I’ve been kicking around the idea of using the on-board FPGA in my Yellowstone Universal Disk Controller as a general-purpose Apple II coprocessor. With an FPGA on a peripheral card connected to the 6502 address and data buses, I can’t make the CPU run any faster, but maybe I can make calculations faster by offloading them to some type of coprocessor that’s constructed within the FPGA. As a simple example, I could implement a fast PicoBlaze soft-CPU or something similar, and provide a way for the 6502 to run/halt the PicoBlaze and read/write from its memory space. The 6502 could upload a short PicoBlaze program and its required data, wait for the PicoBlaze to finish running, and then read the results back out.

The existing Yellowstone hardware can already do this. It would just be a matter of firmware development.

What would this be useful for? I’m not sure. But the Yellowstone firmware already implements a very simple taste of this idea, because I needed it in order to achieve the disk timing requirements. It’s not a coprocessor, but it’s an extension that shaves a few clock cycles where they’re most valuable. There’s a specific magic address in the Yellowstone card’s address space, and when the 6502 reads from that address, Yellowstone performs automatic GCR decoding of the most recent disk byte.

I had a crazy idea to use this like a classic computer hardware emulator, except that the Apple II wouldn’t be emulating an older computer but a newer one. The 6502 program could just sit in a tight loop reading bytes from the FPGA coprocessor and writing them into the Apple II frame buffer, so whatever appeared on the screen would be the result of the coprocessor program. It would still be limited by the Apple’s physical screen resolution and color palette, but panning around a larger virtual screen should be possible. And conveniently I’ve already implemented a Macintosh Plus FPGA core, so in theory we could see MacOS running on an Apple II? Or more realistically, this scheme could turn an Apple II into something like a Commodore 64, or a 1980s video game console. Probably impractical for any serious use, but at least it would make interesting discussion for r/vintagecomputing!

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The Atari 2600 wasn’t the first home video game console with replaceable games, but it was the first to be widely successful. Introduced in 1977 as the Atari VCS (Video Computer System), and later renamed Atari 2600 in 1982, it eventually sold over 30 million units and established a new market that still endures today in the PlayStation and Xbox. Prior to the 2600, most video game systems were either coin-operated machines found in bars, or fixed-function devices limited to a few built-in games like Pong. Atari’s first home system was the beginning of a new age.

This wood-grained block of electronics preoccupied my young mind. I wanted one badly, but never succeeded at convincing my parents. I was eleven years old in 1982 when my friend Fred got an Atari, and I was sick with jealousy:

What a day! Not only did Fred get an Atari system, but I got braces and an Izod Lacoste alligator shirt.

 
Atari 2600 Hardware Overview

Recently over the holiday break, I became interested in the 2600’s hardware architecture and started reading everything that I could find about it. I knew that it was some kind of 6502-based system, and I’d heard mentions of “racing the beam”, but that’s as far as my knowledge went. I was shocked to discover how primitive the 2600 hardware was, even compared to contemporary 6502 systems like the Apple II, Commodore PET, and even Atari’s own 8-bit computers.

Inside that wood-grained box there were only three digital chips:

• 6507 CPU (pin-reduced version of the 6502)
• 6532 RIOT
• TIA (Atari custom IC)

Notably absent from this list was any RAM or ROM! The ROM came from whatever game cartridge was inserted – there was absolutely no built-in I/O helper routines or operating system, so it was up to the game programmer to provide everything. Game cartridges were limited to 4 KB and many early games were only 2 KB. Any of the photos on this page are vastly bigger than that.

RAM was limited to the tiny amount of storage space built-into the 6532 RIOT chip – just 128 bytes. 128 bytes! That is… I don’t even… that is small. Like really, really small. I might have guessed 1 KB or 2 KB RAM, but 128 bytes is just in another category entirely. What’s worse, this tiny amount of RAM had to serve as both the scratchpad/heap and as the stack! Programmers got a few bytes for things like player and item locations, strength, score, and that’s all.

But hold on, because it was even worse than you think. This pin-reduced 6507 eliminated the 6502’s NMI and IRQ pins, so there was no hardware interrupt capability at all. Everything had to be accomplished with software timing and polling. For a real-time system built around the concept of racing the beam, this was just masochism.

And for the final kick in the nuts, there was no framebuffer. There wasn’t even a line buffer. The programmer only had a few TIA registers to play with and nothing more. Most graphics had to be generated by the CPU on the fly, at the very moment that the television’s electron beam was scanning past the pixels of interest. Even the VSYNC signal for the television had to be handled in software. With hardware like this, I’m surprised the Atari 2600 didn’t require a coal-fired steam engine or a wooden crank handle to boot the games! It’s crazy. I love it.

