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pulseIn: add ASM implementation for Due
This commit is contained in:
Martino Facchin
parent
7a22827359
commit
bb3963c0e9
@ -23,39 +23,27 @@
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* or LOW, the type of pulse to measure. Works on pulses from 2-3 microseconds
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* to 3 minutes in length, but must be called at least a few dozen microseconds
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* before the start of the pulse. */
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extern uint32_t pulseIn( uint32_t pin, uint32_t state, uint32_t timeout )
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uint32_t pulseIn( uint32_t pin, uint32_t state, uint32_t timeout )
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{
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// cache the port and bit of the pin in order to speed up the
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// pulse width measuring loop and achieve finer resolution. calling
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// digitalRead() instead yields much coarser resolution.
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PinDescription p = g_APinDescription[pin];
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uint32_t width = 0; // keep initialization out of time critical area
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uint32_t bit = p.ulPin;
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uint32_t stateMask = state ? bit : 0;
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// convert the timeout from microseconds to a number of times through
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// the initial loop; it takes 22 clock cycles per iteration.
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uint32_t numloops = 0;
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uint32_t maxloops = microsecondsToClockCycles(timeout) / 22;
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// wait for any previous pulse to end
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while (PIO_Get(p.pPort, PIO_INPUT, p.ulPin) == state)
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if (numloops++ == maxloops)
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return 0;
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// wait for the pulse to start
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while (PIO_Get(p.pPort, PIO_INPUT, p.ulPin) != state)
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if (numloops++ == maxloops)
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return 0;
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// wait for the pulse to stop
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while (PIO_Get(p.pPort, PIO_INPUT, p.ulPin) == state) {
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if (numloops++ == maxloops)
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return 0;
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width++;
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}
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// the initial loop; it takes (roughly) 18 clock cycles per iteration.
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uint32_t maxloops = microsecondsToClockCycles(timeout) / 18;
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uint32_t width = countPulseASM(&(p.pPort->PIO_PDSR), bit, stateMask, maxloops);
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// convert the reading to microseconds. The loop has been determined
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// to be 52 clock cycles long and have about 16 clocks between the edge
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// to be 18 clock cycles long and have about 16 clocks between the edge
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// and the start of the loop. There will be some error introduced by
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// the interrupt handlers.
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return clockCyclesToMicroseconds(width * 52 + 16);
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if (width)
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return clockCyclesToMicroseconds(width * 18 + 16);
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else
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return 0;
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}
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@ -23,6 +23,7 @@
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extern "C" {
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#endif
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unsigned long countPulseASM(const volatile uint32_t *port, uint32_t bit, uint32_t stateMask, unsigned long maxloops);
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/*
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* \brief Measures the length (in microseconds) of a pulse on the pin; state is HIGH
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* or LOW, the type of pulse to measure. Works on pulses from 2-3 microseconds
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166
hardware/arduino/sam/cores/arduino/wiring_pulse_asm.S
Normal file
166
hardware/arduino/sam/cores/arduino/wiring_pulse_asm.S
Normal file
@ -0,0 +1,166 @@
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/*
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Copyright (c) 2015 Arduino LLC. All right reserved.
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library 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.
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See the GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public
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License along with this library; if not, write to the Free Software
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Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*/
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/*
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The following function has been compiled to ASM with gcc
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unsigned long countPulseASM(const volatile uint32_t *port, uint32_t bit, uint32_t stateMask, unsigned long maxloops)
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{
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unsigned long width = 0;
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// wait for any previous pulse to end
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while ((*port & bit) == stateMask)
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if (--maxloops == 0)
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return 0;
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// wait for the pulse to start
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while ((*port & bit) != stateMask)
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if (--maxloops == 0)
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return 0;
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// wait for the pulse to stop
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while ((*port & bit) == stateMask) {
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if (++width == maxloops)
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return 0;
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}
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return width;
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}
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using the command line:
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arm-none-eabi-gcc -mcpu=cortex-m3 -mthumb -c -O2 -W -ffunction-sections -fdata-sections -nostdlib \
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countPulseASM.c -Wa,-ahlmsd=output.lst -dp -fverbose-asm -S \
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-I.arduino15/packages/arduino/hardware/sam/1.6.3/cores/arduino \
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-I.arduino15/packages/arduino/hardware/sam/1.6.3/system/CMSIS/CMSIS/Include \
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-I.arduino15/packages/arduino/hardware/sam/1.6.3/system/CMSIS/Device/ATMEL \
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-I.arduino15/packages/arduino/hardware/sam/1.6.3/system/libsam/include \
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-I.arduino15/packages/arduino/hardware/sam/1.6.3/variants/arduino_due_x
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The result has been slightly edited to increase readability.
