747 lines
25 KiB
C++
747 lines
25 KiB
C++
/**
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* Marlin 3D Printer Firmware
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* Copyright (c) 2020 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
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*
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* Based on Sprinter and grbl.
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* Copyright (c) 2011 Camiel Gubbels / Erik van der Zalm
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <https://www.gnu.org/licenses/>.
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*
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*/
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#pragma once
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//
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// Based on https://github.com/niteris/ArduinoSoftSpi
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//
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#include "../HAL/shared/Marduino.h"
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#ifndef FORCE_INLINE
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#define FORCE_INLINE inline __attribute__((always_inline))
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#endif
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#define nop __asm__ volatile ("nop") // NOP for timing
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#ifdef __arm__
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#ifdef CORE_TEENSY
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/**
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* Read pin value
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* @param[in] pin Arduino pin number
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* @return value read
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*/
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FORCE_INLINE static bool fastDigitalRead(uint8_t pin) {
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return *portInputRegister(pin);
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}
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/**
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* Set pin value
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* @param[in] pin Arduino pin number
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* @param[in] level value to write
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*/
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FORCE_INLINE static void fastDigitalWrite(uint8_t pin, bool value) {
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if (value)
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*portSetRegister(pin) = 1;
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else
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*portClearRegister(pin) = 1;
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}
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#else // !CORE_TEENSY
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/**
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* Read pin value
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* @param[in] pin Arduino pin number
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* @return value read
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*/
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FORCE_INLINE static bool fastDigitalRead(uint8_t pin) {
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return digitalRead(pin);
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}
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/**
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* Set pin value
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* @param[in] pin Arduino pin number
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* @param[in] level value to write
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*/
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FORCE_INLINE static void fastDigitalWrite(uint8_t pin, bool value) {
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digitalWrite(pin, value);
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}
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#endif // !CORE_TEENSY
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inline void fastDigitalToggle(uint8_t pin) { fastDigitalWrite(pin, !fastDigitalRead(pin)); }
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inline void fastPinMode(uint8_t pin, bool mode) { pinMode(pin, mode); }
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#else // !__arm__
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#include <avr/io.h>
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#include <util/atomic.h>
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/**
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* @class pin_map_t
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* @brief struct for mapping digital pins
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*/
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struct pin_map_t {
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volatile uint8_t* ddr; /**< address of DDR for this pin */
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volatile uint8_t* pin; /**< address of PIN for this pin */
