mirror of https://github.com/ArduPilot/ardupilot
162 lines
5.8 KiB
C
162 lines
5.8 KiB
C
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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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