(Hopefully) no functional change.
Also remove these wd_reset()s in delay_us() to match the behaviour
promised in delay.h. Not that this matters much, watchdog is
disabled by default.
On ARM enabling the pullup on an input pin isn't done by writing
a 1 to the pin, but by setting the corresponding register.
Accordingly we need a distinct function for this.
This also implements more of the FastIO infrastructure.
Unfortunately, definitions aren't exactly straightforward, so we
need lots of tabular data. For example, for the pin function I
I had to step through the user manual, pin by pin.
We also learned a lesson here: Cortex-M0 has a 4 word ( = 16 bytes)
prefetch engine. Loops not starting at such a boundary take
additional 4 clock cycles, making them slower. The tight loop used
for testing previously happened to be 16-byte aligne by accident.
Adding just one line of code in the SET_OUTPUT() macro misaligned
it, so loop repetition rate dropped from 5.3 MHz to 3.7 MHz.
There are many measures to align code to 16-byte boundaries:
- -falign-functions=16 as gcc flag.
- -falign-loops=16 as gcc flag, found to not work.
- -falign-labels=16 as gcc flag, worked for aligning the loop,
but also bloated the binary by 10%.
- __attribute__ ((aligned(16))) attached to functions (not
tested)
- Adding this just before the loop worked fine and increased the
binary by just 16 bytes:
__ASM (".balign 16");
Take care of this when relying on exact execution times, e.g. when
implementing delay_us()!
Only SET_OUTPUT() and WRITE() for now, reading follows later.
A loop like this:
SET_OUTPUT(PIO0_1);
for (;;) {
WRITE(PIO0_1, 0);
WRITE(PIO0_1, 1);
}
toggles a pin at about 5.3 MHz. The low period is 63 ns on the
scope, so 3 clock cycles. With this loop, the binary is 1648
bytes.
Assembly shows four instructions inside the loop, which is about
as good as it can get:
movs r2, #0
str r2, [r3, #8]
adds r2, #2
str r2, [r3, #8]
For comparison, using the MBED provided gpio routines give a
toggle frequency of about 300 kHz, with a low period of 72 clock
cycles. Microoptimisation isn't just the last few percent ...
Tested with this code before main():
static void delay(uint32_t delay) {
while (delay) {
__ASM volatile ("nop");
delay--;
}
}
... and in main():
SET_OUTPUT(PIO0_1);
SET_OUTPUT(PIO0_2);
SET_OUTPUT(PIO0_3);
SET_OUTPUT(PIO0_4);
__ASM (".balign 16");
while (1) {
// 1 pulse on pin 1, two pulses on pin 2, ...
WRITE(PIO0_1, 0);
WRITE(PIO0_1, 1);
WRITE(PIO0_2, 0);
WRITE(PIO0_2, 1);
WRITE(PIO0_2, 0);
WRITE(PIO0_2, 1);
WRITE(PIO0_3, 0);
WRITE(PIO0_3, 1);
WRITE(PIO0_3, 0);
WRITE(PIO0_3, 1);
WRITE(PIO0_3, 0);
WRITE(PIO0_3, 1);
// PIO0_4 needs a pullup 10k to 3.3V
// to show a visible signal.
WRITE(PIO0_4, 0);
delay(10);
WRITE(PIO0_4, 1);
delay(10);
WRITE(PIO0_4, 0);
delay(10);
WRITE(PIO0_4, 1);
delay(10);
WRITE(PIO0_4, 0);
delay(10);
WRITE(PIO0_4, 1);
delay(10);
WRITE(PIO0_4, 0);
delay(10);
WRITE(PIO0_4, 1);
delay(1000);
}
With a 10k pullup, PIO0_4 has a rise time of about 1 microsecond.
We previously put replacements for the von Neuman architecture
into arduino.h already, now let's complete this by having only
one #include <avr/pgmspace.h> in arduino.h. Almost all sources
include arduino.h anyways, so this is mostly a code reduction.
We have only one UART, we use only one UART, so it's pointless to
do pin mapping calculations at runtime.
Binary size down by 268 bytes:
SIZES ARM... lpc1114
FLASH : 1724 bytes 6%
RAM : 156 bytes 4%
EEPROM : 0 bytes 0%
Pretty complex, this MBED system, it requires no less than
24 additional files. This will be fleshd out before too long.
SIZES ARM... lpc1114
FLASH : 5956 bytes 19%
RAM : 176 bytes 5%
EEPROM : 0 bytes 0%
This shows the new strategy to deal with architecture-specific
code:
- Keep common code as before.
- Keep the header file unchanged as well, no architecture
specific headers.
- Move architecture specific code to an architecture specific
file and wrap the whole contents into an architecture test.
- Also wrap the whole contents with #ifdef TEACUP_C_INCLUDE.
Without this wrapping, Arduino IDE as well as Configtool would
compile the stuff twice, because they compile everything
unconditionally.
- Last not least, #define TEACUP_C_INCLUDE and #include all
architecture specific files unconditionally.
Build tests were successful with the Makefile, with Configtool
and with Arduino 1.5.8, so this strategy is expected to work.
Regarding the copy operation of this commit: code unchanged,
other than rewriting of all the comments for the current idea of
'proper' formatting, getting rid of tabs and some other whitespace
editing.
This was forgotten with the recent move to storing configuration
items as tuples (value, enabled). It should fix the refusal to
build reported in issue #86.
The recent switch to send 'ok' postponed requires also sending a
newline in a few places, because this 'ok' is no longer at the
start of the line. Now it appears in its own line.
Some whitespace at line end was removed in heater.c.
Costs 14 bytes binary size on AVR.
Previously acknoledgement was sent as soon as the command was
parsed. Accordingly, the host would send the next command and
this command would wait in the RX buffer without being parsed.
This worked reasonably, unless an incoming line of G-code was
longer than the RX buffer, in which case the line end was dropped
and parsing of the line never completed. With a 64 bytes buffer
on AVR this was rarely the case, with the 16 bytes hardware buffer
on ARM LPC1114 it happens regularly. And there's no recovering
from such a situation.
This should solve issue #52.
These files for local configurations tend to pile up and having
them just lying around clutters a 'git status'. Putting them
into private/ makes them invisible for Git now.
As we're on the topic, I use such Makefile targets for my printers:
sells: private/config.sells.h
sells: private/board.sells.h private/printer.sells.h
@echo "Compiling and uploading for the Sells Mendel."
$(MAKE) -f Makefile-AVR USER_CONFIG=private/config.sells.h \
MCU=atmega1284p F_CPU=20000000UL all
avrdude -s -V -c stk500v2 -b 115200 -p $(MCU) -P /dev/ttyUSB0 \
-U flash:w:$(PROGRAM).hex
This is a tool to run regression tests over a whole series of
commits. Typical usage:
git checkout <topic branch>
tools/git-regtest experimental
This runs 'make regressiontest' for every single commit between
experimental and HEAD of the topic branch. Very convenient to make
sure not a single commit introduces regressions.
If there are regressions, the tools stops at the commit bringing
in the regression, so you immediately know where to look.
This is a tool for rebasing step by step, like described in
issue #81. It reliefs from all the manual typing, just rebase
a topic branch like this:
git checkout <topic branch>
tools/git-step-rebase experimental
Linking or copying this script somewhere into the PATH even allows
to use it from within git:
git step-rebase ...
These were dropped accidentally, I assume, during the Configtool
template conversion. Without them the INTERCOM feature does not
compile and so board.gen3.h is broken.
Add the gen3 config to testcases and regressiontests to ensure
this does not drop again.
Markus Hitter
Phil Hord