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volatile uint8_t* port; /**< address of PORT for this pin */
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uint8_t bit; /**< bit number for this pin */
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};
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#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega168P__) || defined(__AVR_ATmega328P__)
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// 168 and 328 Arduinos
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const static pin_map_t pinMap[] = {
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{&DDRD, &PIND, &PORTD, 0}, // D0 0
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{&DDRD, &PIND, &PORTD, 1}, // D1 1
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{&DDRD, &PIND, &PORTD, 2}, // D2 2
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{&DDRD, &PIND, &PORTD, 3}, // D3 3
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{&DDRD, &PIND, &PORTD, 4}, // D4 4
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{&DDRD, &PIND, &PORTD, 5}, // D5 5
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{&DDRD, &PIND, &PORTD, 6}, // D6 6
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{&DDRD, &PIND, &PORTD, 7}, // D7 7
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{&DDRB, &PINB, &PORTB, 0}, // B0 8
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{&DDRB, &PINB, &PORTB, 1}, // B1 9
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{&DDRB, &PINB, &PORTB, 2}, // B2 10
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{&DDRB, &PINB, &PORTB, 3}, // B3 11
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{&DDRB, &PINB, &PORTB, 4}, // B4 12
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{&DDRB, &PINB, &PORTB, 5}, // B5 13
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{&DDRC, &PINC, &PORTC, 0}, // C0 14
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{&DDRC, &PINC, &PORTC, 1}, // C1 15
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{&DDRC, &PINC, &PORTC, 2}, // C2 16
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{&DDRC, &PINC, &PORTC, 3}, // C3 17
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{&DDRC, &PINC, &PORTC, 4}, // C4 18
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{&DDRC, &PINC, &PORTC, 5} // C5 19
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};
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#elif defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)
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// Mega
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static const pin_map_t pinMap[] = {
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{&DDRE, &PINE, &PORTE, 0}, // E0 0
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{&DDRE, &PINE, &PORTE, 1}, // E1 1
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{&DDRE, &PINE, &PORTE, 4}, // E4 2
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{&DDRE, &PINE, &PORTE, 5}, // E5 3
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{&DDRG, &PING, &PORTG, 5}, // G5 4
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{&DDRE, &PINE, &PORTE, 3}, // E3 5
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{&DDRH, &PINH, &PORTH, 3}, // H3 6
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{&DDRH, &PINH, &PORTH, 4}, // H4 7
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{&DDRH, &PINH, &PORTH, 5}, // H5 8
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{&DDRH, &PINH, &PORTH, 6}, // H6 9
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{&DDRB, &PINB, &PORTB, 4}, // B4 10
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{&DDRB, &PINB, &PORTB, 5}, // B5 11
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{&DDRB, &PINB, &PORTB, 6}, // B6 12
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{&DDRB, &PINB, &PORTB, 7}, // B7 13
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{&DDRJ, &PINJ, &PORTJ, 1}, // J1 14
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{&DDRJ, &PINJ, &PORTJ, 0}, // J0 15
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{&DDRH, &PINH, &PORTH, 1}, // H1 16
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{&DDRH, &PINH, &PORTH, 0}, // H0 17
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{&DDRD, &PIND, &PORTD, 3}, // D3 18
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{&DDRD, &PIND, &PORTD, 2}, // D2 19
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{&DDRD, &PIND, &PORTD, 1}, // D1 20
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{&DDRD, &PIND, &PORTD, 0}, // D0 21
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{&DDRA, &PINA, &PORTA, 0}, // A0 22
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{&DDRA, &PINA, &PORTA, 1}, // A1 23
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{&DDRA, &PINA, &PORTA, 2}, // A2 24
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{&DDRA, &PINA, &PORTA, 3}, // A3 25
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{&DDRA, &PINA, &PORTA, 4}, // A4 26
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{&DDRA, &PINA, &PORTA, 5}, // A5 27
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{&DDRA, &PINA, &PORTA, 6}, // A6 28
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{&DDRA, &PINA, &PORTA, 7}, // A7 29
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{&DDRC, &PINC, &PORTC, 7}, // C7 30
