteFast_h_
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#define __digitalWriteFast_h_ 1
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#define ERROR_SEQUENCE 0b10101010 //digitalReadFast will return this value if pin number is not constant
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// general macros/defines
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#ifndef BIT_READ
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# define BIT_READ(value, bit) ((value) & (1UL << (bit)))
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#endif
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#ifndef BIT_SET
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# define BIT_SET(value, bit) ((value) |= (1UL << (bit)))
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#endif
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#ifndef BIT_CLEAR
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# define BIT_CLEAR(value, bit) ((value) &= ~(1UL << (bit)))
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#endif
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#ifndef BIT_WRITE
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# define BIT_WRITE(value, bit, bitvalue) (bitvalue ? BIT_SET(value, bit) : BIT_CLEAR(value, bit))
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#endif
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#ifndef SWAP
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#define SWAP(x,y) do{ (x)=(x)^(y); (y)=(x)^(y); (x)=(x)^(y); }while(0)
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#endif
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/* //not needed, rather it produces annoying warnings when compiled
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#ifndef DEC
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# define DEC (10)
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#endif
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#ifndef HEX
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# define HEX (16)
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#endif
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#ifndef OCT
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# define OCT (8)
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#endif
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#ifndef BIN
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# define BIN (2)
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#endif
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*/
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// workarounds for ARM microcontrollers
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#if (!defined(__AVR__) || defined(ARDUINO_ARCH_SAM))
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#ifndef PROGMEM
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# define PROGMEM
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#endif
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#ifndef PGM_P
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# define PGM_P const char *
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#endif
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#ifndef PSTR
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# define PSTR(str) (str)
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#endif
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#ifndef memcpy_P
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# define memcpy_P(dest, src, num) memcpy((dest), (src), (num))
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#endif
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#ifndef strcpy_P
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# define strcpy_P(dst, src) strcpy((dst), (src))
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#endif
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#ifndef strcat_P
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# define strcat_P(dst, src) strcat((dst), (src))
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#endif
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#ifndef strcmp_P
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# define strcmp_P(a, b) strcmp((a), (b))
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#endif
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#ifndef strcasecmp_P
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# define strcasecmp_P(a, b) strcasecmp((a), (b))
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#endif
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#ifndef strncmp_P
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# define strncmp_P(a, b, n) strncmp((a), (b), (n))
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#endif
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#ifndef strncasecmp_P
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# define strncasecmp_P(a, b, n) strncasecmp((a), (b), (n))
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#endif
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#ifndef strstr_P
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# define strstr_P(a, b) strstr((a), (b))
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#endif
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#ifndef strlen_P
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# define strlen_P(a) strlen((a))
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#endif
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#ifndef sprintf_P
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# define sprintf_P(s, f, ...) sprintf((s), (f), __VA_ARGS__)
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#endif
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#ifndef pgm_read_byte
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# define pgm_read_byte(addr) (*(const unsigned char *)(addr))
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#endif
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#ifndef pgm_read_word
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# define pgm_read_word(addr) (*(const unsigned short *)(addr))
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#endif
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#ifndef pgm_read_dword
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# define pgm_read_dword(addr) (*(const unsigned long *)(addr))
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#endif
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#endif
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// digital functions
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//#ifndef digitalPinToPortReg
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#define SPI_SW_SS_PIN (10) //SS on Uno (for software SPI)
