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-rw-r--r--n/avr/modules/math/fixed/Makefile.module1
-rw-r--r--n/avr/modules/math/fixed/README25
-rw-r--r--n/avr/modules/math/fixed/fixed.h36
-rw-r--r--n/avr/modules/math/fixed/fixed_div_f824.avr.S162
-rw-r--r--n/avr/modules/math/fixed/fixed_mul_f824.avr.S162
-rw-r--r--n/avr/modules/math/fixed/test/Makefile17
-rw-r--r--n/avr/modules/math/fixed/test/avrconfig.h85
-rw-r--r--n/avr/modules/math/fixed/test/test_fixed.c44
8 files changed, 532 insertions, 0 deletions
diff --git a/n/avr/modules/math/fixed/Makefile.module b/n/avr/modules/math/fixed/Makefile.module
new file mode 100644
index 0000000..91b409b
--- /dev/null
+++ b/n/avr/modules/math/fixed/Makefile.module
@@ -0,0 +1 @@
+math_fixed_SOURCES = fixed_mul_f824.avr.S fixed_div_f824.avr.S
diff --git a/n/avr/modules/math/fixed/README b/n/avr/modules/math/fixed/README
new file mode 100644
index 0000000..639d4fc
--- /dev/null
+++ b/n/avr/modules/math/fixed/README
@@ -0,0 +1,25 @@
+avr.math.fixed - Fixed point math module.
+
+Provide fixed point math function for AVR, and host simulation. See modules
+README for more details about AVR modules.
+
+
+Copyright (C) 2005 Nicolas Schodet
+
+Robot APB Team/Efrei 2006.
+ Web: http://assos.efrei.fr/robot/
+ Email: robot AT efrei DOT fr
+
+This program is free software; you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
diff --git a/n/avr/modules/math/fixed/fixed.h b/n/avr/modules/math/fixed/fixed.h
new file mode 100644
index 0000000..ab20779
--- /dev/null
+++ b/n/avr/modules/math/fixed/fixed.h
@@ -0,0 +1,36 @@
+#ifndef fixed_h
+#define fixed_h
+/* fixed.h */
+/* avr.math.fixed - Fixed point math module. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+/** Multiply f8.24 by f8.24, return f8.24. */
+#define fixed_mul_f824(a, b) ({ \
+ uint16_t dummy; \
+ asm ("" : "=r" (dummy)); \
+ fixed_mul_f824_asm (dummy, a, b); })
+int32_t
+fixed_mul_f824_asm (uint16_t dummy, int32_t a, int32_t b);
+
+#endif /* fixed_h */
diff --git a/n/avr/modules/math/fixed/fixed_div_f824.avr.S b/n/avr/modules/math/fixed/fixed_div_f824.avr.S
new file mode 100644
index 0000000..76992c3
--- /dev/null
+++ b/n/avr/modules/math/fixed/fixed_div_f824.avr.S
@@ -0,0 +1,162 @@
+; fixed_div_f824.avr.S
+; avr.math.fixed - Fixed point math module. {{{
+;
+; Copyright (C) 2005 Nicolas Schodet
+;
+; Robot APB Team/Efrei 2006.
+; Web: http: ;assos.efrei.fr/robot/
+; Email: robot AT efrei DOT fr
+;
+; This program is free software; you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation; either version 2 of the License, or
+; (at your option) any later version.
+;
+; This program is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with this program; if not, write to the Free Software
+; Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+;
+; }}}
+
+#define dd3 r25
+#define dd2 r24
+#define dd1 r23
+#define dd0 r22
+
+#define dv3 r21
+#define dv2 r20
+#define dv1 r19
+#define dv0 r18
+
+; r28-r29 are avoided because they should be saved.
+#define rem3 r31
+#define rem2 r30
+#define rem1 r27
+#define rem0 r26
+
+#define __tmp_reg__ r0
+#define __zero_reg__ r1
+
+#define cnt r16
+
+ .section .text
+ .global fixed_div_f824
+ .func fixed_div_f824
+fixed_div_f824:
+ push cnt
+; Store sign.
+ mov __tmp_reg__, dd3
+ eor __tmp_reg__, dv3
+; Change sign.
