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"Fast pin interrupt dispatching based on CLZ."

teensy4-core
Tilo Nitzsche 8 years ago
parent
c5083ed7cd
commit
66e384c22a
2 changed files with 118 additions and 177 deletions
Split View Show Diff Stats
  1. +23
    -0
      teensy3/core_pins.h
  2. +95
    -177
      teensy3/pins_teensy.c

+ 23
- 0
teensy3/core_pins.h View File

@@ -126,6 +126,29 @@
#define CORE_NUM_PWM 22
#endif

// These MAX_PIN_PORTx values have the highest Kinetis pin index
// that is used for a given port.
#if defined(__MK20DX128__) || defined(__MK20DX256__)
#define CORE_MAX_PIN_PORTA 13
#define CORE_MAX_PIN_PORTB 19
#define CORE_MAX_PIN_PORTC 11
#define CORE_MAX_PIN_PORTD 7
#define CORE_MAX_PIN_PORTE 1
#elif defined(__MKL26Z64__)
#define CORE_MAX_PIN_PORTA 2
#define CORE_MAX_PIN_PORTB 17
#define CORE_MAX_PIN_PORTC 7
#define CORE_MAX_PIN_PORTD 7
#define CORE_MAX_PIN_PORTE 30
#elif defined(__MK64FX512__) || defined(__MK66FX1M0__)
#define CORE_MAX_PIN_PORTA 29
#define CORE_MAX_PIN_PORTB 23
#define CORE_MAX_PIN_PORTC 11
#define CORE_MAX_PIN_PORTD 15
#define CORE_MAX_PIN_PORTE 26
#endif


#if defined(__MK20DX128__) || defined(__MK20DX256__)

#define CORE_PIN0_BIT 16

+ 95
- 177
teensy3/pins_teensy.c View File

@@ -143,14 +143,47 @@ const struct digital_pin_bitband_and_config_table_struct digital_pin_to_info_PGM
static void dummy_isr() {};

typedef void (*voidFuncPtr)(void);
volatile static voidFuncPtr intFunc[CORE_NUM_DIGITAL] = { [0 ... CORE_NUM_DIGITAL-1] = dummy_isr };
#if defined(KINETISK)
static void porta_interrupt(void);
static void portb_interrupt(void);
static void portc_interrupt(void);
static void portd_interrupt(void);
static void porte_interrupt(void);
#ifdef NO_PORT_ISR_FASTRUN
static void port_A_isr(void);
static void port_B_isr(void);
static void port_C_isr(void);
static void port_D_isr(void);
static void port_E_isr(void);
#else
static void port_A_isr(void) __attribute__ ((section(".fastrun"), noinline, noclone ));
static void port_B_isr(void) __attribute__ ((section(".fastrun"), noinline, noclone ));
static void port_C_isr(void) __attribute__ ((section(".fastrun"), noinline, noclone ));
static void port_D_isr(void) __attribute__ ((section(".fastrun"), noinline, noclone ));
static void port_E_isr(void) __attribute__ ((section(".fastrun"), noinline, noclone ));
#endif

voidFuncPtr isr_table_portA[CORE_MAX_PIN_PORTA+1] = { [0 ... CORE_MAX_PIN_PORTA] = dummy_isr };
voidFuncPtr isr_table_portB[CORE_MAX_PIN_PORTB+1] = { [0 ... CORE_MAX_PIN_PORTB] = dummy_isr };
voidFuncPtr isr_table_portC[CORE_MAX_PIN_PORTC+1] = { [0 ... CORE_MAX_PIN_PORTC] = dummy_isr };
voidFuncPtr isr_table_portD[CORE_MAX_PIN_PORTD+1] = { [0 ... CORE_MAX_PIN_PORTD] = dummy_isr };
voidFuncPtr isr_table_portE[CORE_MAX_PIN_PORTE+1] = { [0 ... CORE_MAX_PIN_PORTE] = dummy_isr };

