[2.0.x] AVR: Atomic bit set and clear of upper pin ports without critical section (#10502)

* AVR: Atomic bit set and clear

The critical section can be dropped, saving 3 cycles per access. Also simplified pin toggling for all ports.

Marlin/src/HAL/HAL_AVR/fastio_AVR.h

@@ -63,49 +63,43 @@
  * Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
  */
 
-#define _READ(IO) ((bool)(DIO ## IO ## _RPORT & _BV(DIO ## IO ## _PIN)))
+#define _READ(IO)             TEST(DIO ## IO ## _RPORT, DIO ## IO ## _PIN)
 
-// On some boards pins > 0x100 are used. These are not converted to atomic actions. A critical section is needed.
+#define _WRITE_NC(IO,V) do{ \
+  if (V) SBI(DIO ## IO ## _WPORT, DIO ## IO ## _PIN); \
+  else   CBI(DIO ## IO ## _WPORT, DIO ## IO ## _PIN); \
+}while(0)
 
-#define _WRITE_NC(IO, v)  do { if (v) {DIO ##  IO ## _WPORT |= _BV(DIO ## IO ## _PIN); } else {DIO ##  IO ## _WPORT &= ~_BV(DIO ## IO ## _PIN); }; } while (0)
+#define _WRITE_C(IO,V) do{ \
+  uint8_t port_bits = DIO ## IO ## _WPORT;                  /* Get a mask from the current port bits */ \
+  if (V) port_bits = ~port_bits;                            /* For setting bits, invert the mask */ \
+  DIO ## IO ## _RPORT = port_bits & _BV(DIO ## IO ## _PIN); /* Atomically toggle the output port bits */ \
+}while(0)
 
-#define _WRITE_C(IO, v)   do { if (v) { \
-                                         CRITICAL_SECTION_START; \
-                                         {DIO ##  IO ## _WPORT |= _BV(DIO ## IO ## _PIN); } \
-                                         CRITICAL_SECTION_END; \
-                                       } \
-                                       else { \
-                                         CRITICAL_SECTION_START; \
-                                         {DIO ##  IO ## _WPORT &= ~_BV(DIO ## IO ## _PIN); } \
-                                         CRITICAL_SECTION_END; \
-                                       } \
-                                     } \
-                                     while (0)
+#define _WRITE(IO,V)          do{ if (&(DIO ## IO ## _RPORT) < (uint8_t*)0x100) _WRITE_NC(IO,V); else _WRITE_C(IO,V); }while(0)
 
-#define _WRITE(IO, v) do { if (&(DIO ## IO ## _RPORT) >= (uint8_t *)0x100) {_WRITE_C(IO, v); } else {_WRITE_NC(IO, v); }; } while (0)
+#define _TOGGLE(IO)           (DIO ## IO ## _RPORT = _BV(DIO ## IO ## _PIN))
 
-#define _TOGGLE(IO) do {DIO ## IO ## _RPORT ^= _BV(DIO ## IO ## _PIN); } while (0)
+#define _SET_INPUT(IO)        CBI(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
+#define _SET_OUTPUT(IO)       SBI(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
 
-#define _SET_INPUT(IO) do {DIO ## IO ## _DDR &= ~_BV(DIO ## IO ## _PIN); } while (0)
-#define _SET_OUTPUT(IO) do {DIO ## IO ## _DDR |= _BV(DIO ## IO ## _PIN); } while (0)
+#define _GET_INPUT(IO)       !TEST(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
+#define _GET_OUTPUT(IO)       TEST(DIO ## IO ## _DDR, DIO ## IO ## _PIN)
+#define _GET_TIMER(IO)        DIO ## IO ## _PWM
 
-#define _GET_INPUT(IO) ((DIO ## IO ## _DDR & _BV(DIO ## IO ## _PIN)) == 0)
-#define _GET_OUTPUT(IO) ((DIO ## IO ## _DDR & _BV(DIO ## IO ## _PIN)) != 0)
-#define _GET_TIMER(IO) (DIO ## IO ## _PWM)
+#define READ(IO)              _READ(IO)
+#define WRITE(IO,V)           _WRITE(IO,V)
+#define TOGGLE(IO)            _TOGGLE(IO)
 