+ sbrs dd3, 7
+ rjmp 1f
+ com dd3
+ com dd2
+ com dd1
+ neg dd0
+ sbci dd1, 0xff
+ sbci dd2, 0xff
+ sbci dd3, 0xff
+1: sbrs dv3, 7
+ rjmp 2f
+ com dv3
+ com dv2
+ com dv1
+ neg dv0
+ sbci dv1, 0xff
+ sbci dv2, 0xff
+ sbci dv3, 0xff
+; Clear rem.
+2: clr rem0
+ clr rem1
+ movw rem2, rem0
+; First loop, dropped bits.
+ ldi cnt, 24
+1: ;lsl dd0 ; shift out dd
+ lsl dd1 ; do not touch dd0
+ rol dd2
+ rol dd3
+ rol rem0 ; shift in rem
+ rol rem1 ; 24 bits only
+ rol rem2
+ ;rol rem3
+ sub rem0, dv0 ; rem -= dv
+ sbc rem1, dv1
+ sbc rem2, dv2
+ sbc rem3, dv3
+ brcc 2f ; if negative, restore rem
+ add rem0, dv0
+ adc rem1, dv1
+ adc rem2, dv2
+ adc rem3, dv3
+2: dec cnt ; test for loop
+ brne 1b
+; Second loop, stored bits.
+ ldi cnt, 8
+1: rol dd0 ; shift out dd, shift in result
+ rol rem0 ; shift in rem
+ rol rem1
+ rol rem2
+ rol rem3
+ sub rem0, dv0 ; rem -= dv
+ sbc rem1, dv1
+ sbc rem2, dv2
+ sbc rem3, dv3
+ brcc 2f ; if negative, restore rem
+ add rem0, dv0
+ adc rem1, dv1
+ adc rem2, dv2
+ adc rem3, dv3
+ clc ; result bit 0
+ rjmp 3f
+2: sec ; result bit 1
+3: dec cnt ; test for loop
+ brne 1b
+; Last loop, stored bits, dd padding bits.
+ ldi cnt, 24
+1: rol dd0 ; shift out dd, shift in result
+ rol dd1 ; 0s come from the first loop
+ rol dd2
+ rol dd3
+ rol rem0 ; shift in rem
+ rol rem1
+ rol rem2
+ rol rem3
+ sub rem0, dv0 ; rem -= dv
+ sbc rem1, dv1
+ sbc rem2, dv2
+ sbc rem3, dv3
+ brcc 2f ; if negative, restore rem
+ add rem0, dv0
+ adc rem1, dv1
+ adc rem2, dv2
+ adc rem3, dv3
+ clc ; result bit 0
+ rjmp 3f
+2: sec ; result bit 1
+3: dec cnt ; test for loop
+ brne 1b
+; Store last bit.
+ rol dd0 ; shift in result
+ rol dd1
+ rol dd2
+ rol dd3
+; Restore sign.
+ sbrs __tmp_reg__, 7
+ rjmp 1f
+ com dd3
+ com dd2
+ com dd1
+ neg dd0
+ sbci dd1, 0xff
+ sbci dd2, 0xff
+ sbci dd3, 0xff
+; Return.
+1: pop r16
+ ret
+ .endfunc
diff --git a/n/avr/modules/math/fixed/fixed_mul_f824.avr.S b/n/avr/modules/math/fixed/fixed_mul_f824.avr.S
new file mode 100644
index 0000000..ab69799
--- /dev/null
+++ b/n/avr/modules/math/fixed/fixed_mul_f824.avr.S
@@ -0,0 +1,162 @@
+; fixed_mul_f824.avr.S
+; avr.math.fixed - Fixed point math module. {{{
+;
+; Copyright (C) 2005 Nicolas Schodet
+;
+; Robot APB Team/Efrei 2006.
+; Web: http://assos.efrei.fr/robot/
+; Email: robot AT efrei DOT fr
+;
+; This program is free software; you can redistribute it and/or modify
+; it under the terms of the GNU General Public License as published by
+; the Free Software Foundation; either version 2 of the License, or
+; (at your option) any later version.
+;
+; This program is distributed in the hope that it will be useful,
+; but WITHOUT ANY WARRANTY; without even the implied warranty of
+; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+; GNU General Public License for more details.