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#define SPI_SW_MOSI_PIN (11) //MOSI on Uno (for software SPI)
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#define SPI_SW_MISO_PIN (12) //MISO on Uno (for software SPI)
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#define SPI_SW_SCK_PIN (13) //SCK on Uno (for software SPI)
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// --- Arduino Due ---
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#if (defined(ARDUINO_SAM_DUE) || defined(__SAM3X8E__))
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#define UART_RX_PIN (0)
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#define UART_TX_PIN (1)
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#define I2C_SDA_PIN (20)
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#define I2C_SCL_PIN (21)
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#define SPI_HW_SS_PIN (78) //SS0:77, SS1:87, SS2:86, SS3:78
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#define SPI_HW_MOSI_PIN (75) //75
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#define SPI_HW_MISO_PIN (74) //74
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#define SPI_HW_SCK_PIN (76) //76
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// --- Arduino Zero ---
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#elif (defined(ARDUINO_SAM_ZERO) || defined(__SAMD21G18A__))
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#define UART_RX_PIN (0)
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#define UART_TX_PIN (1)
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#define I2C_SDA_PIN (16)
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#define I2C_SCL_PIN (17)
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#define SPI_HW_SS_PIN (14) //14
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#define SPI_HW_MOSI_PIN (21) //21
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#define SPI_HW_MISO_PIN (18) //18
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#define SPI_HW_SCK_PIN (20) //20
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// --- Arduino Mega ---
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#elif (defined(ARDUINO_AVR_MEGA) || \
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defined(ARDUINO_AVR_MEGA1280) || \
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defined(ARDUINO_AVR_MEGA2560) || \
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defined(__AVR_ATmega1280__) || \
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defined(__AVR_ATmega1281__) || \
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defined(__AVR_ATmega2560__) || \
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defined(__AVR_ATmega2561__))
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#define UART_RX_PIN (0) //PE0
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#define UART_TX_PIN (1) //PE1
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#define I2C_SDA_PIN (20)
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#define I2C_SCL_PIN (21)
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#define SPI_HW_SS_PIN (53) //PB0
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#define SPI_HW_MOSI_PIN (51) //PB2
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#define SPI_HW_MISO_PIN (50) //PB3
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#define SPI_HW_SCK_PIN (52) //PB1
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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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// --- Arduino 644 ---
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#elif (defined(__AVR_ATmega644__) || \
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defined(__AVR_ATmega644P__))
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#define UART_RX_PIN (8) //PD0
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#define UART_TX_PIN (9) //PD1
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#define I2C_SDA_PIN (17) //PC1
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#define I2C_SCL_PIN (16) //PC0
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#define SPI_HW_SS_PIN (4) //PB4
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#define SPI_HW_MOSI_PIN (5) //PB5
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#define SPI_HW_MISO_PIN (6) //PB6
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#define SPI_HW_SCK_PIN (7) //PB7
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#define __digitalPinToPortReg(P) \
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(((P) >= 0 && (P) <= 7) ? &PORTB : (((P) >= 8 && (P) <= 15) ? &PORTD : (((P) >= 16 && (P) <= 23) ? &PORTC : &PORTA)))
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#define __digitalPinToDDRReg(P) \
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(((P) >= 0 && (P) <= 7) ? &DDRB : (((P) >= 8 && (P) <= 15) ? &DDRD : (((P) >= 8 && (P) <= 15) ? &DDRC : &DDRA)))
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#define __digitalPinToPINReg(P) \
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(((P) >= 0 && (P) <= 7) ? &PINB : (((P) >= 8 && (P) <= 15) ? &PIND : (((P) >= 8 && (P) <= 15) ? &PINC : &PINA)))
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#define __digitalPinToBit(P) \
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(((P) >= 0 && (P) <= 7) ? (P) : (((P) >= 8 && (P) <= 15) ? (P) - 8 : (((P) >= 16 && (P) <= 23) ? (P) - 16 : (P) - 24)))
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// --- Arduino Leonardo ---
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#elif (defined(ARDUINO_AVR_LEONARDO) || \
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defined(__AVR_ATmega16U4__) || \
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defined(__AVR_ATmega32U4__))
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#define UART_RX_PIN (0) //PD2
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#define UART_TX_PIN (1) //PD3
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#define I2C_SDA_PIN (2) //PD1
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#define I2C_SCL_PIN (3) //PD0
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#define SPI_HW_SS_PIN (17) //PB0
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#define SPI_HW_MOSI_PIN (16) //PB2
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#define SPI_HW_MISO_PIN (14) //PB3
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#define SPI_HW_SCK_PIN (15) //PB1
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#define __digitalPinToPortReg(P) \