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*/
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.syntax unified
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.cpu cortex-m3
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.fpu softvfp
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.eabi_attribute 20, 1 @ Tag_ABI_FP_denormal
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.eabi_attribute 21, 1 @ Tag_ABI_FP_exceptions
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.eabi_attribute 23, 3 @ Tag_ABI_FP_number_model
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.eabi_attribute 24, 1 @ Tag_ABI_align8_needed
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.eabi_attribute 25, 1 @ Tag_ABI_align8_preserved
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.eabi_attribute 26, 1 @ Tag_ABI_enum_size
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.eabi_attribute 30, 2 @ Tag_ABI_optimization_goals
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.eabi_attribute 34, 1 @ Tag_CPU_unaligned_access
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.eabi_attribute 18, 4 @ Tag_ABI_PCS_wchar_t
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.file "countPulseASM.c"
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@ GNU C (GNU Tools for ARM Embedded Processors) version 4.9.3 20150303 (release) [ARM/embedded-4_9-branch revision 221220] (arm-none-eabi)
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@ compiled by GNU C version 4.7.4, GMP version 4.3.2, MPFR version 2.4.2, MPC version 0.8.1
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@ GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072
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@ options passed:
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@ -I .arduino15/packages/arduino/hardware/sam/1.6.3/cores/arduino
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@ -I .arduino15/packages/arduino/hardware/sam/1.6.3/system/CMSIS/CMSIS/Include
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@ -I .arduino15/packages/arduino/hardware/sam/1.6.3/system/CMSIS/Device/ATMEL
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@ -I .arduino15/packages/arduino/hardware/sam/1.6.3/system/libsam/include
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@ -I .arduino15/packages/arduino/hardware/sam/1.6.3/variants/arduino_due_x
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@ -imultilib armv7-m -iprefix /usr/bin/../lib/gcc/arm-none-eabi/4.9.3/
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@ -isysroot /usr/bin/../arm-none-eabi -D__USES_INITFINI__ countPulseASM.c
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@ -mcpu=cortex-m3 -mthumb -O2 -Wextra -ffunction-sections -fdata-sections
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@ -fverbose-asm
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@ options enabled: -faggressive-loop-optimizations -fauto-inc-dec
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@ -fbranch-count-reg -fcaller-saves -fcombine-stack-adjustments -fcommon
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@ -fcompare-elim -fcprop-registers -fcrossjumping -fcse-follow-jumps
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@ -fdata-sections -fdefer-pop -fdelete-null-pointer-checks -fdevirtualize
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@ -fdevirtualize-speculatively -fdwarf2-cfi-asm -fearly-inlining
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@ -feliminate-unused-debug-types -fexpensive-optimizations
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@ -fforward-propagate -ffunction-cse -ffunction-sections -fgcse -fgcse-lm
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@ -fgnu-runtime -fgnu-unique -fguess-branch-probability
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@ -fhoist-adjacent-loads -fident -fif-conversion -fif-conversion2
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@ -findirect-inlining -finline -finline-atomics
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@ -finline-functions-called-once -finline-small-functions -fipa-cp
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@ -fipa-profile -fipa-pure-const -fipa-reference -fipa-sra
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@ -fira-hoist-pressure -fira-share-save-slots -fira-share-spill-slots
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@ -fisolate-erroneous-paths-dereference -fivopts -fkeep-static-consts
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@ -fleading-underscore -flifetime-dse -fmath-errno -fmerge-constants
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@ -fmerge-debug-strings -fmove-loop-invariants -fomit-frame-pointer
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@ -foptimize-sibling-calls -foptimize-strlen -fpartial-inlining -fpeephole
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@ -fpeephole2 -fprefetch-loop-arrays -freg-struct-return -freorder-blocks
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@ -freorder-functions -frerun-cse-after-loop
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@ -fsched-critical-path-heuristic -fsched-dep-count-heuristic