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{&DDRC, &PINC, &PORTC, 6}, // C6 31
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{&DDRC, &PINC, &PORTC, 5}, // C5 32
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{&DDRC, &PINC, &PORTC, 4}, // C4 33
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{&DDRC, &PINC, &PORTC, 3}, // C3 34
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{&DDRC, &PINC, &PORTC, 2}, // C2 35
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{&DDRC, &PINC, &PORTC, 1}, // C1 36
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{&DDRC, &PINC, &PORTC, 0}, // C0 37
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{&DDRD, &PIND, &PORTD, 7}, // D7 38
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{&DDRG, &PING, &PORTG, 2}, // G2 39
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{&DDRG, &PING, &PORTG, 1}, // G1 40
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{&DDRG, &PING, &PORTG, 0}, // G0 41
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{&DDRL, &PINL, &PORTL, 7}, // L7 42
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{&DDRL, &PINL, &PORTL, 6}, // L6 43
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{&DDRL, &PINL, &PORTL, 5}, // L5 44
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{&DDRL, &PINL, &PORTL, 4}, // L4 45
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{&DDRL, &PINL, &PORTL, 3}, // L3 46
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{&DDRL, &PINL, &PORTL, 2}, // L2 47
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{&DDRL, &PINL, &PORTL, 1}, // L1 48
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{&DDRL, &PINL, &PORTL, 0}, // L0 49
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{&DDRB, &PINB, &PORTB, 3}, // B3 50
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{&DDRB, &PINB, &PORTB, 2}, // B2 51
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{&DDRB, &PINB, &PORTB, 1}, // B1 52
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{&DDRB, &PINB, &PORTB, 0}, // B0 53
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{&DDRF, &PINF, &PORTF, 0}, // F0 54
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{&DDRF, &PINF, &PORTF, 1}, // F1 55
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{&DDRF, &PINF, &PORTF, 2}, // F2 56
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{&DDRF, &PINF, &PORTF, 3}, // F3 57
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{&DDRF, &PINF, &PORTF, 4}, // F4 58
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{&DDRF, &PINF, &PORTF, 5}, // F5 59
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{&DDRF, &PINF, &PORTF, 6}, // F6 60
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{&DDRF, &PINF, &PORTF, 7}, // F7 61
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{&DDRK, &PINK, &PORTK, 0}, // K0 62
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{&DDRK, &PINK, &PORTK, 1}, // K1 63
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{&DDRK, &PINK, &PORTK, 2}, // K2 64
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{&DDRK, &PINK, &PORTK, 3}, // K3 65
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{&DDRK, &PINK, &PORTK, 4}, // K4 66
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{&DDRK, &PINK, &PORTK, 5}, // K5 67
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{&DDRK, &PINK, &PORTK, 6}, // K6 68
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{&DDRK, &PINK, &PORTK, 7}, // K7 69
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// pins_MIGHTYBOARD_REVE.h
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{&DDRG, &PING, &PORTG, 4}, // G4 70
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{&DDRG, &PING, &PORTG, 3}, // G3 71
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{&DDRJ, &PINJ, &PORTJ, 2}, // J2 72
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{&DDRJ, &PINJ, &PORTJ, 3}, // J3 73
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{&DDRJ, &PINJ, &PORTJ, 7}, // J7 74
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{&DDRJ, &PINJ, &PORTJ, 4}, // J4 75
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{&DDRJ, &PINJ, &PORTJ, 5}, // J5 76
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{&DDRJ, &PINJ, &PORTJ, 6}, // J6 77
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{&DDRE, &PINE, &PORTE, 2}, // E2 78
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{&DDRE, &PINE, &PORTE, 6} // E6 79
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};
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#elif defined(__AVR_ATmega1284P__) || defined(__AVR_ATmega1284__) \
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|| defined(__AVR_ATmega644P__) || defined(__AVR_ATmega644__) \
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|| defined(__AVR_ATmega64__) || defined(__AVR_ATmega32__) \
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|| defined(__AVR_ATmega324__) || defined(__AVR_ATmega16__)
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#ifdef VARIANT_MIGHTY
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// Mighty Layout
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static const pin_map_t pinMap[] = {
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{&DDRB, &PINB, &PORTB, 0}, // B0 0
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{&DDRB, &PINB, &PORTB, 1}, // B1 1
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{&DDRB, &PINB, &PORTB, 2}, // B2 2