// The Pin Config Register is used to look up the correct interrupt table
// for the corresponding port.
inline voidFuncPtr* getIsrTable(volatile uint32_t *config) {
voidFuncPtr* isr_table = NULL;
if(&PORTA_PCR0 <= config && config <= &PORTA_PCR31) isr_table = isr_table_portA;
else if(&PORTB_PCR0 <= config && config <= &PORTB_PCR31) isr_table = isr_table_portB;
else if(&PORTC_PCR0 <= config && config <= &PORTC_PCR31) isr_table = isr_table_portC;
else if(&PORTD_PCR0 <= config && config <= &PORTD_PCR31) isr_table = isr_table_portD;
else if(&PORTE_PCR0 <= config && config <= &PORTE_PCR31) isr_table = isr_table_portE;
return isr_table;
}

inline uint32_t getPinIndex(volatile uint32_t *config) {
uintptr_t v = (uintptr_t) config;
// There are 32 pin config registers for each port, each port starting at a round address.
// They are spaced 4 bytes apart.
return (v % 128) / 4;
}
#elif defined(KINETISL)
volatile static voidFuncPtr intFunc[CORE_NUM_DIGITAL] = { [0 ... CORE_NUM_DIGITAL-1] = dummy_isr };
static void porta_interrupt(void);
static void portcd_interrupt(void);
#endif
@@ -178,15 +211,25 @@ void attachInterrupt(uint8_t pin, void (*function)(void), int mode)
config = portConfigRegister(pin);

#if defined(KINETISK)
attachInterruptVector(IRQ_PORTA, porta_interrupt);
attachInterruptVector(IRQ_PORTB, portb_interrupt);
attachInterruptVector(IRQ_PORTC, portc_interrupt);
attachInterruptVector(IRQ_PORTD, portd_interrupt);
attachInterruptVector(IRQ_PORTE, porte_interrupt);
attachInterruptVector(IRQ_PORTA, port_A_isr);
attachInterruptVector(IRQ_PORTB, port_B_isr);
attachInterruptVector(IRQ_PORTC, port_C_isr);
attachInterruptVector(IRQ_PORTD, port_D_isr);
attachInterruptVector(IRQ_PORTE, port_E_isr);
voidFuncPtr* isr_table = getIsrTable(config);
if(!isr_table) return;
uint32_t pin_index = getPinIndex(config);
__disable_irq();
cfg = *config;
cfg &= ~0x000F0000; // disable any previous interrupt
*config = cfg;
isr_table[pin_index] = function; // set the function pointer
cfg |= mask;
*config = cfg; // enable the new interrupt
__enable_irq();
#elif defined(KINETISL)
attachInterruptVector(IRQ_PORTA, porta_interrupt);
attachInterruptVector(IRQ_PORTCD, portcd_interrupt);
#endif
__disable_irq();
cfg = *config;
cfg &= ~0x000F0000; // disable any previous interrupt
@@ -195,6 +238,7 @@ void attachInterrupt(uint8_t pin, void (*function)(void), int mode)
cfg |= mask;
*config = cfg; // enable the new interrupt
__enable_irq();
#endif
}

void detachInterrupt(uint8_t pin)
@@ -202,83 +246,54 @@ void detachInterrupt(uint8_t pin)
volatile uint32_t *config;

config = portConfigRegister(pin);
#if defined(KINETISK)
voidFuncPtr* isr_table = getIsrTable(config);
if(!isr_table) return;
uint32_t pin_index = getPinIndex(config);
__disable_irq();
*config = ((*config & ~0x000F0000) | 0x01000000);
isr_table[pin_index] = dummy_isr;
__enable_irq();
#elif defined(KINETISL)
__disable_irq();
*config = ((*config & ~0x000F0000) | 0x01000000);
intFunc[pin] = dummy_isr;
__enable_irq();
#endif
}

#define DISPATCH_PIN_ISR(pin_nr) { voidFuncPtr pin_isr = intFunc[pin_nr]; \
if(isfr & CORE_PIN ## pin_nr ## _BITMASK) pin_isr(); }