+;
+; You should have received a copy of the GNU General Public License
+; along with this program; if not, write to the Free Software
+; Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+;
+; }}}
+
+; a: A3.A2 A1 A0
+; b: B3.B2 B1 B0
+; m: M3.M2 M1 M0
+;
+; . => fractional dot
+; A3xB3. |
+; |A3xB2 |
+; | .A3xB1 |
+; | . A3xB0|
+; |A2xB3 |
+; | .A2xB2 |
+; | . A2xB1|
+; | . A2xB0
+; | .A1xB3 |
+; | . A1xB2|
+; | . A1xB1
+; | . |A1xB0
+; | . A0xB3|
+; | . A0xB2
+; | . |A0xB1
+; | . | A0xB0
+; . [- step 1 --]
+; [- step 2 --]
+;
+; The operation is done in two steps. The three lsb multiplications can not be
+; avoided.
+; All multiplications results are added together. If the result is negative,
+; do the sign extension (the sbc instructions).
+
+#define dummy1 r25
+#define dummy0 r24
+
+; mulsu are only allowed in r16-r23.
+#define a3 r23
+#define a2 r22
+#define a1 r21
+#define a0 r20
+
+#define b3 r19
+#define b2 r18
+#define b1 r17
+#define b0 r16
+
+; r23 and r22 are used for a, registers will be moved before return.
+#define m3 r25
+#define m2 r24
+#define m1 r27
+#define m0 r26
+
+#define m1r r23
+#define m0r r22
+
+#define z r30
+
+ .section .text
+ .global fixed_mul_f824_asm
+ .func fixed_mul_f824_asm
+fixed_mul_f824_asm:
+ clr z
+; Low dword (>> 8, with 8 guards).
+ mul a0, b1
+ movw m0, r0
+ clr m2
+ clr m3
+ mul a0, b0
+ add m0, r1
+ adc m1, z
+ adc m2, z
+ mul a1, b0
+ add m0, r0
+ adc m1, r1
+ adc m2, z
+ mul a0, b2
+ add m1, r0
+ adc m2, r1
+ adc m3, z
+ mul a1, b1
+ add m1, r0
+ adc m2, r1
+ adc m3, z
+ mul a2, b0
+ add m1, r0
+ adc m2, r1
+ adc m3, z
+; Shift.
+ movw m0, m2
+; Upper word.
+ mulsu b3, a2
+ movw m2, r0
+ mulsu b3, a0
+ sbc m2, z
+ sbc m3, z
+ add m0, r0
+ adc m1, r1
+ adc m2, z
+ adc m3, z
+ mul a1, b2
+ add m0, r0
+ adc m1, r1
+ adc m2, z
+ adc m3, z
+ mul a2, b1
+ add m0, r0
+ adc m1, r1
+ adc m2, z
+ adc m3, z
+ mulsu a3, b0
+ sbc m2, z
+ sbc m3, z
+ add m0, r0
+ adc m1, r1
+ adc m2, z
+ adc m3, z
+ mulsu b3, a1
+ sbc m3, z
+ add m1, r0
+ adc m2, r1
+ adc m3, z
+ mul a2, b2
+ add m1, r0
+ adc m2, r1
+ adc m3, z
+ mulsu a3, b1
+ sbc m3, z
+ add m1, r0
+ adc m2, r1
+ adc m3, z
+ mulsu a3, b2
+ add m2, r0
+ adc m3, r1
+ muls a3, b3
+ add m3, r0
+; Restore r1 and return.
+ clr r1
+ movw m0r, m0
+ ret
+ .endfunc
diff --git a/n/avr/modules/math/fixed/test/Makefile b/n/avr/modules/math/fixed/test/Makefile
new file mode 100644
index 0000000..a70ca2d
--- /dev/null
+++ b/n/avr/modules/math/fixed/test/Makefile
@@ -0,0 +1,17 @@
+BASE = ../../../..
+PROGS = test_fixed
+test_fixed_SOURCES = test_fixed.c
+DOC =
+EXTRACTDOC =
+MODULES = uart proto math/fixed
+CONFIGFILE = avrconfig.h
+# atmega8, atmega8535, atmega128...