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{&DDRB, &PINB, &PORTB, 3}, // B3 3
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{&DDRB, &PINB, &PORTB, 4}, // B4 4
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{&DDRB, &PINB, &PORTB, 5}, // B5 5
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{&DDRB, &PINB, &PORTB, 6}, // B6 6
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{&DDRB, &PINB, &PORTB, 7}, // B7 7
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{&DDRD, &PIND, &PORTD, 0}, // D0 8
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{&DDRD, &PIND, &PORTD, 1}, // D1 9
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{&DDRD, &PIND, &PORTD, 2}, // D2 10
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{&DDRD, &PIND, &PORTD, 3}, // D3 11
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{&DDRD, &PIND, &PORTD, 4}, // D4 12
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{&DDRD, &PIND, &PORTD, 5}, // D5 13
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{&DDRD, &PIND, &PORTD, 6}, // D6 14
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{&DDRD, &PIND, &PORTD, 7}, // D7 15
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{&DDRC, &PINC, &PORTC, 0}, // C0 16
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{&DDRC, &PINC, &PORTC, 1}, // C1 17
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{&DDRC, &PINC, &PORTC, 2}, // C2 18
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{&DDRC, &PINC, &PORTC, 3}, // C3 19
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{&DDRC, &PINC, &PORTC, 4}, // C4 20
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{&DDRC, &PINC, &PORTC, 5}, // C5 21
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{&DDRC, &PINC, &PORTC, 6}, // C6 22
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{&DDRC, &PINC, &PORTC, 7}, // C7 23
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{&DDRA, &PINA, &PORTA, 0}, // A0 24
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{&DDRA, &PINA, &PORTA, 1}, // A1 25
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{&DDRA, &PINA, &PORTA, 2}, // A2 26
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{&DDRA, &PINA, &PORTA, 3}, // A3 27
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{&DDRA, &PINA, &PORTA, 4}, // A4 28
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{&DDRA, &PINA, &PORTA, 5}, // A5 29
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{&DDRA, &PINA, &PORTA, 6}, // A6 30
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{&DDRA, &PINA, &PORTA, 7} // A7 31
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};
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#elif defined(VARIANT_BOBUINO)
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// Bobuino Layout
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static const pin_map_t pinMap[] = {
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{&DDRD, &PIND, &PORTD, 0}, // D0 0
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{&DDRD, &PIND, &PORTD, 1}, // D1 1
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{&DDRD, &PIND, &PORTD, 2}, // D2 2
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{&DDRD, &PIND, &PORTD, 3}, // D3 3
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{&DDRB, &PINB, &PORTB, 0}, // B0 4
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{&DDRB, &PINB, &PORTB, 1}, // B1 5
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{&DDRB, &PINB, &PORTB, 2}, // B2 6
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{&DDRB, &PINB, &PORTB, 3}, // B3 7
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{&DDRD, &PIND, &PORTD, 5}, // D5 8
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{&DDRD, &PIND, &PORTD, 6}, // D6 9
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{&DDRB, &PINB, &PORTB, 4}, // B4 10
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{&DDRB, &PINB, &PORTB, 5}, // B5 11
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{&DDRB, &PINB, &PORTB, 6}, // B6 12
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{&DDRB, &PINB, &PORTB, 7}, // B7 13
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{&DDRA, &PINA, &PORTA, 7}, // A7 14
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{&DDRA, &PINA, &PORTA, 6}, // A6 15
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{&DDRA, &PINA, &PORTA, 5}, // A5 16
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{&DDRA, &PINA, &PORTA, 4}, // A4 17
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{&DDRA, &PINA, &PORTA, 3}, // A3 18
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{&DDRA, &PINA, &PORTA, 2}, // A2 19
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{&DDRA, &PINA, &PORTA, 1}, // A1 20
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{&DDRA, &PINA, &PORTA, 0}, // A0 21
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{&DDRC, &PINC, &PORTC, 0}, // C0 22
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{&DDRC, &PINC, &PORTC, 1}, // C1 23
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{&DDRC, &PINC, &PORTC, 2}, // C2 24
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{&DDRC, &PINC, &PORTC, 3}, // C3 25
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{&DDRC, &PINC, &PORTC, 4}, // C4 26
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{&DDRC, &PINC, &PORTC, 5}, // C5 27
