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-rw-r--r--n/asserv/src/dsp.c306
1 files changed, 214 insertions, 92 deletions
diff --git a/n/asserv/src/dsp.c b/n/asserv/src/dsp.c
index 576040b..4484b2f 100644
--- a/n/asserv/src/dsp.c
+++ b/n/asserv/src/dsp.c
@@ -43,19 +43,19 @@
extern inline int16_t
dsp_add_sat_i16i16 (int16_t a, int16_t b)
{
- asm ("add %A0, %A1\n\t"
- "adc %B0, %B1\n\t"
+ asm ("add %A0, %A1" "\n\t"
+ "adc %B0, %B1" "\n\t"
/* Branch if not V. */
- "brvc 1f\n\t"
+ "brvc 1f" "\n\t"
/* Load Max. */
- "ldi %A0, 0xff\n\t"
- "ldi %B0, 0x7f\n\t"
+ "ldi %A0, 0xff" "\n\t"
+ "ldi %B0, 0x7f" "\n\t"
/* Branch if not S. */
- "brlt 1f\n\t"
+ "brlt 1f" "\n\t"
/* Load Min. */
- "ldi %A0, 0x00\n\t"
- "ldi %B0, 0x80\n\t"
- "1:" "\n\t"
+ "ldi %A0, 0x00" "\n\t"
+ "ldi %B0, 0x80" "\n\t"
+ "1:" "" "\n\t"
: "=r" (a) : "0" (a), "r" (b));
return a;
}
@@ -65,17 +65,17 @@ extern inline int16_t
dsp_mul_i16f88 (int16_t a, uint16_t b)
{
int16_t r;
- asm ("mulsu %B1, %B2\n\t"
- "mov %B0, r0\n\t"
- "mul %A1, %A2\n\t"
- "mov %A0, r1\n\t"
- "mul %A1, %B2\n\t"
- "add %A0, r0\n\t"
- "adc %B0, r1\n\t"
- "mulsu %B1, %A2\n\t"
- "add %A0, r0\n\t"
- "adc %B0, r1\n\t"
- "clr r1\n\t"
+ asm ("mulsu %B1, %B2" "\n\t"
+ "mov %B0, r0" "\n\t"
+ "mul %A1, %A2" "\n\t"
+ "mov %A0, r1" "\n\t"
+ "mul %A1, %B2" "\n\t"
+ "add %A0, r0" "\n\t"
+ "adc %B0, r1" "\n\t"
+ "mulsu %B1, %A2" "\n\t"
+ "add %A0, r0" "\n\t"
+ "adc %B0, r1" "\n\t"
+ "clr r1" "\n\t"
: "=&r" (r) : "a" (a), "a" (b) : "r0");
return r;
}
@@ -90,85 +90,207 @@ dsp_mul_f824 (int32_t a, int32_t b)
int32_t r;
int8_t z;
asm (""
- "clr %1\n\t"
+ "clr %1" "\n\t"
/* Low dword (>> 8, with 8 guards). */
- "mul %A2, %B3\n\t"
- "movw %A0, r0\n\t"
- "clr %C0\n\t"
- "clr %D0\n\t"
- "mul %A2, %A3\n\t"
- "add %A0, r1\n\t"
- "adc %B0, %1\n\t"
- "adc %C0, %1\n\t"
- "mul %B2, %A3\n\t"
- "add %A0, r0\n\t"
- "adc %B0, r1\n\t"
- "adc %C0, %1\n\t"
- "mul %A2, %C3\n\t"
- "add %B0, r0\n\t"
- "adc %C0, r1\n\t"
- "adc %D0, %1\n\t"
- "mul %B2, %B3\n\t"
- "add %B0, r0\n\t"
- "adc %C0, r1\n\t"
- "adc %D0, %1\n\t"
- "mul %C2, %A3\n\t"
- "add %B0, r0\n\t"
- "adc %C0, r1\n\t"
- "adc %D0, %1\n\t"
+ "mul %A2, %B3" "\n\t"
+ "movw %A0, r0" "\n\t"
+ "clr %C0" "\n\t"
+ "clr %D0" "\n\t"
+ "mul %A2, %A3" "\n\t"
+ "add %A0, r1" "\n\t"
+ "adc %B0, %1" "\n\t"
+ "adc %C0, %1" "\n\t"
+ "mul %B2, %A3" "\n\t"
+ "add %A0, r0" "\n\t"
+ "adc %B0, r1" "\n\t"
+ "adc %C0, %1" "\n\t"
+ "mul %A2, %C3" "\n\t"
+ "add %B0, r0" "\n\t"
+ "adc %C0, r1" "\n\t"
+ "adc %D0, %1" "\n\t"
+ "mul %B2, %B3" "\n\t"
+ "add %B0, r0" "\n\t"
+ "adc %C0, r1" "\n\t"
+ "adc %D0, %1" "\n\t"
+ "mul %C2, %A3" "\n\t"
+ "add %B0, r0" "\n\t"
+ "adc %C0, r1" "\n\t"
+ "adc %D0, %1" "\n\t"
/* Shift. */