 
Inside the TIA Chip

The heart of the 2600 is Atari’s custom-designed TIA chip – the Television Interface Adapter. You can find the hand-drawn TIA schematics on the web if you’re curious how it works. The TIA internals look very strange to modern eyes, beginning with the extensive use of linear feedback shift registers where you would expect to find binary counters, for things like the horizontal sync counter or the sprite position registers. I’ve seen LFSRs used as random number generators in other 8-bit designs, but never as a general-purpose counter. These LFSRs also use two separate clocks, 180 degrees out of phase, which seems equally strange. Here’s the six bit horizontal sync counter:

The chip designers must have had their reasons: maybe LFSRs were cheaper to implement or required fewer transistors than regular binary counters? If you just need a six bit counter, then ultimately it doesn’t really matter if it counts 64 states from 000000 sequentially up to 111111, or if it follows some other random-looking but deterministic sequence of states. Either way you can add logic to check for the terminal state and reset the counter when needed. If anyone has an idea why the TIA’s designers used LFSRs for this stuff, I’d love to hear about it. Fortunately the Atari 2600 programmer is mostly insulated from this LFSR funny business.

So how do games actually draw stuff? The simplest place to begin is with what Atari calls the playfield, and is effectively a background pattern on the screen. The TIA has 20 bits of register state which the programmer can modify, and which is used to create a one-dimensional low-resolution monochrome bitmap on the left half of the scan line. The right half of the line is either a copy of the left, or a mirrored copy. Want something completely different on the right side? Too bad. Want multiple colors? Too bad. The same 20 bits of playfield register state are used on every horizontal scan line, too. Want to display something different on each line? That requires constantly modifying the playfield registers, before each new scan line is drawn. There are only 76 CPU clock cycles during each scan line, and with most CPU instructions requiring 2 to 5 clock cycles, that doesn’t leave much time to do… basically anything.

This playfield behavior explains why so many Atari games have left-right symmetry in their backgrounds, walls, or similar content. Look at this image of Pitfall, and notice how the tree canopy, tree trunks, ground, pit, and underground cave all show left-right symmetry. These are all built from the playfield (plus additional tricks to be described later). The only sprites are Pitfall Harry, the vine he’s swinging from, the rolling log, and the scorpion.

What about those sprites? Atari called them players and missiles, but the concept is the same. Players are sprites eight bits wide, and the pixels are smaller than playfield pixels. They can be positioned anywhere on the scan line, but like the playfield, they’re one-dimensional monochrome bitmaps. If the programmer wants 2D sprites (which they certainly do), then the code must constantly modify the player graphics register, updating it before each new scan line is drawn, including setting the register to zero for the areas above and below the player sprite where nothing should be drawn. Does that sound incredibly tedious? You bet!

Missiles are only one bit wide instead of eight, but are otherwise identical to players. The TIA provides two players, two missiles, and a ball that’s like a third missile. If the programmer wants more sprites than this, or wants multi-colored sprites, or anything else that the hardware doesn’t provide, then they’ll need to get fancy by combining multiple players and missiles, or else make lots of precisely-timed updates to the TIA registers to create the illusion of additional sprites and colors.

One common technique was to design games with distinct horizontal bands of activity, like Pitfall here. That allowed the same player sprite to be reused multiple times as the screen was painted from top to bottom. For Pitfall, player 0 might first be used to draw a score digit at the top of the screen. Then the same player 0 hardware resource would be used to draw part of Pitfall Harry, then to draw the rolling log, and finally to draw the scorpion. Since none of these overlapped each other horizontally, there was no conflict as long as the software could update the player graphics and position quickly between scan lines.

 
Atari Hardware Tricks

Under a one-dimensional hardware system like this one, collision detection would have been extremely difficult if it were left up to the software to provide. The necessary degree of bookkeeping would be too much: checking all the sprites and the playfield for collisions with each other would be virtually impossible with only 76 clock cycles per scan line, on top of all the CPU’s other critical tasks. Fortunately the TIA provides the very cool feature of hardware collision detection, at the pixel level! Any time a non-zero pixel overlaps another non-zero pixel of the playfield, a player, a missile, or the ball, a corresponding collision bit is set in the TIA, which software can later check and clear. With a total of six graphics objects there are (6*5)/2 = 15 possible collisions (an application of the Handshake Problem) to be tracked by the TIA. Nice!