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{&DDRC, &PINC, &PORTC, 6}, // C6 28
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{&DDRC, &PINC, &PORTC, 7}, // C7 29
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{&DDRD, &PIND, &PORTD, 4}, // D4 30
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{&DDRD, &PIND, &PORTD, 7} // D7 31
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};
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#elif defined(VARIANT_STANDARD)
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// Standard Layout
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static const pin_map_t pinMap[] = {
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{&DDRB, &PINB, &PORTB, 0}, // B0 0
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{&DDRB, &PINB, &PORTB, 1}, // B1 1
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{&DDRB, &PINB, &PORTB, 2}, // B2 2
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{&DDRB, &PINB, &PORTB, 3}, // B3 3
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{&DDRB, &PINB, &PORTB, 4}, // B4 4
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{&DDRB, &PINB, &PORTB, 5}, // B5 5
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{&DDRB, &PINB, &PORTB, 6}, // B6 6
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{&DDRB, &PINB, &PORTB, 7}, // B7 7
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{&DDRD, &PIND, &PORTD, 0}, // D0 8
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{&DDRD, &PIND, &PORTD, 1}, // D1 9
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{&DDRD, &PIND, &PORTD, 2}, // D2 10
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{&DDRD, &PIND, &PORTD, 3}, // D3 11
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{&DDRD, &PIND, &PORTD, 4}, // D4 12
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{&DDRD, &PIND, &PORTD, 5}, // D5 13
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{&DDRD, &PIND, &PORTD, 6}, // D6 14
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{&DDRD, &PIND, &PORTD, 7}, // D7 15
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{&DDRC, &PINC, &PORTC, 0}, // C0 16
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{&DDRC, &PINC, &PORTC, 1}, // C1 17
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{&DDRC, &PINC, &PORTC, 2}, // C2 18
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{&DDRC, &PINC, &PORTC, 3}, // C3 19
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{&DDRC, &PINC, &PORTC, 4}, // C4 20
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{&DDRC, &PINC, &PORTC, 5}, // C5 21
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{&DDRC, &PINC, &PORTC, 6}, // C6 22
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{&DDRC, &PINC, &PORTC, 7}, // C7 23
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{&DDRA, &PINA, &PORTA, 7}, // A7 24
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{&DDRA, &PINA, &PORTA, 6}, // A6 25
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{&DDRA, &PINA, &PORTA, 5}, // A5 26
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{&DDRA, &PINA, &PORTA, 4}, // A4 27
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{&DDRA, &PINA, &PORTA, 3}, // A3 28
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{&DDRA, &PINA, &PORTA, 2}, // A2 29
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{&DDRA, &PINA, &PORTA, 1}, // A1 30
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{&DDRA, &PINA, &PORTA, 0} // A0 31
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};
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#else // !(VARIANT_MIGHTY || VARIANT_BOBUINO || VARIANT_STANDARD)
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#error Undefined variant 1284, 644, 324, 64, 32
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#endif
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#elif defined(__AVR_ATmega32U4__)
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#ifdef CORE_TEENSY
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// Teensy 2.0
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static const pin_map_t pinMap[] = {
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{&DDRB, &PINB, &PORTB, 0}, // B0 0
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{&DDRB, &PINB, &PORTB, 1}, // B1 1
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{&DDRB, &PINB, &PORTB, 2}, // B2 2
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{&DDRB, &PINB, &PORTB, 3}, // B3 3
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{&DDRB, &PINB, &PORTB, 7}, // B7 4
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{&DDRD, &PIND, &PORTD, 0}, // D0 5
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{&DDRD, &PIND, &PORTD, 1}, // D1 6
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{&DDRD, &PIND, &PORTD, 2}, // D2 7
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{&DDRD, &PIND, &PORTD, 3}, // D3 8
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{&DDRC, &PINC, &PORTC, 6}, // C6 9
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{&DDRC, &PINC, &PORTC, 7}, // C7 10
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{&DDRD, &PIND, &PORTD, 6}, // D6 11
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{&DDRD, &PIND, &PORTD, 7}, // D7 12
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{&DDRB, &PINB, &PORTB, 4}, // B4 13
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{&DDRB, &PINB, &PORTB, 5}, // B5 14