+AVR_MCU = atmega8
+# -O2 : speed
+# -Os : size
+OPTIMIZE = -O2
+
+DEFS =
+LIBS =
+
+include $(BASE)/make/Makefile.gen
diff --git a/n/avr/modules/math/fixed/test/avrconfig.h b/n/avr/modules/math/fixed/test/avrconfig.h
new file mode 100644
index 0000000..12cae01
--- /dev/null
+++ b/n/avr/modules/math/fixed/test/avrconfig.h
@@ -0,0 +1,85 @@
+#ifndef avrconfig_h
+#define avrconfig_h
+/* avrconfig.h */
+/* avr.math.fixed - Fixed point math module. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+
+/* global */
+/** AVR Frequency : 1000000, 1843200, 2000000, 3686400, 4000000, 7372800,
+ * 8000000, 11059200, 14745600, 16000000, 18432000, 20000000. */
+#define AC_FREQ 14745600
+
+/* uart - UART module. */
+/** Select hardware uart for primary uart: 0, 1 or -1 to disable. */
+#define AC_UART0_PORT 0
+/** Baudrate: 2400, 4800, 9600, 14400, 19200, 28800, 38400, 57600, 76800,
+ * 115200, 230400, 250000, 500000, 1000000. */
+#define AC_UART0_BAUDRATE 115200
+/** Send mode:
+ * - POLLING: no interrupts.
+ * - RING: interrupts, ring buffer. */
+#define AC_UART0_SEND_MODE RING
+/** Recv mode, same as send mode. */
+#define AC_UART0_RECV_MODE RING
+/** Character size: 5, 6, 7, 8, 9 (only 8 implemented). */
+#define AC_UART0_CHAR_SIZE 8
+/** Parity : ODD, EVEN, NONE. */
+#define AC_UART0_PARITY EVEN
+/** Stop bits : 1, 2. */
+#define AC_UART0_STOP_BITS 1
+/** Send buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_SEND_BUFFER_SIZE 32
+/** Recv buffer size, should be power of 2 for RING mode. */
+#define AC_UART0_RECV_BUFFER_SIZE 32
+/** If the send buffer is full when putc:
+ * - DROP: drop the new byte.
+ * - WAIT: wait until there is room in the send buffer. */
+#define AC_UART0_SEND_BUFFER_FULL WAIT
+/** In HOST compilation:
+ * - STDIO: use stdin/out.
+ * - PTS: use pseudo terminal. */
+#define AC_UART0_HOST_DRIVER STDIO
+/** Same thing for secondary port. */
+#define AC_UART1_PORT -1
+#define AC_UART1_BAUDRATE 115200
+#define AC_UART1_SEND_MODE RING
+#define AC_UART1_RECV_MODE RING
+#define AC_UART1_CHAR_SIZE 8
+#define AC_UART1_PARITY EVEN
+#define AC_UART1_STOP_BITS 1
+#define AC_UART1_SEND_BUFFER_SIZE 32
+#define AC_UART1_RECV_BUFFER_SIZE 32
+#define AC_UART1_SEND_BUFFER_FULL WAIT
+
+/* proto - Protocol module. */
+/** Maximum argument size. */
+#define AC_PROTO_ARGS_MAX_SIZE 8
+/** Callback function name. */
+#define AC_PROTO_CALLBACK proto_callback
+/** Putchar function name. */
+#define AC_PROTO_PUTC uart0_putc
+/** Support for quote parameter. */
+#define AC_PROTO_QUOTE 0
+
+#endif /* avrconfig_h */
diff --git a/n/avr/modules/math/fixed/test/test_fixed.c b/n/avr/modules/math/fixed/test/test_fixed.c
new file mode 100644
index 0000000..d42dda3
--- /dev/null
+++ b/n/avr/modules/math/fixed/test/test_fixed.c
@@ -0,0 +1,44 @@
+/* test_fixed.c */
+/* avr.math.fixed - Fixed point math module. {{{
+ *
+ * Copyright (C) 2005 Nicolas Schodet
+ *
+ * Robot APB Team/Efrei 2006.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * }}} */
+#include "common.h"
+#include "modules/math/fixed/fixed.h"
+#include "modules/uart/uart.h"
+#include "modules/proto/proto.h"
+#include "io.h"
+
+void
+proto_callback (uint8_t cmd, uint8_t size, uint8_t *args)
+{
+}
+
+int
+main (void)
+{
+ volatile int32_t a = 42;
+ sei ();
+ uart0_init ();
+ fixed_mul_f824 (-a, 0);
+ proto_send0 ('z');
+}