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GPIO: optimized read, write, and mode for DigitalSource objects

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This commit is contained in:
Pat Hickey 2012-11-28 14:52:13 -08:00 committed by Andrew Tridgell
parent 054f35e33d
commit b7c4cc20ac
3 changed files with 69 additions and 13 deletions
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51
libraries/AP_HAL_AVR/GPIO.cpp
View File

@ -8,8 +8,6 @@
using namespace AP_HAL_AVR;
ArduinoGPIO* ArduinoDigitalSource::parent;
AP_HAL::Proc ArduinoGPIO::_interrupt_6 = NULL;
SIGNAL(INT6_vect) {
@ -106,23 +104,56 @@ bool ArduinoGPIO::attach_interrupt(
}
AP_HAL::DigitalSource* ArduinoGPIO::channel(int n) {
if (ArduinoDigitalSource::parent == NULL) {
ArduinoDigitalSource::parent = this;
}
return new ArduinoDigitalSource(n);
AP_HAL::DigitalSource* ArduinoGPIO::channel(int pin) {
uint8_t bit = digitalPinToBitMask(pin);
uint8_t port = digitalPinToPort(pin);
if (port == NOT_A_PIN) return NULL;
return new ArduinoDigitalSource(bit, port);
}
void ArduinoDigitalSource::mode(uint8_t output) {
parent->pinMode(_pin, output);
const uint8_t bit = _bit;
const uint8_t port = _port;
volatile uint8_t* reg;
reg = portModeRegister(port);
if (output == GPIO_INPUT) {
uint8_t oldSREG = SREG;
cli();
*reg &= ~bit;
SREG = oldSREG;
} else {
uint8_t oldSREG = SREG;
cli();
*reg |= bit;
SREG = oldSREG;
}
}
uint8_t ArduinoDigitalSource::read() {
return parent->read(_pin);
const uint8_t bit = _bit;
const uint8_t port = _port;
if (*portInputRegister(port) & bit) return 1;
return 0;
}
void ArduinoDigitalSource::write(uint8_t value) {
parent->write(_pin, value);
const uint8_t bit = _bit;
const uint8_t port = _port;
volatile uint8_t* out;
out = portOutputRegister(port);
uint8_t oldSREG = SREG;
cli();
if (value == 0) {
*out &= ~bit;
} else {
*out |= bit;
}
SREG = oldSREG;
}

6
libraries/AP_HAL_AVR/GPIO.h
View File

@ -7,14 +7,14 @@
class AP_HAL_AVR::ArduinoDigitalSource : public AP_HAL::DigitalSource {
public:
ArduinoDigitalSource(int pin) : _pin(pin) {}
ArduinoDigitalSource(uint8_t bit, uint8_t port) : _bit(bit), _port(port) {}
void mode(uint8_t output);
uint8_t read();
void write(uint8_t value);
static ArduinoGPIO* parent;
private:
int _pin;
const uint8_t _bit;
const uint8_t _port;
};
class AP_HAL_AVR::ArduinoGPIO : public AP_HAL::GPIO {

25
libraries/AP_HAL_AVR/examples/Blink/Blink.pde
View File

@ -6,16 +6,41 @@
const AP_HAL::HAL& hal = AP_HAL_AVR_APM1;
AP_HAL::DigitalSource *a_led;
AP_HAL::DigitalSource *b_led;
AP_HAL::DigitalSource *c_led;
void loop (void) {
hal.scheduler->delay(1000);
hal.gpio->write(13, 1);
a_led->write(1);
b_led->write(0);
c_led->write(1);
hal.scheduler->delay(1000);
hal.gpio->write(13, 0);
a_led->write(0);
b_led->write(1);
c_led->write(0);
}
void setup (void) {
hal.gpio->pinMode(13, GPIO_OUTPUT);
hal.gpio->write(13, 0);
a_led = hal.gpio->channel(27);
b_led = hal.gpio->channel(26);
c_led = hal.gpio->channel(25);
a_led->mode(GPIO_OUTPUT);
b_led->mode(GPIO_OUTPUT);
c_led->mode(GPIO_OUTPUT);
a_led->write(0);
b_led->write(0);
c_led->write(0);
}