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@ -fsched-group-heuristic -fsched-interblock -fsched-last-insn-heuristic
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@ -fsched-pressure -fsched-rank-heuristic -fsched-spec
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@ -fsched-spec-insn-heuristic -fsched-stalled-insns-dep -fschedule-insns
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@ -fschedule-insns2 -fsection-anchors -fshow-column -fshrink-wrap
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@ -fsigned-zeros -fsplit-ivs-in-unroller -fsplit-wide-types
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@ -fstrict-aliasing -fstrict-overflow -fstrict-volatile-bitfields
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@ -fsync-libcalls -fthread-jumps -ftoplevel-reorder -ftrapping-math
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@ -ftree-bit-ccp -ftree-builtin-call-dce -ftree-ccp -ftree-ch
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@ -ftree-coalesce-vars -ftree-copy-prop -ftree-copyrename -ftree-cselim
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@ -ftree-dce -ftree-dominator-opts -ftree-dse -ftree-forwprop -ftree-fre
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@ -ftree-loop-if-convert -ftree-loop-im -ftree-loop-ivcanon
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@ -ftree-loop-optimize -ftree-parallelize-loops= -ftree-phiprop -ftree-pre
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@ -ftree-pta -ftree-reassoc -ftree-scev-cprop -ftree-sink -ftree-slsr
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@ -ftree-sra -ftree-switch-conversion -ftree-tail-merge -ftree-ter
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@ -ftree-vrp -funit-at-a-time -fverbose-asm -fzero-initialized-in-bss
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@ -mfix-cortex-m3-ldrd -mlittle-endian -mlra -mpic-data-is-text-relative
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@ -msched-prolog -mthumb -munaligned-access -mvectorize-with-neon-quad
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.section .text.countPulseASM,"ax",%progbits
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.align 2
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.global countPulseASM
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.thumb
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.thumb_func
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.type countPulseASM, %function
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countPulseASM:
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@ args = 0, pretend = 0, frame = 0
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@ frame_needed = 0, uses_anonymous_args = 0
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@ link register save eliminated.
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push {r4, r5} @ @ 132 *push_multi [length = 2]
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b .L2 @ @ 178 *arm_jump [length = 2]
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.L4:
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subs r3, r3, #1 @ maxloops, maxloops, @ 18 thumb2_addsi3_compare0/1 [length = 2]
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beq .L12 @, @ 19 arm_cond_branch [length = 2]
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.L2:
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ldr r4, [r0] @ D.4169, *port_7(D) @ 22 *thumb2_movsi_insn/6 [length = 4]
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ands r4, r4, r1 @, D.4169, D.4169, bit @ 24 *thumb2_alusi3_short [length = 2]
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cmp r4, r2 @ D.4169, stateMask @ 25 *arm_cmpsi_insn/2 [length = 2]
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beq .L4 @, @ 26 arm_cond_branch [length = 2]
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b .L6 @ @ 181 *arm_jump [length = 2]
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.L7:
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subs r3, r3, #1 @ maxloops, maxloops, @ 32 thumb2_addsi3_compare0/1 [length = 2]
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beq .L12 @, @ 33 arm_cond_branch [length = 2]
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.L6:
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ldr r4, [r0] @ D.4169, *port_7(D) @ 41 *thumb2_movsi_insn/6 [length = 4]
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ands r4, r4, r1 @, D.4169, D.4169, bit @ 43 *thumb2_alusi3_short [length = 2]
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cmp r4, r2 @ D.4169, stateMask @ 44 *arm_cmpsi_insn/2 [length = 2]
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bne .L7 @, @ 45 arm_cond_branch [length = 2]
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movs r5, #0 @ width, @ 7 *thumb2_movsi_shortim [length = 2]
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b .L9 @ @ 183 *arm_jump [length = 2]
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.L10:
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adds r5, r5, #1 @ width, width, @ 50 *thumb2_addsi_short/1 [length = 2]
