Fri, 17 Nov 2017 10:13:31 +0100
proper configuration, homing and planner optimization
2 | 1 | /* |
2 | wiring_digital.c - digital input and output functions | |
3 | Part of Arduino - http://www.arduino.cc/ | |
4 | ||
5 | Copyright (c) 2005-2006 David A. Mellis | |
6 | ||
7 | This library is free software; you can redistribute it and/or | |
8 | modify it under the terms of the GNU Lesser General Public | |
9 | License as published by the Free Software Foundation; either | |
10 | version 2.1 of the License, or (at your option) any later version. | |
11 | ||
12 | This library is distributed in the hope that it will be useful, | |
13 | but WITHOUT ANY WARRANTY; without even the implied warranty of | |
14 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU | |
15 | Lesser General Public License for more details. | |
16 | ||
17 | You should have received a copy of the GNU Lesser General | |
18 | Public License along with this library; if not, write to the | |
19 | Free Software Foundation, Inc., 59 Temple Place, Suite 330, | |
20 | Boston, MA 02111-1307 USA | |
21 | ||
22 | Modified 28 September 2010 by Mark Sproul | |
23 | ||
24 | $Id: wiring.c 248 2007-02-03 15:36:30Z mellis $ | |
25 | */ | |
26 | ||
27 | #define ARDUINO_MAIN | |
28 | #include "wiring_private.h" | |
29 | #include "pins_arduino.h" | |
30 | ||
31 | void pinMode(uint8_t pin, uint8_t mode) | |
32 | { | |
33 | uint8_t bit = digitalPinToBitMask(pin); | |
34 | uint8_t port = digitalPinToPort(pin); | |
35 | volatile uint8_t *reg, *out; | |
36 | ||
37 | if (port == NOT_A_PIN) return; | |
38 | ||
39 | // JWS: can I let the optimizer do this? | |
40 | reg = portModeRegister(port); | |
41 | out = portOutputRegister(port); | |
42 | ||
43 | if (mode == INPUT) { | |
44 | uint8_t oldSREG = SREG; | |
45 | cli(); | |
46 | *reg &= ~bit; | |
47 | *out &= ~bit; | |
48 | SREG = oldSREG; | |
49 | } else if (mode == INPUT_PULLUP) { | |
50 | uint8_t oldSREG = SREG; | |
51 | cli(); | |
52 | *reg &= ~bit; | |
53 | *out |= bit; | |
54 | SREG = oldSREG; | |
55 | } else { | |
56 | uint8_t oldSREG = SREG; | |
57 | cli(); | |
58 | *reg |= bit; | |
59 | SREG = oldSREG; | |
60 | } | |
61 | } | |
62 | ||
63 | // Forcing this inline keeps the callers from having to push their own stuff | |
64 | // on the stack. It is a good performance win and only takes 1 more byte per | |
65 | // user than calling. (It will take more bytes on the 168.) | |
66 | // | |
67 | // But shouldn't this be moved into pinMode? Seems silly to check and do on | |
68 | // each digitalread or write. | |
69 | // | |
70 | // Mark Sproul: | |
71 | // - Removed inline. Save 170 bytes on atmega1280 | |
72 | // - changed to a switch statment; added 32 bytes but much easier to read and maintain. | |
73 | // - Added more #ifdefs, now compiles for atmega645 | |
74 | // | |
75 | //static inline void turnOffPWM(uint8_t timer) __attribute__ ((always_inline)); | |
76 | //static inline void turnOffPWM(uint8_t timer) | |
77 | static void turnOffPWM(uint8_t timer) | |
78 | { | |
79 | switch (timer) | |
80 | { | |
81 | #if defined(TCCR1A) && defined(COM1A1) | |
82 | case TIMER1A: cbi(TCCR1A, COM1A1); break; | |