-#define READ(IO) _READ(IO)
-#define WRITE(IO,V) _WRITE(IO,V)
-#define TOGGLE(IO) _TOGGLE(IO)
+#define SET_INPUT(IO)         _SET_INPUT(IO)
+#define SET_INPUT_PULLUP(IO)  do{ _SET_INPUT(IO); _WRITE(IO, HIGH); }while(0)
+#define SET_OUTPUT(IO)        _SET_OUTPUT(IO)
 
-#define SET_INPUT(IO) _SET_INPUT(IO)
-#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _WRITE(IO, HIGH); }while(0)
-#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
+#define GET_INPUT(IO)         _GET_INPUT(IO)
+#define GET_OUTPUT(IO)        _GET_OUTPUT(IO)
+#define GET_TIMER(IO)         _GET_TIMER(IO)
 
-#define GET_INPUT(IO) _GET_INPUT(IO)
-#define GET_OUTPUT(IO) _GET_OUTPUT(IO)
-#define GET_TIMER(IO) _GET_TIMER(IO)
-
-#define OUT_WRITE(IO, v) do{ SET_OUTPUT(IO); WRITE(IO, v); }while(0)
+#define OUT_WRITE(IO,V)       do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0)
 
 /**
  * Timer and Interrupt Control

Marlin/src/HAL/HAL_DUE/fastio_Due.h

@@ -48,7 +48,7 @@
 #define USEABLE_HARDWARE_PWM(p) ((2 <= p) && (p <= 13))
 
 #ifndef MASK
-  #define MASK(PIN)  (1 << PIN)
+  #define MASK(PIN) (1 << PIN)
 #endif
 
 /**
@@ -59,76 +59,78 @@
  * Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
  */
 
-/// Read a pin
-#define _READ(IO) ((bool)(DIO ## IO ## _WPORT -> PIO_PDSR & (MASK(DIO ## IO ## _PIN))))
+// Read a pin
+#define _READ(IO) bool(DIO ## IO ## _WPORT -> PIO_PDSR & MASK(DIO ## IO ## _PIN))
 
-/// Write to a pin
-#define _WRITE_VAR(IO, v)  do { \
+// Write to a pin
+#define _WRITE_VAR(IO,V) do { \
   volatile Pio* port = g_APinDescription[IO].pPort; \
   uint32_t mask = g_APinDescription[IO].ulPin; \
-  if (v) port->PIO_SODR = mask; \
+  if (V) port->PIO_SODR = mask; \
   else port->PIO_CODR = mask; \
 } while(0)
 
-/// Write to a pin
-#define _WRITE(IO, v) do { \
+// Write to a pin
+#define _WRITE(IO,V) do { \
   volatile Pio* port = (DIO ##  IO ## _WPORT); \
   uint32_t mask = MASK(DIO ## IO ## _PIN); \
-  if (v) port->PIO_SODR = mask; \
+  if (V) port->PIO_SODR = mask; \
   else port->PIO_CODR = mask; \
 } while(0)
 
-/// toggle a pin
-#define _TOGGLE(IO)  _WRITE(IO, !READ(IO))
+// toggle a pin
+#define _TOGGLE(IO) _WRITE(IO, !READ(IO))
 
-/// set pin as input
-#define _SET_INPUT(IO)  do{ pmc_enable_periph_clk(g_APinDescription[IO].ulPeripheralId); \
-                            PIO_Configure(g_APinDescription[IO].pPort, PIO_INPUT, g_APinDescription[IO].ulPin, 0); \
-                        }while(0)
-/// set pin as output
-#define _SET_OUTPUT(IO) do{ pmc_enable_periph_clk(g_APinDescription[IO].ulPeripheralId); \
-                            PIO_Configure(g_APinDescription[IO].pPort, _READ(IO) ? PIO_OUTPUT_1 : PIO_OUTPUT_0, \
-                                          g_APinDescription[IO].ulPin, g_APinDescription[IO].ulPinConfiguration); \
-                            g_pinStatus[IO] = (g_pinStatus[IO] & 0xF0) | PIN_STATUS_DIGITAL_OUTPUT;\
-                        }while(0)
+// set pin as input
+#define _SET_INPUT(IO) do{ \
+  pmc_enable_periph_clk(g_APinDescription[IO].ulPeripheralId); \
+  PIO_Configure(g_APinDescription[IO].pPort, PIO_INPUT, g_APinDescription[IO].ulPin, 0); \
+}while(0)
 