Horizontal positioning of players and missiles is notoriously difficult. Most programmers would expect that the TIA has registers to specify the horizontal position of each sprite, but no. That would be too easy. On the Atari 2600, the horizontal position of a player or missile is set by writing to a special TIA register at the exact moment the electron beam passes the desired position. Think about that for a minute. The specific value that’s written to the register doesn’t matter. The program isn’t telling the TIA “put player 0 at position X”, it’s telling the TIA “put player 0 at… (wait for it) RIGHT HERE!” Thanks to this design, horizontal positioning requires synchronizing a software loop to the start of a scan line, delaying some amount of time dependent on the desired horizontal position, and then writing to the TIA register. Rather than setting a specific value for the horizontal position, the software is actually resetting one of those LFSRs in the TIA.

With the standard technique for this timing-based horizontal positioning, it’s only possible to get a horizontal resolution of five CPU clock cycles, which is equivalent to 15 pixels. To help the programmer get fine-grained control, the TIA provides additional registers that enable each sprite to be adjusted between -8 to +7 pixels from its ordinary position. It’s clumsy, but the combination of timing-based positioning plus fine-grained adjustments enable sprites to be positioned at any horizontal coordinate.

The fine-grained horizontal control involves writing to a TIA register named HMOVE, and its use leads to one of the Atari 2600’s most notorious graphical flaws: an irregular series of black lines on the left side of the screen, obscuring part of the playfield. This is often called the HMOVE comb. Here’s an example from Space Invaders:

This is a side-effect of the way the TIA performs fine-grained adjustment of sprite positions, and many games exhibit this problem. Any time HMOVE is written to during a scan line, the horizontal blanking interval will be extended by eight pixels on that line, cutting off the left edge of the line. Is it a bug? An unintended feature? The exact details are much too complex to describe here, but Andrew Towers has written a very thorough explanation of TIA behavior which you’ll find at http://www.atarihq.com/danb/files/TIA_HW_Notes.txt. See the heading Playing with the HMOVE Registers.

Why do only some games display this HMOVE comb effect, and others apparently don’t? It only appears when games reuse the same sprite at different vertical positions on the screen, which requires adjusting the sprite’s horizontal position mid-frame. Space Invaders does this extensively, but simple games like Combat don’t do this. Combat is limited to the two built-in players and two built-in missiles, with no mid-frame repositioning, and therefore no HMOVE comb.

Pitfall takes a different approach, with a solid black bar at the left edge of the screen instead of a comb. This is the result of writing to HMOVE on every scan line, even when it’s not needed. Activision used this technique in many games, apparently having concluded that a solid black bar looked nicer than a partial black comb.

There are many more software tricks necessary for creating a high-quality Atari game. A non-symmetrical playfield or multi-colored playfield can be created by modifying the playfield graphics and color registers at precisely the right times, but it’s not easy! Color registers can also be modified between lines, to provide more total colors on the screen even when the number of colors on a single line is limited. Sprites can be reused and repositioned at different vertical positions, or can even be reused at the same vertical position with careful timing and attention to TIA behavior. Atari 2600 programming is a very deep topic, and it’s a long journey from bouncing ball demos to a high-quality game like Pitfall.

 
Atari 2600 Development Today

Want to try your hand at writing some Atari game demos? Yes you do, and it’s much easier today than it was in 1977. Start with this Atari 2600 Programming for Newbies tutorial written by Andrew Davies. Software is written in 6502 assembly language, and if you’re reading this blog, then there’s a good chance you already know it. To assemble your software, use DASM, a venerable and feature-filled cross-platform assembler for the 6502 and other 8-bit CPUs. If you’ve got a real Atari 2600 console, you can write your assembled program’s binary image to an EPROM and make your own game cartridge. If that sounds like too much bother, try the Z26 or Stella software emulators.

Did I butcher some technical explanation here, or omit important details? Please let me know! I’m just a beginner on this Atari hardware journey, with much still to learn. Look for my first 2600 game, coming soon?

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Here’s another big Macintosh firmware update for the BMOW Floppy Emu disk emulator, and it’s got some good stuff! Writable MOOF images, in-emulator disk formatting, performance improvements, and a significant bug fix. If you’re the impatient type, skip the rest of this text and download the new firmware now from the Floppy Emu project page. And as always, you can also buy a new Floppy Emu Model C at the BMOW Store. Or just sit back and enjoy this completely gratuitous screenshot of a logic analyzer capturing some disk operation.