83 | #endif | |
84 | #if defined(TCCR1A) && defined(COM1B1) | |
85 | case TIMER1B: cbi(TCCR1A, COM1B1); break; | |
86 | #endif | |
87 | ||
88 | #if defined(TCCR2) && defined(COM21) | |
89 | case TIMER2: cbi(TCCR2, COM21); break; | |
90 | #endif | |
91 | ||
92 | #if defined(TCCR0A) && defined(COM0A1) | |
93 | case TIMER0A: cbi(TCCR0A, COM0A1); break; | |
94 | #endif | |
95 | ||
96 | #if defined(TIMER0B) && defined(COM0B1) | |
97 | case TIMER0B: cbi(TCCR0A, COM0B1); break; | |
98 | #endif | |
99 | #if defined(TCCR2A) && defined(COM2A1) | |
100 | case TIMER2A: cbi(TCCR2A, COM2A1); break; | |
101 | #endif | |
102 | #if defined(TCCR2A) && defined(COM2B1) | |
103 | case TIMER2B: cbi(TCCR2A, COM2B1); break; | |
104 | #endif | |
105 | ||
106 | #if defined(TCCR3A) && defined(COM3A1) | |
107 | case TIMER3A: cbi(TCCR3A, COM3A1); break; | |
108 | #endif | |
109 | #if defined(TCCR3A) && defined(COM3B1) | |
110 | case TIMER3B: cbi(TCCR3A, COM3B1); break; | |
111 | #endif | |
112 | #if defined(TCCR3A) && defined(COM3C1) | |
113 | case TIMER3C: cbi(TCCR3A, COM3C1); break; | |
114 | #endif | |
115 | ||
116 | #if defined(TCCR4A) && defined(COM4A1) | |
117 | case TIMER4A: cbi(TCCR4A, COM4A1); break; | |
118 | #endif | |
119 | #if defined(TCCR4A) && defined(COM4B1) | |
120 | case TIMER4B: cbi(TCCR4A, COM4B1); break; | |
121 | #endif | |
122 | #if defined(TCCR4A) && defined(COM4C1) | |
123 | case TIMER4C: cbi(TCCR4A, COM4C1); break; | |
124 | #endif | |
125 | #if defined(TCCR4C) && defined(COM4D1) | |
126 | case TIMER4D: cbi(TCCR4C, COM4D1); break; | |
127 | #endif | |
128 | ||
129 | #if defined(TCCR5A) | |
130 | case TIMER5A: cbi(TCCR5A, COM5A1); break; | |
131 | case TIMER5B: cbi(TCCR5A, COM5B1); break; | |
132 | case TIMER5C: cbi(TCCR5A, COM5C1); break; | |
133 | #endif | |
134 | } | |
135 | } | |
136 | ||
137 | void digitalWrite(uint8_t pin, uint8_t val) | |
138 | { | |
139 | uint8_t timer = digitalPinToTimer(pin); | |
140 | uint8_t bit = digitalPinToBitMask(pin); | |
141 | uint8_t port = digitalPinToPort(pin); | |
142 | volatile uint8_t *out; | |
143 | ||
144 | if (port == NOT_A_PIN) return; | |
145 | ||
146 | // If the pin that support PWM output, we need to turn it off | |
147 | // before doing a digital write. | |
148 | if (timer != NOT_ON_TIMER) turnOffPWM(timer); | |
149 | ||
150 | out = portOutputRegister(port); | |
151 | ||
152 | uint8_t oldSREG = SREG; | |
153 | cli(); | |
154 | ||
155 | if (val == LOW) { | |
156 | *out &= ~bit; | |
157 | } else { | |
158 | *out |= bit; | |
159 | } | |
160 | ||
161 | SREG = oldSREG; | |
162 | } | |
163 | ||
164 | int digitalRead(uint8_t pin) | |
165 | { | |
166 | uint8_t timer = digitalPinToTimer(pin); | |
167 | uint8_t bit = digitalPinToBitMask(pin); | |
168 | uint8_t port = digitalPinToPort(pin); | |
169 | ||
170 | if (port == NOT_A_PIN) return LOW; | |
171 | ||
172 | // If the pin that support PWM output, we need to turn it off | |
173 | // before getting a digital reading. | |
174 | if (timer != NOT_ON_TIMER) turnOffPWM(timer); | |
175 | ||
176 | if (*portInputRegister(port) & bit) return HIGH; | |
177 | return LOW; | |
178 | } |