-/// set pin as input with pullup mode
-#define _PULLUP(IO, v)  { pinMode(IO, v != LOW ? INPUT_PULLUP : INPUT); }
+// set pin as output
+#define _SET_OUTPUT(IO) do{ \
+  pmc_enable_periph_clk(g_APinDescription[IO].ulPeripheralId); \
+  PIO_Configure(g_APinDescription[IO].pPort, _READ(IO) ? PIO_OUTPUT_1 : PIO_OUTPUT_0, g_APinDescription[IO].ulPin, g_APinDescription[IO].ulPinConfiguration); \
+  g_pinStatus[IO] = (g_pinStatus[IO] & 0xF0) | PIN_STATUS_DIGITAL_OUTPUT;\
+}while(0)
 
-/// check if pin is an input
+// set pin as input with pullup mode
+#define _PULLUP(IO,V) pinMode(IO, (V) ? INPUT_PULLUP : INPUT)
+
+// check if pin is an input
 #define _GET_INPUT(IO)
-/// check if pin is an output
+// check if pin is an output
 #define _GET_OUTPUT(IO)
 
-/// check if pin is a timer
+// check if pin is a timer
 #define _GET_TIMER(IO)
 
-/// Read a pin wrapper
-#define READ(IO)  _READ(IO)
+// Read a pin wrapper
+#define READ(IO) _READ(IO)
 
-/// Write to a pin wrapper
-#define WRITE_VAR(IO, v)  _WRITE_VAR(IO, v)
-#define WRITE(IO, v)  _WRITE(IO, v)
+// Write to a pin wrapper
+#define WRITE_VAR(IO,V) _WRITE_VAR(IO,V)
+#define WRITE(IO,V) _WRITE(IO,V)
 
-/// toggle a pin wrapper
-#define TOGGLE(IO)  _TOGGLE(IO)
+// toggle a pin wrapper
+#define TOGGLE(IO) _TOGGLE(IO)
 
-/// set pin as input wrapper
-#define SET_INPUT(IO)  _SET_INPUT(IO)
-/// set pin as input with pullup wrapper
+// set pin as input wrapper
+#define SET_INPUT(IO) _SET_INPUT(IO)
+// set pin as input with pullup wrapper
 #define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _PULLUP(IO, HIGH); }while(0)
-/// set pin as output wrapper -  reads the pin and sets the output to that value
-#define SET_OUTPUT(IO)  _SET_OUTPUT(IO)
-/// check if pin is an input wrapper
-#define GET_INPUT(IO)  _GET_INPUT(IO)
-/// check if pin is an output wrapper
-#define GET_OUTPUT(IO)  _GET_OUTPUT(IO)
+// set pin as output wrapper -  reads the pin and sets the output to that value
+#define SET_OUTPUT(IO) _SET_OUTPUT(IO)
+// check if pin is an input wrapper
+#define GET_INPUT(IO) _GET_INPUT(IO)
+// check if pin is an output wrapper
+#define GET_OUTPUT(IO) _GET_OUTPUT(IO)
 
-/// check if pin is a timer (wrapper)
-#define GET_TIMER(IO)  _GET_TIMER(IO)
+// check if pin is a timer (wrapper)
+#define GET_TIMER(IO) _GET_TIMER(IO)
 
 // Shorthand
-#define OUT_WRITE(IO, v) { SET_OUTPUT(IO); WRITE(IO, v); }
+#define OUT_WRITE(IO,V) { SET_OUTPUT(IO); WRITE(IO,V); }
 