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cmp r3, r5 @ maxloops, width @ 51 *arm_cmpsi_insn/2 [length = 2]
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beq .L22 @, @ 52 arm_cond_branch [length = 2]
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.L9:
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ldr r4, [r0] @ D.4169, *port_7(D) @ 60 *thumb2_movsi_insn/6 [length = 4]
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ands r4, r4, r1 @, D.4169, D.4169, bit @ 62 *thumb2_alusi3_short [length = 2]
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cmp r4, r2 @ D.4169, stateMask @ 63 *arm_cmpsi_insn/2 [length = 2]
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beq .L10 @, @ 64 arm_cond_branch [length = 2]
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mov r0, r5 @ D.4169, width @ 9 *thumb2_movsi_insn/1 [length = 2]
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pop {r4, r5} @ @ 165 *load_multiple_with_writeback [length = 4]
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bx lr @ @ 166 *thumb2_return [length = 4]
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.L12:
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mov r0, r3 @ D.4169, maxloops @ 8 *thumb2_movsi_insn/1 [length = 2]
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pop {r4, r5} @ @ 137 *load_multiple_with_writeback [length = 4]
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bx lr @ @ 138 *thumb2_return [length = 4]
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.L22:
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movs r0, #0 @ D.4169, @ 11 *thumb2_movsi_shortim [length = 2]
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pop {r4, r5} @ @ 173 *load_multiple_with_writeback [length = 4]
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bx lr @ @ 174 *thumb2_return [length = 4]
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.size countPulseASM, .-countPulseASM
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.ident "GCC: (GNU Tools for ARM Embedded Processors) 4.9.3 20150303 (release) [ARM/embedded-4_9-branch revision 221220]"
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@ -22,7 +22,8 @@ compiler.c.cmd=arm-none-eabi-gcc
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compiler.c.flags=-c -g -Os {compiler.warning_flags} -ffunction-sections -fdata-sections -nostdlib --param max-inline-insns-single=500 -Dprintf=iprintf -MMD
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compiler.c.elf.cmd=arm-none-eabi-gcc
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compiler.c.elf.flags=-Os -Wl,--gc-sections
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compiler.S.flags=-c -g -x assembler-with-cpp
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compiler.S.cmd=arm-none-eabi-gcc
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compiler.S.flags=-c -g -x assembler-with-cpp -mthumb
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compiler.cpp.cmd=arm-none-eabi-g++
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compiler.cpp.flags=-c -g -Os {compiler.warning_flags} -ffunction-sections -fdata-sections -nostdlib -fno-threadsafe-statics --param max-inline-insns-single=500 -fno-rtti -fno-exceptions -Dprintf=iprintf -MMD
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compiler.ar.cmd=arm-none-eabi-ar
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@ -42,6 +43,7 @@ build.extra_flags=
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compiler.c.extra_flags=
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compiler.c.elf.extra_flags=
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compiler.cpp.extra_flags=
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compiler.S.extra_flags=
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compiler.ar.extra_flags=
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compiler.elf2hex.extra_flags=
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@ -66,6 +68,9 @@ recipe.c.o.pattern="{compiler.path}{compiler.c.cmd}" {compiler.c.flags} -mcpu={b
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## Compile c++ files
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recipe.cpp.o.pattern="{compiler.path}{compiler.cpp.cmd}" {compiler.cpp.flags} -mcpu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.cpp.extra_flags} {build.extra_flags} {compiler.libsam.c.flags} {includes} "{source_file}" -o "{object_file}"
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## Compile S files
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recipe.S.o.pattern="{compiler.path}{compiler.S.cmd}" {compiler.S.flags} -mcpu={build.mcu} -DF_CPU={build.f_cpu} -DARDUINO={runtime.ide.version} -DARDUINO_{build.board} -DARDUINO_ARCH_{build.arch} {compiler.S.extra_flags} {build.extra_flags} {compiler.libsam.c.flags} {includes} "{source_file}" -o "{object_file}"
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## Create archives
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recipe.ar.pattern="{compiler.path}{compiler.ar.cmd}" {compiler.ar.flags} {compiler.ar.extra_flags} "{build.path}/{archive_file}" "{object_file}"
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