#if defined(__MK20DX128__) || defined(__MK20DX256__)

static void porta_interrupt(void)
{
uint32_t isfr = PORTA_ISFR;
PORTA_ISFR = isfr;
DISPATCH_PIN_ISR(3);
DISPATCH_PIN_ISR(4);
DISPATCH_PIN_ISR(24);
DISPATCH_PIN_ISR(33);
}

static void portb_interrupt(void)
{
uint32_t isfr = PORTB_ISFR;
PORTB_ISFR = isfr;
DISPATCH_PIN_ISR(0);
DISPATCH_PIN_ISR(1);
DISPATCH_PIN_ISR(16);
DISPATCH_PIN_ISR(17);
DISPATCH_PIN_ISR(18);
DISPATCH_PIN_ISR(19);
DISPATCH_PIN_ISR(25);
DISPATCH_PIN_ISR(32);
}

static void portc_interrupt(void)
{
// TODO: these are inefficent. Use CLZ somehow....
uint32_t isfr = PORTC_ISFR;
PORTC_ISFR = isfr;
DISPATCH_PIN_ISR(9);
DISPATCH_PIN_ISR(10);
DISPATCH_PIN_ISR(11);
DISPATCH_PIN_ISR(12);
DISPATCH_PIN_ISR(13);
DISPATCH_PIN_ISR(15);
DISPATCH_PIN_ISR(22);
DISPATCH_PIN_ISR(23);
DISPATCH_PIN_ISR(27);
DISPATCH_PIN_ISR(28);
DISPATCH_PIN_ISR(29);
DISPATCH_PIN_ISR(30);
}
typedef void (*voidFuncPtr)(void);

static void portd_interrupt(void)
{
uint32_t isfr = PORTD_ISFR;
PORTD_ISFR = isfr;
DISPATCH_PIN_ISR(2);
DISPATCH_PIN_ISR(5);
DISPATCH_PIN_ISR(6);
DISPATCH_PIN_ISR(7);
DISPATCH_PIN_ISR(8);
DISPATCH_PIN_ISR(14);
DISPATCH_PIN_ISR(20);
DISPATCH_PIN_ISR(21);
}
// Using CTZ instead of CLZ is faster, since it allows more efficient bit
// clearing and fast indexing into the pin ISR table.
#define PORT_ISR_FUNCTION_CLZ(port_name) \
static void port_ ## port_name ## _isr(void) { \
uint32_t isfr = PORT ## port_name ##_ISFR; \
PORT ## port_name ##_ISFR = isfr; \
voidFuncPtr* isr_table = isr_table_port ## port_name; \
uint32_t bit_nr; \
while(isfr) { \
bit_nr = __builtin_ctz(isfr); \
isr_table[bit_nr](); \
isfr = isfr & (isfr-1); \
if(!isfr) return; \
} \
}
// END PORT_ISR_FUNCTION_CLZ

static void porte_interrupt(void)
{
uint32_t isfr = PORTE_ISFR;
PORTE_ISFR = isfr;
DISPATCH_PIN_ISR(26);
DISPATCH_PIN_ISR(31);
}
#if defined(KINETISK)
PORT_ISR_FUNCTION_CLZ(A)
PORT_ISR_FUNCTION_CLZ(B)
PORT_ISR_FUNCTION_CLZ(C)
PORT_ISR_FUNCTION_CLZ(D)
PORT_ISR_FUNCTION_CLZ(E)
#elif defined(KINETISL)
// Kinetis L (Teensy LC) is based on Cortex M0 and doesn't have hardware
// support for CLZ.