 /**
  * Ports and functions

Marlin/src/HAL/HAL_STM32F1/fastio_Stm32f1.h

@@ -32,23 +32,24 @@
 #include <libmaple/gpio.h>
 
 #define READ(IO)              (PIN_MAP[IO].gpio_device->regs->IDR & (1U << PIN_MAP[IO].gpio_bit) ? HIGH : LOW)
-#define WRITE(IO, v)          (PIN_MAP[IO].gpio_device->regs->BSRR = (1U << PIN_MAP[IO].gpio_bit) << (16 * !(bool)v))
+#define WRITE(IO,V)           (PIN_MAP[IO].gpio_device->regs->BSRR = (1U << PIN_MAP[IO].gpio_bit) << (16 * !(bool)v))
 #define TOGGLE(IO)            (PIN_MAP[IO].gpio_device->regs->ODR = PIN_MAP[IO].gpio_device->regs->ODR ^ (1U << PIN_MAP[IO].gpio_bit))
-#define WRITE_VAR(IO, v)      WRITE(io, v)
+#define WRITE_VAR(IO,V)       WRITE(io,V)
 
-#define _GET_MODE(IO)         (gpio_get_mode(PIN_MAP[IO].gpio_device, PIN_MAP[IO].gpio_bit))
-#define _SET_MODE(IO,M)       do{ gpio_set_mode(PIN_MAP[IO].gpio_device, PIN_MAP[IO].gpio_bit, M); } while (0)
+#define _GET_MODE(IO)         gpio_get_mode(PIN_MAP[IO].gpio_device, PIN_MAP[IO].gpio_bit)
+#define _SET_MODE(IO,M)       gpio_set_mode(PIN_MAP[IO].gpio_device, PIN_MAP[IO].gpio_bit, M)
 #define _SET_OUTPUT(IO)       _SET_MODE(IO, GPIO_OUTPUT_PP)
 
+#define OUT_WRITE(IO,V)       do{ _SET_OUTPUT(IO); WRITE(IO,V); }while(0)
+
 #define SET_INPUT(IO)         _SET_MODE(IO, GPIO_INPUT_FLOATING)
 #define SET_INPUT_PULLUP(IO)  _SET_MODE(IO, GPIO_INPUT_PU)
-#define SET_OUTPUT(IO)        do{ _SET_OUTPUT(IO); WRITE(IO, LOW); }while(0)
+#define SET_OUTPUT(IO)        OUT_WRITE(IO,LOW)
 
 #define GET_INPUT(IO)         (_GET_MODE(IO) == GPIO_INPUT_FLOATING || _GET_MODE(IO) == GPIO_INPUT_ANALOG || _GET_MODE(IO) == GPIO_INPUT_PU || _GET_MODE(IO) == GPIO_INPUT_PD)
 #define GET_OUTPUT(IO)        (_GET_MODE(IO) == GPIO_OUTPUT_PP)
 #define GET_TIMER(IO)         (PIN_MAP[IO].timer_device != NULL)
 
-#define OUT_WRITE(IO, v)      { _SET_OUTPUT(IO); WRITE(IO, v); }
 /**
  * TODO: Write a macro to test if PIN is PWM or not.
  */

Marlin/src/HAL/HAL_TEENSY35_36/fastio_Teensy.h

@@ -30,7 +30,7 @@
 #define _FASTIO_TEENSY_H
 
 #ifndef MASK
-  #define MASK(PIN)  (1 << PIN)
+  #define MASK(PIN) (1 << PIN)
 #endif
 
 #define GPIO_BITBAND_ADDR(reg, bit) (((uint32_t)&(reg) - 0x40000000) * 32 + (bit) * 4 + 0x42000000)
@@ -44,38 +44,46 @@
  * Why double up on these macros? see http://gcc.gnu.org/onlinedocs/cpp/Stringification.html
  */
 
-#define _READ(p) ((bool)(CORE_PIN ## p ## _PINREG & CORE_PIN ## p ## _BITMASK))
-#define _WRITE(p, v) do { if (v) CORE_PIN ## p ## _PORTSET = CORE_PIN ## p ## _BITMASK; \
-                            else CORE_PIN ## p ## _PORTCLEAR = CORE_PIN ## p ## _BITMASK; } while (0)
-#define _TOGGLE(p)  (*(&(CORE_PIN ## p ## _PORTCLEAR)+1) = CORE_PIN ## p ## _BITMASK)
-#define _SET_INPUT(p)   do { CORE_PIN ## p ## _CONFIG = PORT_PCR_MUX(1); \
-                          GPIO_BITBAND(CORE_PIN ## p ## _DDRREG , CORE_PIN ## p ## _BIT) = 0; \
-                          } while (0)
-#define _SET_OUTPUT(p)  do { CORE_PIN ## p ## _CONFIG = PORT_PCR_MUX(1)|PORT_PCR_SRE|PORT_PCR_DSE; \
-                          GPIO_BITBAND(CORE_PIN ## p ## _DDRREG , CORE_PIN ## p ## _BIT) = 1; \
-                          } while (0)
+#define _READ(p) bool(CORE_PIN ## p ## _PINREG & CORE_PIN ## p ## _BITMASK)
 