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{&DDRB, &PINB, &PORTB, 6}, // B6 15
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{&DDRF, &PINF, &PORTF, 7}, // F7 16
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{&DDRF, &PINF, &PORTF, 6}, // F6 17
|
|
{&DDRF, &PINF, &PORTF, 5}, // F5 18
|
|
{&DDRF, &PINF, &PORTF, 4}, // F4 19
|
|
{&DDRF, &PINF, &PORTF, 1}, // F1 20
|
|
{&DDRF, &PINF, &PORTF, 0}, // F0 21
|
|
{&DDRD, &PIND, &PORTD, 4}, // D4 22
|
|
{&DDRD, &PIND, &PORTD, 5}, // D5 23
|
|
{&DDRE, &PINE, &PORTE, 6} // E6 24
|
|
};
|
|
|
|
#else // !CORE_TEENSY
|
|
|
|
// Leonardo
|
|
static const pin_map_t pinMap[] = {
|
|
{&DDRD, &PIND, &PORTD, 2}, // D2 0
|
|
{&DDRD, &PIND, &PORTD, 3}, // D3 1
|
|
{&DDRD, &PIND, &PORTD, 1}, // D1 2
|
|
{&DDRD, &PIND, &PORTD, 0}, // D0 3
|
|
{&DDRD, &PIND, &PORTD, 4}, // D4 4
|
|
{&DDRC, &PINC, &PORTC, 6}, // C6 5
|
|
{&DDRD, &PIND, &PORTD, 7}, // D7 6
|
|
{&DDRE, &PINE, &PORTE, 6}, // E6 7
|
|
{&DDRB, &PINB, &PORTB, 4}, // B4 8
|
|
{&DDRB, &PINB, &PORTB, 5}, // B5 9
|
|
{&DDRB, &PINB, &PORTB, 6}, // B6 10
|
|
{&DDRB, &PINB, &PORTB, 7}, // B7 11
|
|
{&DDRD, &PIND, &PORTD, 6}, // D6 12
|
|
{&DDRC, &PINC, &PORTC, 7}, // C7 13
|
|
{&DDRB, &PINB, &PORTB, 3}, // B3 14
|
|
{&DDRB, &PINB, &PORTB, 1}, // B1 15
|
|
{&DDRB, &PINB, &PORTB, 2}, // B2 16
|
|
{&DDRB, &PINB, &PORTB, 0}, // B0 17
|
|
{&DDRF, &PINF, &PORTF, 7}, // F7 18
|
|
{&DDRF, &PINF, &PORTF, 6}, // F6 19
|
|
{&DDRF, &PINF, &PORTF, 5}, // F5 20
|
|
{&DDRF, &PINF, &PORTF, 4}, // F4 21
|
|
{&DDRF, &PINF, &PORTF, 1}, // F1 22
|
|
{&DDRF, &PINF, &PORTF, 0}, // F0 23
|
|
{&DDRD, &PIND, &PORTD, 4}, // D4 24
|
|
{&DDRD, &PIND, &PORTD, 7}, // D7 25
|
|
{&DDRB, &PINB, &PORTB, 4}, // B4 26
|
|
{&DDRB, &PINB, &PORTB, 5}, // B5 27
|
|
{&DDRB, &PINB, &PORTB, 6}, // B6 28
|
|
{&DDRD, &PIND, &PORTD, 6} // D6 29
|
|
};
|
|
|
|
#endif // !CORE_TEENSY
|
|
|
|
#elif defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB1286__)
|
|
|
|
// Teensy++ 1.0 & 2.0
|
|
static const pin_map_t pinMap[] = {
|
|
{&DDRD, &PIND, &PORTD, 0}, // D0 0
|
|
{&DDRD, &PIND, &PORTD, 1}, // D1 1
|
|
{&DDRD, &PIND, &PORTD, 2}, // D2 2
|
|
{&DDRD, &PIND, &PORTD, 3}, // D3 3
|
|
{&DDRD, &PIND, &PORTD, 4}, // D4 4
|
|
{&DDRD, &PIND, &PORTD, 5}, // D5 5
|
|
{&DDRD, &PIND, &PORTD, 6}, // D6 6
|
|
{&DDRD, &PIND, &PORTD, 7}, // D7 7
|
|
{&DDRE, &PINE, &PORTE, 0}, // E0 8
|
|
{&DDRE, &PINE, &PORTE, 1}, // E1 9
|
|
{&DDRC, &PINC, &PORTC, 0}, // C0 10
|
|
{&DDRC, &PINC, &PORTC, 1}, // C1 11
|
|
{&DDRC, &PINC, &PORTC, 2}, // C2 12
|
|
{&DDRC, &PINC, &PORTC, 3}, // C3 13
|
|
{&DDRC, &PINC, &PORTC, 4}, // C4 14
|
|
{&DDRC, &PINC, &PORTC, 5}, // C5 15
|
|
{&DDRC, &PINC, &PORTC, 6}, // C6 16
|
|
{&DDRC, &PINC, &PORTC, 7}, // C7 17
|
|
{&DDRE, &PINE, &PORTE, 6}, // E6 18
|
|
{&DDRE, &PINE, &PORTE, 7}, // E7 19
|
|
{&DDRB, &PINB, &PORTB, 0}, // B0 20
|
|
{&DDRB, &PINB, &PORTB, 1}, // B1 21
|
|
{&DDRB, &PINB, &PORTB, 2}, // B2 22
|
|
{&DDRB, &PINB, &PORTB, 3}, // B3 23
|
|
{&DDRB, &PINB, &PORTB, 4}, // B4 24
|
|
{&DDRB, &PINB, &PORTB, 5}, // B5 25
|
|
{&DDRB, &PINB, &PORTB, 6}, // B6 26
|
|
{&DDRB, &PINB, &PORTB, 7}, // B7 27
|
|
{&DDRA, &PINA, &PORTA, 0}, // A0 28
|
|
{&DDRA, &PINA, &PORTA, 1}, // A1 29
|
|
{&DDRA, &PINA, &PORTA, 2}, // A2 30
|
|
{&DDRA, &PINA, &PORTA, 3}, // A3 31
|
|
{&DDRA, &PINA, &PORTA, 4}, // A4 32
|
|
{&DDRA, &PINA, &PORTA, 5}, // A5 33
|
|
{&DDRA, &PINA, &PORTA, 6}, // A6 34
|
|
{&DDRA, &PINA, &PORTA, 7}, // A7 35
|
|
{&DDRE, &PINE, &PORTE, 4}, // E4 36
|
|
{&DDRE, &PINE, &PORTE, 5}, // E5 37
|
|
{&DDRF, &PINF, &PORTF, 0}, // F0 38
|
|
{&DDRF, &PINF, &PORTF, 1}, // F1 39
|
|
{&DDRF, &PINF, &PORTF, 2}, // F2 40
|
|
{&DDRF, &PINF, &PORTF, 3}, // F3 41
|
|
{&DDRF, &PINF, &PORTF, 4}, // F4 42
|
|
{&DDRF, &PINF, &PORTF, 5}, // F5 43
|
|
{&DDRF, &PINF, &PORTF, 6}, // F6 44
|
|
{&DDRF, &PINF, &PORTF, 7} // F7 45
|
|
};
|
|
|
|
#else // CPU type
|
|
|
|
#error "Unknown CPU type for Software SPI"
|
|
|
|
#endif // CPU type
|
|
|
|
/** count of pins */
|
|
static constexpr uint8_t digitalPinCount = sizeof(pinMap) / sizeof(pin_map_t);
|
|
|
|
/** generate bad pin number error */
|
|
void badPinNumber()
|
|
__attribute__((error("Pin number is too large or not a constant")));
|
|
|
|
/**
|
|
* Check for valid pin number
|
|
* @param[in] pin Number of pin to be checked.
|
|
*/
|
|
FORCE_INLINE static void badPinCheck(const uint8_t pin) {
|
|
if (!__builtin_constant_p(pin) || pin >= digitalPinCount) badPinNumber();
|
|
}
|
|
|
|
/**
|
|
* Fast write helper
|
|
* @param[in] address I/O register address
|
|
* @param[in] bit bit number to write
|
|
* @param[in] level value for bit
|
|
*/
|
|
FORCE_INLINE static void fastBitWriteSafe(volatile uint8_t* address, uint8_t bit, bool level) {
|
|
uint8_t oldSREG;
|
|
if (address > (uint8_t*)0x5F) { oldSREG = SREG; cli(); }
|
|
if (level) SBI(*address, bit); else CBI(*address, bit);
|
|
if (address > (uint8_t*)0x5F) SREG = oldSREG;
|
|
}
|
|
|
|
/**
|
|
* Read pin value
|
|
* @param[in] pin Arduino pin number
|
|
* @return value read
|
|
*/
|
|
FORCE_INLINE static bool fastDigitalRead(uint8_t pin) {
|
|
badPinCheck(pin);
|
|
return (*pinMap[pin].pin >> pinMap[pin].bit) & 1;
|
|
}
|
|
|
|
/**
|
|
* Toggle a pin
|
|
* @param[in] pin Arduino pin number
|
|
*
|
|
* If the pin is in output mode toggle the pin level.
|
|
* If the pin is in input mode toggle the state of the 20K pullup.