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((((P) >= 0 && (P) <= 4) || (P) == 6 || (P) == 12 || (P) == 24 || (P) == 25 || (P) == 29) ? &PORTD : (((P) == 5 || (P) == 13) ? &PORTC : (((P) >= 18 && (P) <= 23)) ? &PORTF : (((P) == 7) ? &PORTE : &PORTB)))
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#define __digitalPinToDDRReg(P) \
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((((P) >= 0 && (P) <= 4) || (P) == 6 || (P) == 12 || (P) == 24 || (P) == 25 || (P) == 29) ? &DDRD : (((P) == 5 || (P) == 13) ? &DDRC : (((P) >= 18 && (P) <= 23)) ? &DDRF : (((P) == 7) ? &DDRE : &DDRB)))
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#define __digitalPinToPINReg(P) \
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((((P) >= 0 && (P) <= 4) || (P) == 6 || (P) == 12 || (P) == 24 || (P) == 25 || (P) == 29) ? &PIND : (((P) == 5 || (P) == 13) ? &PINC : (((P) >= 18 && (P) <= 23)) ? &PINF : (((P) == 7) ? &PINE : &PINB)))
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#define __digitalPinToBit(P) \
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(((P) >= 8 && (P) <= 11) ? (P) - 4 : (((P) >= 18 && (P) <= 21) ? 25 - (P) : (((P) == 0) ? 2 : (((P) == 1) ? 3 : (((P) == 2) ? 1 : (((P) == 3) ? 0 : (((P) == 4) ? 4 : (((P) == 6) ? 7 : (((P) == 13) ? 7 : (((P) == 14) ? 3 : (((P) == 15) ? 1 : (((P) == 16) ? 2 : (((P) == 17) ? 0 : (((P) == 22) ? 1 : (((P) == 23) ? 0 : (((P) == 24) ? 4 : (((P) == 25) ? 7 : (((P) == 26) ? 4 : (((P) == 27) ? 5 : 6 )))))))))))))))))))
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// --- Arduino Uno ---
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#elif (defined(ARDUINO_AVR_UNO) || \
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defined(ARDUINO_AVR_DUEMILANOVE) || \
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defined(ARDUINO_ARCH_AVR) || \
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defined(__AVR_ATmega328__) || \
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defined(__AVR_ATmega328P__) || \
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defined(__AVR__))
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#define UART_RX_PIN (0) //PD0
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#define UART_TX_PIN (1) //PD1
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#define I2C_SDA_PIN (18) //A4
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#define I2C_SCL_PIN (19) //A5
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#define SPI_HW_SS_PIN (10) //PB0
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#define SPI_HW_MOSI_PIN (11) //PB2
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#define SPI_HW_MISO_PIN (12) //PB3
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#define SPI_HW_SCK_PIN (13) //PB1
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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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// --- Other ---
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#else
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#define SPI_HW_SS_PIN SS
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#define SPI_HW_MOSI_PIN MOSI
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#define SPI_HW_MISO_PIN MISO
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#define SPI_HW_SCK_PIN SCK
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#endif
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//#endif //#ifndef digitalPinToPortReg
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//ref: http://forum.arduino.cc/index.php?topic=140409.msg1054868#msg1054868
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//void OutputsErrorIfCalled( void ) __attribute__ (( error( "Line: "__line__ "Variable used for digitalWriteFast") ));
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void NonConstantUsed( void ) __attribute__ (( error("") ));
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#ifndef digitalWriteFast
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#if (defined(__AVR__) || defined(ARDUINO_ARCH_AVR))
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#define digitalWriteFast(P, V) \
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if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
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BIT_WRITE(*__digitalPinToPortReg(P), __digitalPinToBit(P), (V)); \
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} else { \
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NonConstantUsed(); \
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}
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#else
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//#define digitalWriteFast digitalWrite
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#error Non-AVR device, unsupported.
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#endif
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#endif
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#ifndef pinModeFast
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#if (defined(__AVR__) || defined(ARDUINO_ARCH_AVR))
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#define pinModeFast(P, V) \
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if (__builtin_constant_p(P) && __builtin_constant_p(V)) { \
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BIT_WRITE(*__digitalPinToDDRReg(P), __digitalPinToBit(P), (V)); \
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} else { \
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NonConstantUsed(); \
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}
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#else
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//#define pinModeFast pinMode
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#error Non-AVR device, unsupported.
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#endif
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#endif
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#ifndef digitalReadFast
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#if (defined(__AVR__) || defined(ARDUINO_ARCH_AVR))
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#define digitalReadFast(P) ( (byte) __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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ERROR_SEQUENCE
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#else
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//#define digitalReadFast digitalRead
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#error Non-AVR device, unsupported.
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#endif
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#endif
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#endif //__digitalWriteFast_h_
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