- "movw %A0, %C0\n\t"
+ "movw %A0, %C0" "\n\t"
/* Upper word. */
- "mulsu %D3, %C2\n\t"
- "movw %C0, r0\n\t"
- "mulsu %D3, %A2\n\t"
- "sbc %C0, %1\n\t"
- "sbc %D0, %1\n\t"
- "add %A0, r0\n\t"
- "adc %B0, r1\n\t"
- "adc %C0, %1\n\t"
- "adc %D0, %1\n\t"
- "mul %B2, %C3\n\t"
- "add %A0, r0\n\t"
- "adc %B0, r1\n\t"
- "adc %C0, %1\n\t"
- "adc %D0, %1\n\t"
- "mul %C2, %B3\n\t"
- "add %A0, r0\n\t"
- "adc %B0, r1\n\t"
- "adc %C0, %1\n\t"
- "adc %D0, %1\n\t"
- "mulsu %D2, %A3\n\t"
- "sbc %C0, %1\n\t"
- "sbc %D0, %1\n\t"
- "add %A0, r0\n\t"
- "adc %B0, r1\n\t"
- "adc %C0, %1\n\t"
- "adc %D0, %1\n\t"
- "mulsu %D3, %B2\n\t"
- "sbc %D0, %1\n\t"
- "add %B0, r0\n\t"
- "adc %C0, r1\n\t"
- "adc %D0, %1\n\t"
- "mul %C2, %C3\n\t"
- "add %B0, r0\n\t"
- "adc %C0, r1\n\t"
- "adc %D0, %1\n\t"
- "mulsu %D2, %B3\n\t"
- "sbc %D0, %1\n\t"
- "add %B0, r0\n\t"
- "adc %C0, r1\n\t"
- "adc %D0, %1\n\t"
- "mulsu %D2, %C3\n\t"
- "add %C0, r0\n\t"
- "adc %D0, r1\n\t"
- "muls %D2, %D3\n\t"
- "add %D0, r0\n\t"
- "clr r1\n\t"
+ "mulsu %D3, %C2" "\n\t"
+ "movw %C0, r0" "\n\t"
+ "mulsu %D3, %A2" "\n\t"
+ "sbc %C0, %1" "\n\t"
+ "sbc %D0, %1" "\n\t"
+ "add %A0, r0" "\n\t"
+ "adc %B0, r1" "\n\t"
+ "adc %C0, %1" "\n\t"
+ "adc %D0, %1" "\n\t"
+ "mul %B2, %C3" "\n\t"
+ "add %A0, r0" "\n\t"
+ "adc %B0, r1" "\n\t"
+ "adc %C0, %1" "\n\t"
+ "adc %D0, %1" "\n\t"
+ "mul %C2, %B3" "\n\t"
+ "add %A0, r0" "\n\t"
+ "adc %B0, r1" "\n\t"
+ "adc %C0, %1" "\n\t"
+ "adc %D0, %1" "\n\t"
+ "mulsu %D2, %A3" "\n\t"
+ "sbc %C0, %1" "\n\t"
+ "sbc %D0, %1" "\n\t"
+ "add %A0, r0" "\n\t"
+ "adc %B0, r1" "\n\t"
+ "adc %C0, %1" "\n\t"
+ "adc %D0, %1" "\n\t"
+ "mulsu %D3, %B2" "\n\t"
+ "sbc %D0, %1" "\n\t"
+ "add %B0, r0" "\n\t"
+ "adc %C0, r1" "\n\t"
+ "adc %D0, %1" "\n\t"
+ "mul %C2, %C3" "\n\t"
+ "add %B0, r0" "\n\t"
+ "adc %C0, r1" "\n\t"
+ "adc %D0, %1" "\n\t"
+ "mulsu %D2, %B3" "\n\t"
+ "sbc %D0, %1" "\n\t"
+ "add %B0, r0" "\n\t"
+ "adc %C0, r1" "\n\t"
+ "adc %D0, %1" "\n\t"
+ "mulsu %D2, %C3" "\n\t"
+ "add %C0, r0" "\n\t"
+ "adc %D0, r1" "\n\t"
+ "muls %D2, %D3" "\n\t"
+ "add %D0, r0" "\n\t"
+ "clr r1" "\n\t"
: "=&r" (r), "=&r" (z) : "a" (ar), "a" (br) : "r0");
return r;
}
+/** Divide f8.24 by f8.24, result f8.24. */
+int32_t
+dsp_div_f824 (int32_t dd, int32_t dv)
+{
+ int32_t rem;
+ int8_t cnt;
+ asm (""
+ /* Store sign. */
+ "mov __tmp_reg__, %D1" "\n\t"
+ "eor __tmp_reg__, %D3" "\n\t"
+ /* Change sign. */
+ "sbrs %D1, 7" "\n\t"
+ "rjmp 1f" "\n\t"
+ "com %A1" "\n\t"
+ "com %B1" "\n\t"
+ "com %C1" "\n\t"
+ "com %D1" "\n\t"
+ "subi %A1, 0xff" "\n\t"
+ "sbci %B1, 0xff" "\n\t"
+ "sbci %C1, 0xff" "\n\t"
+ "sbci %D1, 0xff" "\n\t"
+ "1:" "sbrs %D3, 7" "\n\t"
+ "rjmp 2f" "\n\t"
+ "com %A3" "\n\t"
+ "com %B3" "\n\t"