|
|
*/
|
|
FORCE_INLINE static void fastDigitalToggle(uint8_t pin) {
|
|
badPinCheck(pin);
|
|
if (pinMap[pin].pin > (uint8_t*)0x5F)
|
|
*pinMap[pin].pin = _BV(pinMap[pin].bit); // Must write bit to high address port
|
|
else
|
|
SBI(*pinMap[pin].pin, pinMap[pin].bit); // Compiles to sbi and PIN register will not be read
|
|
}
|
|
|
|
/**
|
|
* Set pin value
|
|
* @param[in] pin Arduino pin number
|
|
* @param[in] level value to write
|
|
*/
|
|
FORCE_INLINE static void fastDigitalWrite(uint8_t pin, bool level) {
|
|
badPinCheck(pin);
|
|
fastBitWriteSafe(pinMap[pin].port, pinMap[pin].bit, level);
|
|
}
|
|
|
|
/**
|
|
* Set pin mode
|
|
* @param[in] pin Arduino pin number
|
|
* @param[in] mode if true set output mode else input mode
|
|
*
|
|
* fastPinMode does not enable or disable the 20K pullup for input mode.
|
|
*/
|
|
FORCE_INLINE static void fastPinMode(uint8_t pin, bool mode) {
|
|
badPinCheck(pin);
|
|
fastBitWriteSafe(pinMap[pin].ddr, pinMap[pin].bit, mode);
|
|
}
|
|
|
|
#endif // !__arm__
|
|
|
|
/**
|
|
* Set pin configuration
|
|
* @param[in] pin Arduino pin number
|
|
* @param[in] mode If true set output mode else input mode
|
|
* @param[in] level If mode is output, set level high/low.
|
|
* If mode is input, enable or disable the pin's 20K pullup.
|
|
*/
|
|
FORCE_INLINE static void fastPinConfig(uint8_t pin, bool mode, bool level) {
|
|
fastPinMode(pin, mode);
|
|
fastDigitalWrite(pin, level);
|
|
}
|
|
|
|
/**
|
|
* @class DigitalPin
|
|
* @brief Fast digital port I/O
|
|
*/
|
|
template<uint8_t PinNumber>
|
|
class DigitalPin {
|
|
public:
|
|
|
|
/** Constructor */
|
|
DigitalPin() {}
|
|
|
|
/**
|
|
* Constructor
|
|
* @param[in] pinMode if true set output mode else input mode.
|
|
*/
|
|
explicit DigitalPin(bool pinMode) { mode(pinMode); }
|
|
|
|
/**
|
|
* Constructor
|
|
* @param[in] mode If true set output mode else input mode
|
|
* @param[in] level If mode is output, set level high/low.
|
|
* If mode is input, enable or disable the pin's 20K pullup.
|
|
*/
|
|
DigitalPin(bool mode, bool level) { config(mode, level); }
|
|
|
|
/**
|
|
* Assignment operator
|
|
* @param[in] value If true set the pin's level high else set the
|
|
* pin's level low.
|
|
*
|
|
* @return This DigitalPin instance.
|
|
*/
|
|
FORCE_INLINE DigitalPin & operator = (bool value) { write(value); return *this; }
|
|
|
|
/**
|
|
* Parentheses operator
|
|
* @return Pin's level
|
|
*/
|
|
FORCE_INLINE operator bool () const { return read(); }
|
|
|
|
/**
|
|
* Set pin configuration
|
|
* @param[in] mode If true set output mode else input mode
|
|
* @param[in] level If mode is output, set level high/low.
|
|
* If mode is input, enable or disable the pin's 20K pullup.
|
|
*/
|
|
FORCE_INLINE void config(bool mode, bool level) { fastPinConfig(PinNumber, mode, level); }
|
|
|
|
/**
|
|
* Set pin level high if output mode or enable 20K pullup if input mode.
|
|
*/
|
|
FORCE_INLINE void high() { write(true); }
|
|
|
|
/**
|
|
* Set pin level low if output mode or disable 20K pullup if input mode.
|
|
*/
|
|
FORCE_INLINE void low() { write(false); }
|
|
|
|
/**
|
|
* Set pin mode
|
|
* @param[in] pinMode if true set output mode else input mode.
|
|
*
|
|
* mode() does not enable or disable the 20K pullup for input mode.
|
|
*/
|
|
FORCE_INLINE void mode(bool pinMode) { fastPinMode(PinNumber, pinMode); }
|
|
|
|
/** @return Pin's level */
|
|
FORCE_INLINE bool read() const { return fastDigitalRead(PinNumber); }
|
|
|
|
/**
|
|
* Toggle a pin
|
|
* If the pin is in output mode toggle the pin's level.
|
|
* If the pin is in input mode toggle the state of the 20K pullup.
|
|
*/
|
|
FORCE_INLINE void toggle() { fastDigitalToggle(PinNumber); }
|
|
|
|
/**
|
|
* Write the pin's level.
|
|
* @param[in] value If true set the pin's level high else set the
|
|
* pin's level low.
|
|
*/
|
|
FORCE_INLINE void write(bool value) { fastDigitalWrite(PinNumber, value); }
|
|
};
|
|
|
|
const bool MISO_MODE = false, // Pin Mode for MISO is input.
|
|
MISO_LEVEL = false, // Pullups disabled for MISO are disabled.
|
|
MOSI_MODE = true, // Pin Mode for MOSI is output.