-//#define _PULLUP(IO, v)  { pinMode(IO, (v!=LOW ? INPUT_PULLUP : INPUT)); }
+#define _WRITE(P,V) do{ \
+  if (V) CORE_PIN ## P ## _PORTSET = CORE_PIN ## P ## _BITMASK; \
+  else CORE_PIN ## P ## _PORTCLEAR = CORE_PIN ## P ## _BITMASK; \
+}while(0)
 
-#define _GET_INPUT(p)   ((CORE_PIN ## p ## _DDRREG & CORE_PIN ## p ## _BITMASK) == 0)
-#define _GET_OUTPUT(p)  ((CORE_PIN ## p ## _DDRREG & CORE_PIN ## p ## _BITMASK) == 0)
+#define _TOGGLE(P) (*(&(CORE_PIN ## P ## _PORTCLEAR)+1) = CORE_PIN ## P ## _BITMASK)
+
+#define _SET_INPUT(P) do{ \
+  CORE_PIN ## P ## _CONFIG = PORT_PCR_MUX(1); \
+  GPIO_BITBAND(CORE_PIN ## P ## _DDRREG , CORE_PIN ## P ## _BIT) = 0; \
+}while(0)
+
+#define _SET_OUTPUT(P) do{ \
+  CORE_PIN ## P ## _CONFIG = PORT_PCR_MUX(1)|PORT_PCR_SRE|PORT_PCR_DSE; \
+  GPIO_BITBAND(CORE_PIN ## P ## _DDRREG , CORE_PIN ## P ## _BIT) = 1; \
+}while(0)
+
+//#define _PULLUP(IO,V)  { pinMode(IO, (v!=LOW ? INPUT_PULLUP : INPUT)); }
+
+#define _GET_INPUT(P)   ((CORE_PIN ## P ## _DDRREG & CORE_PIN ## P ## _BITMASK) == 0)
+#define _GET_OUTPUT(P)  ((CORE_PIN ## P ## _DDRREG & CORE_PIN ## P ## _BITMASK) == 0)
 
 //#define _GET_TIMER(IO)
 
-#define READ(IO)  _READ(IO)
+#define READ(IO)              _READ(IO)
 
-#define WRITE_VAR(IO, v)  _WRITE_VAR(IO, v)
-#define WRITE(IO, v)  _WRITE(IO, v)
-#define TOGGLE(IO)  _TOGGLE(IO)
+#define WRITE_VAR(IO,V)       _WRITE_VAR(IO,V)
+#define WRITE(IO,V)           _WRITE(IO,V)
+#define TOGGLE(IO)            _TOGGLE(IO)
 
-#define SET_INPUT(IO)  _SET_INPUT(IO)
-#define SET_INPUT_PULLUP(IO) do{ _SET_INPUT(IO); _WRITE(IO, HIGH); }while(0)
-#define SET_OUTPUT(IO)  _SET_OUTPUT(IO)
+#define SET_INPUT(IO)         _SET_INPUT(IO)
+#define SET_INPUT_PULLUP(IO)  do{ _SET_INPUT(IO); _WRITE(IO,HIGH); }while(0)
+#define SET_OUTPUT(IO)        _SET_OUTPUT(IO)
 
-#define GET_INPUT(IO)  _GET_INPUT(IO)
-#define GET_OUTPUT(IO)  _GET_OUTPUT(IO)
+#define GET_INPUT(IO)         _GET_INPUT(IO)
+#define GET_OUTPUT(IO)        _GET_OUTPUT(IO)
 
-#define OUT_WRITE(IO, v) { SET_OUTPUT(IO); WRITE(IO, v); }
+#define OUT_WRITE(IO,V)       do{ SET_OUTPUT(IO); WRITE(IO,V); }while(0)
 
 /**
  * Ports, functions, and pins