STM32のポートアクセス

最終更新日　2020年3月25日

dannyelectronicsという会社がSTM32F1ボードでデジタルポートをアクセスする際の実行速度を比較するレポートを公開されています。興味深い内容です。

https://dannyelectronics.wordpress.com/2016/04/30/the-price-of-stm32-arduino/

Arduinoライクに　digitalWrite()　でアクセスするのと　レジスタに直接アクセスするのでは　19.3倍差があるという物です。テストコードを掲載しておきます。50回実行して比較していますが、Loop文を使用していません。Loop文を用いても変わらないと思うのですが。

//test for arduino port execution speed //test routines - only one can be defined at a given time to test individual routines //#define ARDUINO_0 //use arduino port routines #define ARDUINO_1 //direct port access. use |/& operators //#define ARDUINO_2 //direct port access. use ^ operator //#define ARDUINO_3 //direct port access. use BSRR/BRR registers //#define DisableInterrupts //disable interrupts //hardware configuration #define LED PC13 //led output pin void setup() { // put your setup code here, to run once: pinMode(LED, OUTPUT); #if defined(DisableInterrupts) noInterrupts(); //disable interrupts #endif } void loop() { // put your main code here, to run repeatedly: //flip pins here - hard-wired iterations x 50 #if defined(ARDUINO_0) digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); digitalWrite(LED, HIGH); digitalWrite(LED, LOW); #elif defined(ARDUINO_1) GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 GPIOC->regs->ODR |= (1<<13); GPIOC->regs->ODR &=~(1<<13); //approach 1 #elif defined(ARDUINO_2) GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 GPIOC->regs->ODR ^= (1<<13); GPIOC->regs->ODR ^= (1<<13); //approach 2 #elif defined(ARDUINO_3) GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 GPIOC->regs->BSRR = (1<<13); GPIOC->regs->BRR = (1<<13); //approach 3 #else #warning "no approach defined!!!!" #endif }

実際に実行してみましたが、このままでは数値表示しないのでレタッチする必要があります。ForLoop文に変更します。また、STM32MINIShield基板のLED1を出力pinに変更します。50回ではシリアル書き込み時間が問題になりますので1000回に変更しました。

/* * 20200325 T.Wanibe デジタルPinアクセス方法の処理時間を比較検証します。 * Arduinoでも判っていたことですが　digitalWrite()の記述はわかりやすいのですが * オーバヘッドが大きく問題がありました。レジスタによるアクセスで16倍ほど速くなると云う * 経験をしていましたがBluePillではもっと顕著だという事が判ります。 * 結果ですが * ARDUINO_0　の場合　1375usec * ARDUINO_1　の場合　295usec * ARDUINO_2　の場合　295usec * ARDUINO_3　の場合　127usec * でした。10倍強早くなります。重要な情報です。 * 最大131072バイトのフラッシュメモリのうち、スケッチが14860バイト（11%）を使っています。 * 最大20480バイトのRAMのうち、グローバル変数が3128バイト（15%）を使っていて、ローカル変数で17352バイト使うことができます。 */ //test for arduino port execution speed //test routines - only one can be defined at a given time to test individual routines //#define ARDUINO_0 //use arduino port routines //#define ARDUINO_1 //direct port access. use |/& operators //#define ARDUINO_2 //direct port access. use ^ operator #define ARDUINO_3 //direct port access. use BSRR/BRR registers //#define DisableInterrupts //disable interrupts //hardware configuration #define LED PB8 //led output pin void setup() { Serial.begin(115200); //シリアル通信を開ます。 delay(1000); // put your setup code here, to run once: pinMode(LED, OUTPUT); #if defined(DisableInterrupts) noInterrupts(); //disable interrupts #endif } void loop() { // put your main code here, to run repeatedly: //flip pins here - hard-wired iterations x 50 int start = micros(); for(int i = 0; i < 1000; i++){ #if defined(ARDUINO_0) digitalWrite(LED, HIGH); digitalWrite(LED, LOW); #elif defined(ARDUINO_1) GPIOB->regs->ODR |= (1<<8); GPIOB->regs->ODR &=~(1<<8); //approach 1 #elif defined(ARDUINO_2) GPIOB->regs->ODR ^= (1<<8); GPIOB->regs->ODR ^= (1<<8); //approach 2 #elif defined(ARDUINO_3) GPIOB->regs->BSRR = (1<<8); GPIOB->regs->BRR = (1<<8); //approach 3 #else #warning "no approach defined!!!!" #endif } Serial.print(micros() - start);Serial.println(F("[usec]")); }

結果は10倍強です。興味深い結果でした。

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