avr: use port pin toggle feature instead read-modify-write by xor por…

…t bit
gin66 · Apr 28, 2024 · 6d7ae50 · 6d7ae50
1 parent 5af160b
commit 6d7ae50
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Showing 5 changed files with 30 additions and 23 deletions.
diff --git a/extras/tests/simavr_based/test_sd_04_timing_2560/expect.txt b/extras/tests/simavr_based/test_sd_04_timing_2560/expect.txt
@@ -4,9 +4,9 @@
  EnableA:        1*L->H,        1*H->L
  EnableB:        2*L->H,        1*H->L
  EnableC:        2*L->H,        1*H->L
-   StepA:    64000*L->H,    64000*H->L, Max High=31us Total High=588641us
-   StepB:    64000*L->H,    64000*H->L, Max High=32us Total High=414769us
-   StepC:    64000*L->H,    64000*H->L, Max High=40us Total High=431717us
+   StepA:    64000*L->H,    64000*H->L, Max High=29us Total High=380000us
+   StepB:    64000*L->H,    64000*H->L, Max High=34us Total High=507758us
+   StepC:    64000*L->H,    64000*H->L, Max High=40us Total High=629247us
 Position[A]=64000
 
 Position[B]=64000
@@ -17,13 +17,13 @@ Time in EnableA  max=233598 us, total=233598 us
 
 Time in EnableB  max=246080 us, total=246080 us
 
-Time in EnableC  max=254235 us, total=254235 us
+Time in EnableC  max=254236 us, total=254236 us
 
-Time in FillISR  max=2804 us, total=2134900 us
+Time in FillISR  max=2849 us, total=2127254 us
 
-Time in StepA  max=31 us, total=588641 us
+Time in StepA  max=29 us, total=380000 us
 
-Time in StepB  max=32 us, total=414769 us
+Time in StepB  max=34 us, total=507758 us
 
-Time in StepC  max=40 us, total=431717 us
+Time in StepC  max=40 us, total=629247 us
 
diff --git a/extras/tests/simavr_based/test_sd_04_timing_328p/expect.txt b/extras/tests/simavr_based/test_sd_04_timing_328p/expect.txt
@@ -2,8 +2,8 @@
     DirB:        1*L->H,        0*H->L
  EnableA:        1*L->H,        1*H->L
  EnableB:        2*L->H,        1*H->L
-   StepA:     1000*L->H,     1000*H->L, Max High=14us Total High=5340us
-   StepB:     1000*L->H,     1000*H->L, Max High=16us Total High=5816us
+   StepA:     1000*L->H,     1000*H->L, Max High=14us Total High=5335us
+   StepB:     1000*L->H,     1000*H->L, Max High=16us Total High=5809us
 Position[A]=1000
 
 Position[B]=1000
@@ -12,11 +12,11 @@ Time in EnableA  max=225398 us, total=225398 us
 
 Time in EnableB  max=238116 us, total=238116 us
 
-Time in FillISR  max=2642 us, total=47691 us
+Time in FillISR  max=2642 us, total=47687 us
 
-Time in StepA  max=14 us, total=5340 us
+Time in StepA  max=14 us, total=5335 us
 
-Time in StepB  max=16 us, total=5816 us
+Time in StepB  max=16 us, total=5809 us
 
-Time in StepISR  max=7 us, total=9363 us
+Time in StepISR  max=7 us, total=9300 us
 
diff --git a/src/StepperISR.h b/src/StepperISR.h
@@ -80,11 +80,13 @@ class StepperQueue {
   bool bufferContainsSteps[2];
 #endif
 #if defined(SUPPORT_DIR_PIN_MASK)
-  // avr uses uint8_t and sam needs uint32_t
-  // so make the SUPPORT_DIR_PIN_MASK dual use
   volatile SUPPORT_DIR_PIN_MASK* _dirPinPort;
   SUPPORT_DIR_PIN_MASK _dirPinMask;
 #endif
+#if defined(SUPPORT_DIR_TOGGLE_PIN_MASK)
+  volatile SUPPORT_DIR_TOGGLE_PIN_MASK* _dirTogglePinPort;
+  SUPPORT_DIR_TOGGLE_PIN_MASK _dirTogglePinMask;
+#endif
 #if defined(SUPPORT_AVR)
   volatile bool _prepareForStop;
   volatile bool _isRunning;
@@ -180,6 +182,12 @@ class StepperQueue {
       _dirPinPort = portOutputRegister(digitalPinToPort(dir_pin));
       _dirPinMask = digitalPinToBitMask(dir_pin);
     }
+#endif
+#if defined(SUPPORT_DIR_TOGGLE_PIN_MASK)
+    if ((dir_pin != PIN_UNDEFINED) && ((dir_pin & PIN_EXTERNAL_FLAG) == 0)) {
+      _dirTogglePinPort = portInputRegister(digitalPinToPort(dir_pin));
+      _dirTogglePinMask = digitalPinToBitMask(dir_pin);
+    }
 #endif
   }
   void adjustSpeedToStepperCount(uint8_t steppers);

diff --git a/src/StepperISR_avr.cpp b/src/StepperISR_avr.cpp
@@ -26,7 +26,11 @@
 #define Stepper_IsDisconnected(T, X) \
   ((TCCR##T##A & (_BV(COM##T##X##0) | _BV(COM##T##X##1))) == 0)
 #define Stepper_IsOneIfOutput(T, X) ((TCCR##T##A & _BV(COM##T##X##0)) != 0)
-#define Stepper_ToggleDirection(CHANNEL) *fas_queue_##CHANNEL._dirPinPort ^= fas_queue_##CHANNEL._dirPinMask
+#define Stepper_ToggleDirection(CHANNEL) *fas_queue_##CHANNEL._dirTogglePinPort = fas_queue_##CHANNEL._dirTogglePinMask
+#define PREPARE_DIRECTION_PIN(CHANNEL)                                   \
+  if (e->toggle_dir) {                                                   \
+    Stepper_ToggleDirection(CHANNEL);                                    \
+  }
 
 #ifdef SIMAVR_TIME_MEASUREMENT
 #define prepareISRtimeMeasurement() DDRB |= 0x18
@@ -238,11 +242,6 @@ AVR_CYCLIC_ISR_GEN(FAS_TIMER_MODULE)
   rp = fas_queue_##CHANNEL.read_idx; \
   e = &fas_queue_##CHANNEL.entry[rp & QUEUE_LEN_MASK];
 
-#define PREPARE_DIRECTION_PIN(CHANNEL)                                   \
-  if (e->toggle_dir) {                                                   \
-    *fas_queue_##CHANNEL._dirPinPort ^= fas_queue_##CHANNEL._dirPinMask; \
-  }
-
 #define AVR_START_QUEUE(T, CHANNEL)              \
   _isRunning = true;                             \
   _prepareForStop = false;                       \

diff --git a/src/fas_common.h b/src/fas_common.h
@@ -375,7 +375,7 @@ struct queue_end_s {
 
 #define noop_or_wait
 
-#define SUPPORT_DIR_PIN_MASK uint8_t
+#define SUPPORT_DIR_TOGGLE_PIN_MASK uint8_t
 
 #define SUPPORT_QUEUE_ENTRY_END_POS_U16