 
Writable MOOFs

The 221201M update introduced support for MOOF disk images, a new image format that’s designed to capture all the low-level disk information needed for copy-protected software. Today’s update extends MOOF support by adding write capability, instead of treating MOOFs as read-only, which is essential for a few software titles that require writing to the boot disk. Print Shop, Carmen Sandiego… I’m looking at you. This sounds like a small change, but turned into a major effort to get it working reliably.

If you need to format a MOOF (see below), I recommend using the Blank 400K.moof and Blank 800K.moof disk images that are provided in the firmware’s Examples subdirectory, rather than using any random MOOF. The provided blank images have been tweaked to guarantee every track has a number of bits that’s an exact multiple of eight. This results in the best possible SD Card I/O performance, and reduces the chance of a formatting failure.

In the weeks since MOOF support was first introduced, the Moof-a-Day collection at archive.org has also grown from 52 to 78 titles, so check them out!

 
In-System Disk Formatting

All the supported disk image types can now be formatted directly on the Floppy Emu, from the attached Mac or Lisa. MOOF, DiskCopy 4.2, and raw images can all be formatted. In-system formatting normally isn’t necessary – you can usually use a pre-made blank disk image instead. But it’s essential for a few software titles like Seven Cities of Gold that require formatting a save disk directly from within the game. It’s also helpful when using disk copy tools to copy a real disk to a disk image, because most disk copy tools will automatically attempt to format the destination disk.

This is a big change, and the amount of effort that it required is way out of proportion with the value of the new feature, but I stubbornly wanted it anyway. In-system formatting has been a sore point for the Floppy Emu since the very beginning, and for a long time I believed it was impossible for technical reasons, but the work on MOOF writes helped me to realize that was only half-true.

To quote Aladdin’s Robin Williams quoting William F. Buckley, in-system formatting comes with a few, uh, provisos, a couple of quid pro quos. Here they are.

DiskCopy 4.2 and raw disk images can be formatted with a standard format, using standard address marks and data marks, standard sector sizes, standard checksumming… you get the idea. A DC42 or raw disk image format will fail if you attempt to create a non-standard disk format, like a disk that uses D5 18 3F to mark the start of each sector instead of the standard D5 AA 96. That’s because these disk image types don’t actually contain any of this format information, and it’s just implied to use standard defaults. I haven’t yet found any example where this is an issue, but if it ever comes up, formatting a MOOF disk image will allow for esoteric format types that intentionally break the standard.

For those who are paying very close attention, there’s also a subtle difference between 400K/800K formatting and 1440K formatting. The 400K/800K format is a true format, where every sector is written as zeroes, and then a new file allocation table and root directory are created. To employ a more modern term, it’s like doing a secure erase of the disk image. The 1440K format is more like doing a quick erase – it creates a new FAT and root directory, but doesn’t actually modify any of the sectors except the ones in the FAT. The Floppy Emu fools the Mac into thinking it zeroed all the sectors, but the old data is still hiding in there, which you can see if you view the disk image with a hex editor.

Formatting performance may vary depending on your SD card’s write cache behavior. If the format fails, try again or use a different SD card.

Disk images must be formatted as the same size as they were before formatting. When the Mac asks if you wish to format a disk as one-sided or two-sided, choose wisely. Attempting to reformat a 400K disk image as an 800K disk will lead to disappointment.

As mentioned earlier, for best performance when formatting a MOOF disk image, use the blank MOOF images provided with the firmware. These have been tweaked for optimal I/O speed.

 
1440K Disk Emulation Fixes

If you’ve been using 1440K disk emulation before now, I apologize. It’s been semi-broken for years, and I didn’t even realize it. I discovered there was a bug that could sometimes introduce invalid MFM clock bits into the bitstream, causing the Mac’s disk controller to freak out and think an error occurred. In the best case this substantially degraded the speed of disk transfers, and in the worst case disk transfers would fail outright with a message like “a disk error occurred”. After fixing this bug, 1440K disk emulation is dramatically better. It’s a very noticeable difference.

This is a short section with only a single paragraph, so I’ll repeat myself once more. This small fix makes a great difference, and if you use 1440K disk emulation very often then you’ll want this.