|
|
SCK_MODE = true; // Pin Mode for SCK is output.
|
|
|
|
/**
|
|
* @class SoftSPI
|
|
* @brief Fast software SPI.
|
|
*/
|
|
template<uint8_t MisoPin, uint8_t MosiPin, uint8_t SckPin, uint8_t Mode = 0>
|
|
class SoftSPI {
|
|
public:
|
|
|
|
/** Initialize SoftSPI pins. */
|
|
void begin() {
|
|
fastPinConfig(MisoPin, MISO_MODE, MISO_LEVEL);
|
|
fastPinConfig(MosiPin, MOSI_MODE, !MODE_CPHA(Mode));
|
|
fastPinConfig(SckPin, SCK_MODE, MODE_CPOL(Mode));
|
|
}
|
|
|
|
/**
|
|
* Soft SPI receive byte.
|
|
* @return Data byte received.
|
|
*/
|
|
FORCE_INLINE uint8_t receive() {
|
|
uint8_t data = 0;
|
|
receiveBit(7, &data);
|
|
receiveBit(6, &data);
|
|
receiveBit(5, &data);
|
|
receiveBit(4, &data);
|
|
receiveBit(3, &data);
|
|
receiveBit(2, &data);
|
|
receiveBit(1, &data);
|
|
receiveBit(0, &data);
|
|
return data;
|
|
}
|
|
|
|
/**
|
|
* Soft SPI send byte.
|
|
* @param[in] data Data byte to send.
|
|
*/
|
|
FORCE_INLINE void send(uint8_t data) {
|
|
sendBit(7, data);
|
|
sendBit(6, data);
|
|
sendBit(5, data);
|
|
sendBit(4, data);
|
|
sendBit(3, data);
|
|
sendBit(2, data);
|
|
sendBit(1, data);
|
|
sendBit(0, data);
|
|
}
|
|
|
|
/**
|
|
* Soft SPI transfer byte.
|
|
* @param[in] txData Data byte to send.
|
|
* @return Data byte received.
|
|
*/
|
|
FORCE_INLINE uint8_t transfer(uint8_t txData) {
|
|
uint8_t rxData = 0;
|
|
transferBit(7, &rxData, txData);
|
|
transferBit(6, &rxData, txData);
|
|
transferBit(5, &rxData, txData);
|
|
transferBit(4, &rxData, txData);
|
|
transferBit(3, &rxData, txData);
|
|
transferBit(2, &rxData, txData);
|
|
transferBit(1, &rxData, txData);
|
|
transferBit(0, &rxData, txData);
|
|
return rxData;
|
|
}
|
|
|
|
private:
|
|
|
|
FORCE_INLINE bool MODE_CPHA(uint8_t mode) { return bool(mode & 1); }
|
|
FORCE_INLINE bool MODE_CPOL(uint8_t mode) { return bool(mode & 2); }
|
|
FORCE_INLINE void receiveBit(uint8_t bit, uint8_t* data) {
|
|
if (MODE_CPHA(Mode)) fastDigitalWrite(SckPin, !MODE_CPOL(Mode));
|
|
nop;
|
|
nop;
|
|
fastDigitalWrite(SckPin,
|
|
MODE_CPHA(Mode) ? MODE_CPOL(Mode) : !MODE_CPOL(Mode));
|
|
if (fastDigitalRead(MisoPin)) SBI(*data, bit);
|
|
if (!MODE_CPHA(Mode)) fastDigitalWrite(SckPin, MODE_CPOL(Mode));
|
|
}
|
|
|
|
FORCE_INLINE void sendBit(uint8_t bit, uint8_t data) {
|
|
if (MODE_CPHA(Mode)) fastDigitalWrite(SckPin, !MODE_CPOL(Mode));
|
|
fastDigitalWrite(MosiPin, data & _BV(bit));
|
|
fastDigitalWrite(SckPin, MODE_CPHA(Mode) ? MODE_CPOL(Mode) : !MODE_CPOL(Mode));
|
|
nop;
|
|
nop;
|
|
if (!MODE_CPHA(Mode)) fastDigitalWrite(SckPin, MODE_CPOL(Mode));
|
|
}
|
|
|
|
FORCE_INLINE void transferBit(uint8_t bit, uint8_t* rxData, uint8_t txData) {
|
|
if (MODE_CPHA(Mode)) fastDigitalWrite(SckPin, !MODE_CPOL(Mode));
|
|
fastDigitalWrite(MosiPin, txData & _BV(bit));
|
|
fastDigitalWrite(SckPin,
|
|
MODE_CPHA(Mode) ? MODE_CPOL(Mode) : !MODE_CPOL(Mode));
|
|
if (fastDigitalRead(MisoPin)) SBI(*rxData, bit);
|
|
if (!MODE_CPHA(Mode)) fastDigitalWrite(SckPin, MODE_CPOL(Mode));
|
|
}
|
|
|
|
};
|