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HAL: Minor optimisations

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Remove virtual method hasCallback().
Optimise findDevice() method (used by read, write etc.).
Simplify Sensor handling with regard to IO Devices that support callbacks.
This commit is contained in:
Neil McKechnie 2021-09-23 10:54:27 +01:00
parent ffc5d91561
commit 9fc805831d
5 changed files with 32 additions and 77 deletions
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8
IODevice.cpp
View File

@ -134,7 +134,7 @@ bool IODevice::exists(VPIN vpin) {
bool IODevice::hasCallback(VPIN vpin) {
IODevice *dev = findDevice(vpin);
if (!dev) return false;
return dev->_hasCallback(vpin);
return dev->_hasCallback;
}
// Display (to diagnostics) details of the device.
@ -221,10 +221,12 @@ void IODevice::addDevice(IODevice *newDevice) {
newDevice->_begin();
}
// Private helper function to locate a device by VPIN. Returns NULL if not found
// Private helper function to locate a device by VPIN. Returns NULL if not found.
// This is performance-critical, so minimises the calculation and function calls necessary.
IODevice *IODevice::findDevice(VPIN vpin) {
for (IODevice *dev = _firstDevice; dev != 0; dev = dev->_nextDevice) {
if (dev->owns(vpin))
VPIN firstVpin = dev->_firstVpin;
if (vpin >= firstVpin && vpin < firstVpin+dev->_nPins)
return dev;
}
return NULL;

12
IODevice.h
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@ -189,15 +189,6 @@ protected:
(void)vpin; (void)value; (void) param1; (void)param2;
};
// Function called to check whether callback notification is supported by this pin.
// Defaults to no, if not overridden by the device.
// The same value should be returned by all pins on the device, so only one need
// be checked.
virtual bool _hasCallback(VPIN vpin) {
(void) vpin;
return false;
}
// Method to read digital pin state (optionally implemented within device class)
virtual int _read(VPIN vpin) {
(void)vpin;
@ -230,6 +221,9 @@ protected:
VPIN _firstVpin;
int _nPins;
// Flag whether the device supports callbacks.
bool _hasCallback = false;
// Pin number of interrupt pin for GPIO extender devices. The extender module will pull this
// pin low if an input changes state.
int16_t _gpioInterruptPin = -1;

11
IO_GPIOBase.h
View File

@ -45,10 +45,6 @@ protected:
int _read(VPIN vpin) override;
void _display() override;
void _loop(unsigned long currentMicros) override;
bool _hasCallback(VPIN vpin) {
(void)vpin; // suppress compiler warning
return true; // Enable callback if caller wants to use it.
}
// Data fields
uint8_t _I2CAddress;
@ -79,12 +75,13 @@ protected:
// Constructor
template <class T>
GPIOBase<T>::GPIOBase(FSH *deviceName, VPIN firstVpin, uint8_t nPins, uint8_t I2CAddress, int interruptPin) {
GPIOBase<T>::GPIOBase(FSH *deviceName, VPIN firstVpin, uint8_t nPins, uint8_t I2CAddress, int interruptPin) :
IODevice(firstVpin, nPins)
{
_deviceName = deviceName;
_firstVpin = firstVpin;
_nPins = nPins;
_I2CAddress = I2CAddress;
_gpioInterruptPin = interruptPin;
_hasCallback = true;
// Add device to list of devices.
addDevice(this);
}

