driverlib HWREG quick write alternative - not tested... yet

iAccelStepper.cpp

@@ -1,7 +1,17 @@
 #include "iAccelStepper.h"
 #include "driverlib/timer.h"
-
-static iAccelStepper* me[3];
+#include "inc/hw_gpio.h"
+
+#define portOutputRegister(x) (regtype)portBASERegister(x)
+typedef volatile uint32_t regtype;
+typedef uint8_t regsize;
+
+static iAccelStepper* me[2];
+static unsigned int ulPort_step[2];
+static unsigned int ucPin_step[2];
+static unsigned int ulPort_dir[2];
+static unsigned int ucPin_dir[2];
+static boolean direction[2];
 static unsigned int all_instances;
 static unsigned long ulPeriod;
 
@@ -17,16 +27,19 @@ void iAccelStepper::ISR(void) {
 
  // prepare for the next period
  computeNewSpeed();
- digitalWrite(_pin[1], _direction);
+ if(direction[id] != _direction) {
+ direction[id] = _direction;
+ HWREG(ulPort_dir + (GPIO_O_DATA + (ucPin_dir[id]))) = _direction;
+ }
 
  // switch off timer at the falling edge
  if((_stepInterval == 0) || (abs(distanceToGo()) < 1)) {
  TimerDisable(g_ulTIMERBase[id], TIMER_A);
  running = false;
  } else {
- digitalWrite(_pin[0], true);
+ HWREG(ulPort_step + (GPIO_O_DATA + (ucPin_step[id]))) = true;
  delayMicroseconds(ulPeriod);
- digitalWrite(_pin[0], false);
+ HWREG(ulPort_step + (GPIO_O_DATA + (ucPin_step[id]))) = false;
 
  TimerLoadSet(g_ulTIMERBase[id], TIMER_A, _stepInterval - ulPeriod);
  TimerEnable(g_ulTIMERBase[id], TIMER_A);
@@ -66,6 +79,10 @@ void iAccelStepper::begin(uint8_t pin1, uint8_t pin2, uint8_t pin3)
  me[id] = this;
  running = false;
  ++all_instances;
+ ulPort_step[id] = portOutputRegister(digitalPinToPort(pin1));
+ ucPin_step[id] = digitalPinToBitMask(pin1);
+ ulPort_dir[id] = portOutputRegister(digitalPinToPort(pin2));
+ ucPin_dir[id] = digitalPinToBitMask(pin2);
  }
 }
 
@@ -83,7 +100,10 @@ void iAccelStepper::moveTo(long absolute)
  // enable driver
 // enableOutputs();
  computeNewSpeed();
- digitalWrite(_pin[1], _direction);
+ if(direction[id] != _direction) {
+ direction[id] = _direction;
+ HWREG(ulPort_dir + (GPIO_O_DATA + (ucPin_dir[id]))) = _direction;
+ }
 
  if(_direction == DIRECTION_CW)
  // Clockwise
@@ -92,9 +112,9 @@ void iAccelStepper::moveTo(long absolute)
  // Anticlockwise
  --_currentPos;
 
- digitalWrite(_pin[0], true);
+ HWREG(ulPort_step + (GPIO_O_DATA + (ucPin_step[id]))) = true;
  delayMicroseconds(ulPeriod);
- digitalWrite(_pin[0], false);
+ HWREG(ulPort_step + (GPIO_O_DATA + (ucPin_step[id]))) = false;
 
  TimerLoadSet(g_ulTIMERBase[id], TIMER_A, _stepInterval - ulPeriod);
  TimerEnable(g_ulTIMERBase[id], TIMER_A);