 
Performance Optimizations

The MOOF pseudo-random number generator has been greatly improved, and is used to create so-called fake bits or weak bits in certain MOOF disk images. The old random generator was pretty lousy, because I didn’t realize it might be important to get a specific profile of random bits. The bits need to mimic the random-seeming behavior of a real disk drive’s read head when no magnetic flux is present. The poor-quality randomness may have caused problems for some MOOF disks that employ copy-protection based on weak bits. The new pseudo-random number generator is a 16-bit linear feedback shift register, with a cycle length of 65535 that’s about the length of a whole track, and with a post-processing step to ensure that only 30 percent of the random bits are 1s. To maintain real-time bit streaming, the code must be optimized to generate each new random bit in less than two microseconds, along with other housekeeping tasks.

To accelerate data transfers from/to the SD card, Floppy Emu will now ignore the tag bytes contained in DiskCopy 4.2 disk images while it’s in Macintosh floppy emulation mode. The Mac doesn’t use these tag bytes anyway, so they’re just a waste of time. Lisa floppy emulation mode still supports tag bytes, as they’re an essential part of the Lisa filesystem. If you were doing something non-standard involving tag bytes on the Mac with Floppy Emu and DiskCopy 4.2 images, and this firmware update causes you problems, let’s talk.

SD transfers have also been optimized in other ways. If the Floppy Emu is in the midst of loading a track’s worth of data from the SD card, and it suddenly discovers it no longer needs that track because the head stepped to a different track, it will now abort the transfer ASAP instead of finishing the whole transfer and then discarding it. This actually happens a lot. The result is there’s less time on average between when the head steps to a track and the data for that track begins streaming from the Floppy Emu, which helps reduce the chances of disk I/O hiccups.

The raw SPI transfers from/to the SD card have also been substantially accelerated. The actual SPI clock hasn’t changed, and is still 10 MHz, but the dead time between each byte and the next one has been reduced. What dead time, you ask? The microcontroller in the Floppy Emu unfortunately doesn’t have any SPI buffering, so the CPU needs to intervene after every byte to queue up the next byte and start it, which can badly hamstring performance. With a core clock of 20 MHz and an SPI clock of 10 MHz, it should theoretically be possible to transfer a bit every 2 core clock cycles and a full byte every 16 clock cycles. But with a typical SPI polling loop like the one in the SD library I used, it needed 26 clock cycles instead of 16, only about 60 percent of the theoretical best performance. Not great.

I rewrote the innermost loop to do a blind transfer of each byte instead of polling for completion, employing some cycle-counting to ensure that each new byte would be started at exactly the right time. This improved performance to 18 clock cycles per byte, about 90 percent of the theoretical max. The loop could easily be timed for 17 or 16-cycle transfers, but the SPI hardware fails at this speed. I suspect the hardware needs 1 SPI clock (two core clocks) to reset its internal state before the start of the next byte, but the datasheet mentions nothing about this.

I hope you enjoy all these new features and improvements. That’s it for me until sometime next year. Happy holidays!

Download the latest Floppy Emu firmware from the project page.

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I need a QA team with a suite of regression tests! The BMOW Floppy Emu disk emulator supports many different emulation modes, disk image types, and usage scenarios, so it’s easy to break something without realizing it. If I break something big and obvious that escapes my testing, people will complain and let me know there’s a bug. But if I break something more subtle, I might not realize it for a long while. A very long while.

Today I discovered that writing to a 1440K Macintosh disk image has been very buggy since 2019. It sort of half worked, but it was very slow because the Mac was doing a huge number of retries for each sector write. If you tried copying a large file onto a 1440K disk, it would fail about 20 percent of the time with “a disk error occurred”. After the December 1 firmware update that introduced MOOF support, the situation got even worse, and attempts to copy a large file onto a 1440K disk would almost always fail. But nobody ever reported a problem, and I didn’t realize anything was wrong.

Thank God for revision control systems. I was able to walk backwards through a huge number of past changes in the firmware code, attempting to isolate where the bug first occurred. This was incredibly tedious because prior to the recent MOOF changes, the 1440K writes sort-of-worked well enough that I needed to try many separate file copies and count how many succeeded and failed before I could be sure whether the bug was present. It took about 10-15 minutes per changelist, and there were a LOT of changelists. The whole process filled nearly an entire day.

And the guilty change was: OLED dimming. This change was made in May 2019. To prevent screen burn-in on the OLED display, the firmware dims the brightness after 30 seconds of inactivity. There’s a bit of code that happens after every sector that says “Has the dimming timer overflowed? Has it been 30 seconds yet?” This code was just slow enough to break the Floppy Emu’s real-time guarantee and introduce a burp into the 1440K MFM bitstream between each sector and the next one whenever the timer overflowed. While recently adding MOOF support to the firmware, I switched the dimming logic to use a different hardware timer so that I could use the original timer for MOOF purposes, and this exacerbated the MFM burp problem. The burp caused sector verifications to frequently fail after writing to the disk, resulting in a huge number of errors and retries.