+ "com %C3" "\n\t"
+ "com %D3" "\n\t"
+ "subi %A3, 0xff" "\n\t"
+ "sbci %B3, 0xff" "\n\t"
+ "sbci %C3, 0xff" "\n\t"
+ "sbci %D3, 0xff" "\n\t"
+ /* Clear rem. */
+ "2:" "clr %A0" "\n\t"
+ "clr %B0" "\n\t"
+ "movw %C0, %A0" "\n\t"
+ /* First loop, dropped bits. */
+ "ldi %2, 24" "\n\t"
+ "1:" //"lsl %A1" "\n\t" // shift out dd
+ "lsl %B1" "\n\t" // do not touch A1
+ "rol %C1" "\n\t"
+ "rol %D1" "\n\t"
+ "rol %A0" "\n\t" // shift in rem
+ "rol %B0" "\n\t" // 24 bits only
+ "rol %C0" "\n\t"
+ //"rol %D0" "\n\t"
+ "sub %A0, %A3" "\n\t" // rem -= dv
+ "sbc %B0, %B3" "\n\t"
+ "sbc %C0, %C3" "\n\t"
+ "sbc %D0, %D3" "\n\t"
+ "brcc 2f" "\n\t" // if negative, restore rem
+ "add %A0, %A3" "\n\t"
+ "adc %B0, %B3" "\n\t"
+ "adc %C0, %C3" "\n\t"
+ "adc %D0, %D3" "\n\t"
+ "2:" "dec %2" "\n\t" // test for loop
+ "brne 1b" "\n\t"
+ /* Second loop, stored bits. */
+ "ldi %2, 8" "\n\t"
+ "3:" "rol %A1" "\n\t" // shift out dd, shift in result
+ "rol %A0" "\n\t" // shift in rem
+ "rol %B0" "\n\t"
+ "rol %C0" "\n\t"
+ "rol %D0" "\n\t"
+ "sub %A0, %A3" "\n\t" // rem -= dv
+ "sbc %B0, %B3" "\n\t"
+ "sbc %C0, %C3" "\n\t"
+ "sbc %D0, %D3" "\n\t"
+ "brcc 4f" "\n\t" // if negative, restore rem
+ "add %A0, %A3" "\n\t"
+ "adc %B0, %B3" "\n\t"
+ "adc %C0, %C3" "\n\t"
+ "adc %D0, %D3" "\n\t"
+ "clc" "\n\t" // result bit 0
+ "sbrc __zero_reg__, 0" "\n\t"
+ "4:" "sec" "\n\t" // result bit 1
+ "dec %2" "\n\t" // test for loop
+ "brne 3b" "\n\t"
+ /* Last loop, stored bits, dd padding bits. */
+ "ldi %2, 24" "\n\t"
+ "5:" "rol %A1" "\n\t" // shift out dd, shift in result
+ "rol %B1" "\n\t" // 0s come from the first loop
+ "rol %C1" "\n\t"
+ "rol %D1" "\n\t"
+ "rol %A0" "\n\t" // shift in rem
+ "rol %B0" "\n\t"
+ "rol %C0" "\n\t"
+ "rol %D0" "\n\t"
+ "sub %A0, %A3" "\n\t" // rem -= dv
+ "sbc %B0, %B3" "\n\t"
+ "sbc %C0, %C3" "\n\t"
+ "sbc %D0, %D3" "\n\t"
+ "brcc 6f" "\n\t" // if negative, restore rem
+ "add %A0, %A3" "\n\t"
+ "adc %B0, %B3" "\n\t"
+ "adc %C0, %C3" "\n\t"
+ "adc %D0, %D3" "\n\t"
+ "clc" "\n\t" // result bit 0
+ "sbrc __zero_reg__, 0" "\n\t"
+ "6:" "sec" "\n\t" // result bit 1
+ "dec %2" "\n\t" // test for loop
+ "brne 5b" "\n\t"
+ /* Store last bit. */
+ "rol %A1" "\n\t" // shift in result
+ "rol %B1" "\n\t"
+ "rol %C1" "\n\t"
+ "rol %D1" "\n\t"
+ /* Restore sign. */
+ "sbrs __tmp_reg__, 7" "\n\t"
+ "rjmp 7f" "\n\t"
+ "com %A1" "\n\t"
+ "com %B1" "\n\t"
+ "com %C1" "\n\t"
+ "com %D1" "\n\t"
+ "subi %A1, 0xff" "\n\t"
+ "sbci %B1, 0xff" "\n\t"
+ "sbci %C1, 0xff" "\n\t"
+ "sbci %D1, 0xff" "\n\t"
+ "7:" "" "\n\t"
+ : "=&r" (rem), "=d" (dd), "=&d" (cnt) : "d" (dv), "1" (dd));
+ return dd;
+}
+
/** Compute cosinus for angles between [0,pi/2]. */
int32_t
dsp_cos_dli (int32_t a)