Skip to content

Optimise GPIO read/write by moving bitwise shift to compile time #355

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
DRracer merged 1 commit into from
Dec 1, 2025
Merged

Optimise GPIO read/write by moving bitwise shift to compile time #355

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 8 additions & 8 deletions src/hal/gpio.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -52,31 +52,31 @@ struct GPIO_pin {
// No constructor here in order to allow brace-initialization in old
// gcc versions/standards
GPIO_TypeDef *const port;
const uint8_t pin;
const uint8_t pin_mask;
};

__attribute__((always_inline)) inline void WritePin(const GPIO_pin portPin, Level level) {
ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
if (level == Level::high)
portPin.port->PORTx |= (1 << portPin.pin);
portPin.port->PORTx |= portPin.pin_mask;
else
portPin.port->PORTx &= ~(1 << portPin.pin);
portPin.port->PORTx &= ~portPin.pin_mask;
}
}

__attribute__((always_inline)) inline Level ReadPin(const GPIO_pin portPin) {
#ifdef __AVR__
return (Level)((portPin.port->PINx & (1 << portPin.pin)) != 0);
return (Level)((portPin.port->PINx & portPin.pin_mask) != 0);
#else
// Return the value modified by WritePin
return (Level)((portPin.port->PORTx & (1 << portPin.pin)) != 0);
return (Level)((portPin.port->PORTx & portPin.pin_mask) != 0);
#endif
}

__attribute__((always_inline)) inline void TogglePin(const GPIO_pin portPin) {
#ifdef __AVR__
// Optimized path for AVR, resulting in a pin toggle
portPin.port->PINx = (1 << portPin.pin);
portPin.port->PINx = portPin.pin_mask;
#else
WritePin(portPin, (Level)(ReadPin(portPin) != Level::high));
#endif
Expand All @@ -85,9 +85,9 @@ __attribute__((always_inline)) inline void TogglePin(const GPIO_pin portPin) {
__attribute__((always_inline)) inline void Init(const GPIO_pin portPin, GPIO_InitTypeDef GPIO_Init) {
if (GPIO_Init.mode == Mode::output) {
WritePin(portPin, GPIO_Init.level);
portPin.port->DDRx |= (1 << portPin.pin);
portPin.port->DDRx |= portPin.pin_mask;
} else {
portPin.port->DDRx &= ~(1 << portPin.pin);
portPin.port->DDRx &= ~portPin.pin_mask;
WritePin(portPin, (Level)GPIO_Init.pull);
}
}
Expand Down
38 changes: 19 additions & 19 deletions src/pins.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,28 +3,28 @@
#include "hal/gpio.h"

/// pin definitions
static constexpr hal::gpio::GPIO_pin TMC2130_SPI_MISO_PIN = { GPIOB, 3 };
static constexpr hal::gpio::GPIO_pin TMC2130_SPI_MOSI_PIN = { GPIOB, 2 };
static constexpr hal::gpio::GPIO_pin TMC2130_SPI_SCK_PIN = { GPIOB, 1 };
static constexpr hal::gpio::GPIO_pin TMC2130_SPI_SS_PIN = { GPIOB, 0 };
static constexpr hal::gpio::GPIO_pin TMC2130_SPI_MISO_PIN = { GPIOB, (1 << 3) };
static constexpr hal::gpio::GPIO_pin TMC2130_SPI_MOSI_PIN = { GPIOB, (1 << 2) };
static constexpr hal::gpio::GPIO_pin TMC2130_SPI_SCK_PIN = { GPIOB, (1 << 1) };
static constexpr hal::gpio::GPIO_pin TMC2130_SPI_SS_PIN = { GPIOB, (1 << 0) };

static constexpr hal::gpio::GPIO_pin SHR16_DATA = { GPIOB, 5 }; ///DS
static constexpr hal::gpio::GPIO_pin SHR16_LATCH = { GPIOB, 6 }; ///STCP
static constexpr hal::gpio::GPIO_pin SHR16_CLOCK = { GPIOC, 7 }; ///SHCP
static constexpr hal::gpio::GPIO_pin SHR16_DATA = { GPIOB, (1 << 5) }; ///DS
static constexpr hal::gpio::GPIO_pin SHR16_LATCH = { GPIOB, (1 << 6) }; ///STCP
static constexpr hal::gpio::GPIO_pin SHR16_CLOCK = { GPIOC, (1 << 7) }; ///SHCP

static constexpr hal::gpio::GPIO_pin USART_RX = { GPIOD, 2 };
static constexpr hal::gpio::GPIO_pin USART_TX = { GPIOD, 3 };
static constexpr hal::gpio::GPIO_pin USART_RX = { GPIOD, (1 << 2) };
static constexpr hal::gpio::GPIO_pin USART_TX = { GPIOD, (1 << 3) };

static constexpr hal::gpio::GPIO_pin PULLEY_CS_PIN = { GPIOC, 6 };
static constexpr hal::gpio::GPIO_pin PULLEY_SG_PIN = { GPIOF, 4 };
static constexpr hal::gpio::GPIO_pin PULLEY_STEP_PIN = { GPIOB, 4 };
static constexpr hal::gpio::GPIO_pin PULLEY_CS_PIN = { GPIOC, (1 << 6) };
static constexpr hal::gpio::GPIO_pin PULLEY_SG_PIN = { GPIOF, (1 << 4) };
static constexpr hal::gpio::GPIO_pin PULLEY_STEP_PIN = { GPIOB, (1 << 4) };

static constexpr hal::gpio::GPIO_pin SELECTOR_CS_PIN = { GPIOD, 7 };
static constexpr hal::gpio::GPIO_pin SELECTOR_SG_PIN = { GPIOF, 1 };
static constexpr hal::gpio::GPIO_pin SELECTOR_STEP_PIN = { GPIOD, 4 };
static constexpr hal::gpio::GPIO_pin SELECTOR_CS_PIN = { GPIOD, (1 << 7) };
static constexpr hal::gpio::GPIO_pin SELECTOR_SG_PIN = { GPIOF, (1 << 1) };
static constexpr hal::gpio::GPIO_pin SELECTOR_STEP_PIN = { GPIOD, (1 << 4) };

static constexpr hal::gpio::GPIO_pin IDLER_CS_PIN = { GPIOB, 7 };
static constexpr hal::gpio::GPIO_pin IDLER_SG_PIN = { GPIOF, 0 };
static constexpr hal::gpio::GPIO_pin IDLER_STEP_PIN = { GPIOD, 6 };
static constexpr hal::gpio::GPIO_pin IDLER_CS_PIN = { GPIOB, (1 << 7) };
static constexpr hal::gpio::GPIO_pin IDLER_SG_PIN = { GPIOF, (1 << 0) };
static constexpr hal::gpio::GPIO_pin IDLER_STEP_PIN = { GPIOD, (1 << 6) };

static constexpr hal::gpio::GPIO_pin FINDA_PIN = { GPIOF, 6 }; /// PF6 A1 ADC6/TDI
static constexpr hal::gpio::GPIO_pin FINDA_PIN = { GPIOF, (1 << 6) }; /// PF6 A1 ADC6/TDI