Honestly I’m not sure why the burp is even an issue, since there are sync bytes before each sector that should resynchronize the Mac’s disk controller if it was thrown off by the burp. But it clearly is a problem. I made a simple change to skip the check for dimming while the disk motor is on, and it’s a night and day difference. Copying files to 1440K disks is not only 100 percent reliable now, but it’s also about twice as fast as before. Look for a new firmware release with this fix and other changes soon.

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Most people believe that modern compilers generate better-optimized assembly code than humans, but look at this example from AVR-GCC 5.4.0 with -O2 optimization level:

    7b96:	10 92 34 37 	sts	0x3734, r1	; 0x803734 <tachFlutter>
    7b9a:	e0 e0       	ldi	r30, 0x00	; 0
    7b9c:	f0 e0       	ldi	r31, 0x00	; 0
    7b9e:	a0 91 35 37 	lds	r26, 0x3735	; 0x803735 <driveTachHalfPeriod>
    7ba2:	b0 91 36 37 	lds	r27, 0x3736	; 0x803736 <driveTachHalfPeriod+0x1>
    7ba6:	ae 1b       	sub	r26, r30
    7ba8:	bf 0b       	sbc	r27, r31
    7baa:	b0 93 89 00 	sts	0x0089, r27	; 0x800089 <OCR1AH>
    7bae:	a0 93 88 00 	sts	0x0088, r26	; 0x800088 <OCR1AL>
    7bb2:	10 92 95 00 	sts	0x0095, r1	; 0x800095 <TCNT3H>
    7bb6:	10 92 94 00 	sts	0x0094, r1	; 0x800094 <TCNT3L>
    7bba:	32 2d       	mov	r19, r2
    7bbc:	e0 e0       	ldi	r30, 0x00	; 0
    7bbe:	f0 e0       	ldi	r31, 0x00	; 0
    7bc0:	f0 93 e3 33 	sts	0x33E3, r31	; 0x8033e3 <currentTrackBytePos+0x1>
    7bc4:	e0 93 e2 33 	sts	0x33E2, r30	; 0x8033e2 <currentTrackBytePos>

This is straight-line code with no branching. All registers and memory references are 8-bit. With AVR-GCC, the register r1 always holds the value 0, so the code is doing this: Set tachFlutter to 0, load driveTachHalfPeriod, set OCR1A to driveTachHalfPeriod minus 0, set TCNT3 to 0, set currentTrackBytePos to 0. There’s also a move of r2 to r19, which is used later, and I’m not sure why the compiler located the instruction here. There are at least three glaring inefficiences:

• the compiler wastes time loading 0 into r30 and r31, when it could have just used r1
• it does this TWICE, when we know r30 and r31 were already zero after the first time
• it subtracts a constant 0 from driveTachHalfPeriod

I can maybe understand the subtraction of constant 0, if there’s another code path that jumps to 7ba6 where the value in r30:r31 isn’t 0. But why wouldn’t the compiler make a completely separate path for that, with faster execution speed when the subtracted value is known to be 0, even if the code size is greater? After all this is -O2, not -Os.

It also appears there’s no optimization for setting multi-byte variables like currentTrackBytePos to zero. Instead of just storing r1 twice for the low and high bytes, the compiler first creates an unnamed 16-bit temporary variable in r30:r31 and sets its value to 0, then stores the unnamed variable at currentTrackBytePos.

This whole block of code could easily be rewritten:

    sts	0x3734, r1	; 0x803734 <tachFlutter>
    lds	r26, 0x3736	; 0x803736 <driveTachHalfPeriod+0x1>
    sts	0x0089, r26	; 0x800089 <OCR1AH>
    lds	r26, 0x3735	; 0x803735 <driveTachHalfPeriod>
    sts	0x0088, r26	; 0x800088 <OCR1AL>
    sts	0x0095, r1	; 0x800095 <TCNT3H>
    sts	0x0094, r1	; 0x800094 <TCNT3L>
    mov	r19, r2
    sts	0x33E3, r1	; 0x8033e3 <currentTrackBytePos+0x1>
    sts	0x33E2, r1	; 0x8033e2 <currentTrackBytePos>

This is much shorter, and avoids using r27, r30, and r31, so there are more free registers available for other purposes.

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