#elif defined(__MKL26Z64__)
#define DISPATCH_PIN_ISR(pin_nr) { voidFuncPtr pin_isr = intFunc[pin_nr]; \
if(isfr & CORE_PIN ## pin_nr ## _BITMASK) pin_isr(); }

static void porta_interrupt(void)
{
@@ -311,107 +326,10 @@ static void portcd_interrupt(void)
DISPATCH_PIN_ISR(20);
DISPATCH_PIN_ISR(21);
}

#elif defined(__MK64FX512__) || defined(__MK66FX1M0__)

static void porta_interrupt(void)
{
uint32_t isfr = PORTA_ISFR;
PORTA_ISFR = isfr;
DISPATCH_PIN_ISR(3);
DISPATCH_PIN_ISR(4);
DISPATCH_PIN_ISR(25);
DISPATCH_PIN_ISR(26);
DISPATCH_PIN_ISR(27);
DISPATCH_PIN_ISR(28);
DISPATCH_PIN_ISR(39);
DISPATCH_PIN_ISR(40);
DISPATCH_PIN_ISR(41);
DISPATCH_PIN_ISR(42);
}

static void portb_interrupt(void)
{
uint32_t isfr = PORTB_ISFR;
PORTB_ISFR = isfr;
DISPATCH_PIN_ISR(0);
DISPATCH_PIN_ISR(1);
DISPATCH_PIN_ISR(16);
DISPATCH_PIN_ISR(17);
DISPATCH_PIN_ISR(18);
DISPATCH_PIN_ISR(19);
DISPATCH_PIN_ISR(29);
DISPATCH_PIN_ISR(30);
DISPATCH_PIN_ISR(31);
DISPATCH_PIN_ISR(32);
DISPATCH_PIN_ISR(43);
DISPATCH_PIN_ISR(44);
DISPATCH_PIN_ISR(45);
DISPATCH_PIN_ISR(46);
DISPATCH_PIN_ISR(49);
DISPATCH_PIN_ISR(50);
}

static void portc_interrupt(void)
{
// TODO: these are inefficent. Use CLZ somehow....
uint32_t isfr = PORTC_ISFR;
PORTC_ISFR = isfr;
DISPATCH_PIN_ISR(9);
DISPATCH_PIN_ISR(10);
DISPATCH_PIN_ISR(11);
DISPATCH_PIN_ISR(12);
DISPATCH_PIN_ISR(13);
DISPATCH_PIN_ISR(15);
DISPATCH_PIN_ISR(22);
DISPATCH_PIN_ISR(23);
DISPATCH_PIN_ISR(35);
DISPATCH_PIN_ISR(36);
DISPATCH_PIN_ISR(37);
DISPATCH_PIN_ISR(38);
}

static void portd_interrupt(void)
{
uint32_t isfr = PORTD_ISFR;
PORTD_ISFR = isfr;
DISPATCH_PIN_ISR(2);
DISPATCH_PIN_ISR(5);
DISPATCH_PIN_ISR(6);
DISPATCH_PIN_ISR(7);
DISPATCH_PIN_ISR(8);
DISPATCH_PIN_ISR(14);
DISPATCH_PIN_ISR(20);
DISPATCH_PIN_ISR(21);
DISPATCH_PIN_ISR(47);
DISPATCH_PIN_ISR(48);
DISPATCH_PIN_ISR(51);
DISPATCH_PIN_ISR(52);
DISPATCH_PIN_ISR(53);
DISPATCH_PIN_ISR(54);
DISPATCH_PIN_ISR(55);
}

static void porte_interrupt(void)
{
uint32_t isfr = PORTE_ISFR;
PORTE_ISFR = isfr;
DISPATCH_PIN_ISR(24);
DISPATCH_PIN_ISR(33);
DISPATCH_PIN_ISR(34);
DISPATCH_PIN_ISR(56);
DISPATCH_PIN_ISR(57);
DISPATCH_PIN_ISR(58);
DISPATCH_PIN_ISR(59);
DISPATCH_PIN_ISR(60);
DISPATCH_PIN_ISR(61);
DISPATCH_PIN_ISR(62);
DISPATCH_PIN_ISR(63);
}
#undef DISPATCH_PIN_ISR

#endif

#undef DISPATCH_PIN_ISR

#if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__)


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