65
Sensors.cpp
View File

@ -103,12 +103,6 @@ void Sensor::checkAll(Print *stream){
// Required time elapsed since last read cycle started,
// so initiate new scan through the sensor list
readingSensor = firstSensor;
#ifdef USE_NOTIFY
if (firstSensor == firstPollSensor)
pollSignalPhase = true;
else
pollSignalPhase = false;
#endif
lastReadCycle = thisTime;
}
}
@ -117,12 +111,6 @@ void Sensor::checkAll(Print *stream){
bool pause = false;
while (readingSensor != NULL && !pause) {
#ifdef USE_NOTIFY
// Check if we have reached the start of the polled portion of the sensor list.
if (readingSensor == firstPollSensor)
pollSignalPhase = true;
#endif
// Where the sensor is attached to a pin, read pin status. For sources such as LCN,
// which don't have an input pin to read, the LCN class calls setState() to update inputState when
// a message is received. The IODevice::read() call returns 1 for active pins (0v) and 0 for inactive (5v).
@ -130,10 +118,8 @@ void Sensor::checkAll(Print *stream){
// routine when an input signal change is detected, and this updates the inputState directly,
// so these inputs don't need to be polled here.
VPIN pin = readingSensor->data.pin;
#ifdef USE_NOTIFY
if (pollSignalPhase)
#endif
if (pin!=VPIN_NONE) readingSensor->inputState = IODevice::read(pin);
if (readingSensor->pollingRequired && pin != VPIN_NONE)
readingSensor->inputState = IODevice::read(pin);
// Check if changed since last time, and process changes.
if (readingSensor->inputState == readingSensor->active) {
@ -156,22 +142,12 @@ void Sensor::checkAll(Print *stream){
// Move to next sensor in list.
readingSensor = readingSensor->nextSensor;
// Currently process max of 16 sensors per entry for polled sensors, and
// 16 per entry for sensors notified by callback.
// Performance measurements taken during development indicate that, with 64 sensors configured
// on 8x 8-pin PCF8574 GPIO expanders, all inputs can be read within 1.4ms (400Mhz I2C bus speed), and a
// full cycle of scanning 64 sensors for changes takes between 1.9 and 3.2 milliseconds.
// Currently process max of 16 sensors per entry.
// Performance measurements taken during development indicate that, with 128 sensors configured
// on 8x 16-pin MCP23017 GPIO expanders with polling (no change notification), all inputs can be read from the devices
// within 1.4ms (400Mhz I2C bus speed), and a full cycle of checking 128 sensors for changes takes under a millisecond.
sensorCount++;
#ifdef USE_NOTIFY
if (pollSignalPhase) {
#endif
if (sensorCount >= 16) pause = true;
#ifdef USE_NOTIFY
} else
{
if (sensorCount >= 16) pause = true;
}
#endif
}
} // Sensor::checkAll
@ -223,23 +199,18 @@ Sensor *Sensor::create(int snum, VPIN pin, int pullUp){
tt = (Sensor *)calloc(1,sizeof(Sensor));
if (!tt) return tt; // memory allocation failure
#ifdef USE_NOTIFY
if (pin == VPIN_NONE || IODevice::hasCallback(pin)) {
// Callback available, or no pin to read, so link sensor on to the start of the list
if (pin == VPIN_NONE)
tt->pollingRequired = false;
#ifdef USE_NOTIFY
else if (IODevice::hasCallback(pin))
tt->pollingRequired = false;
#endif
else
tt->pollingRequired = true;
// Add to the start of the list
tt->nextSensor = firstSensor;
firstSensor = tt;
if (lastSensor == NULL) lastSensor = tt; // This is only item in list.
} else {
// No callback, so add to end of list so it's polled.
if (lastSensor != NULL) lastSensor->nextSensor = tt;
lastSensor = tt;
if (!firstSensor) firstSensor = tt;
if (!firstPollSensor) firstPollSensor = tt;
}
#else
tt->nextSensor = firstSensor;
firstSensor = tt;
#endif
tt->data.snum = snum;
tt->data.pin = pin;
@ -248,9 +219,8 @@ Sensor *Sensor::create(int snum, VPIN pin, int pullUp){
tt->inputState = 0;
tt->latchDelay = minReadCount;
int params[] = {pullUp};
if (pin != VPIN_NONE)
IODevice::configure(pin, IODevice::CONFIGURE_INPUT, 1, params);
IODevice::configureInput(pin, pullUp);
// Generally, internal pull-up resistors are not, on their own, sufficient
// for external infrared sensors --- each sensor must have its own 1K external pull-up resistor
@ -343,6 +313,5 @@ unsigned long Sensor::lastReadCycle=0;
#ifdef USE_NOTIFY
Sensor *Sensor::firstPollSensor = NULL;
Sensor *Sensor::lastSensor = NULL;
bool Sensor::pollSignalPhase = false;
bool Sensor::inputChangeCallbackRegistered = false;
#endif

11
Sensors.h
View File

@ -45,14 +45,6 @@ struct SensorData {
class Sensor{
// The sensor list is a linked list where each sensor's 'nextSensor' field points to the next.
// The pointer is null in the last on the list.
// To partition the sensor into those sensors which require polling through cyclic calls
// to 'IODevice::read(vpin)', and those which support callback on change, 'firstSensor'
// points to the start of the overall list, and 'lastSensor' points to the end of the list
// (the last sensor object). This structure allows sensors to be added to the start or the
// end of the list easily. So if an input pin supports change notification, it is placed at the
// end of the list. If not, it is placed at the beginning. And the pointer 'firstPollSensor'
// is set to the first of the sensor objects that requires scanning. Thus, we can iterate
// through the whole list, or just through the part that requires scanning.
public:
SensorData data;
@ -74,6 +66,7 @@ public:
// Constructor
Sensor();
Sensor *nextSensor;
void setState(int state);
static void load();
static void store();
@ -88,9 +81,9 @@ public:
static const unsigned int minReadCount = 1; // number of additional scans before acting on change
// E.g. 1 means that a change is ignored for one scan and actioned on the next.
// Max value is 63
bool pollingRequired = true;
#ifdef USE_NOTIFY
static bool pollSignalPhase;
static void inputChangeCallback(VPIN vpin, int state);
static bool inputChangeCallbackRegistered;
#endif