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Apply shorthand Assembler macros
This commit is contained in:
Scott Lahteine
parent
d1b619be52
commit
0436e16fb2
9 changed files with 864 additions and 861 deletions
Marlin/src/module
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@ -581,68 +581,68 @@ void Stepper::set_directions() {
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/* %10 (must be high register!)*/
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/* Store initial velocity*/
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" sts bezier_F, %0" "\n\t"
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" sts bezier_F+1, %1" "\n\t"
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" sts bezier_F+2, %10" "\n\t" /* bezier_F = %10:%1:%0 = v0 */
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A("sts bezier_F, %0")
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A("sts bezier_F+1, %1")
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A("sts bezier_F+2, %10") /* bezier_F = %10:%1:%0 = v0 */
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/* Get delta speed */
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" ldi %2,-1" "\n\t" /* %2 = 0xff, means A_negative = true */
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" clr %8" "\n\t" /* %8 = 0 */
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" sub %0,%3" "\n\t"
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" sbc %1,%4" "\n\t"
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" sbc %10,%5" "\n\t" /* v0 -= v1, C=1 if result is negative */
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" brcc 1f" "\n\t" /* branch if result is positive (C=0), that means v0 >= v1 */
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A("ldi %2,-1") /* %2 = 0xFF, means A_negative = true */
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A("clr %8") /* %8 = 0 */
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A("sub %0,%3")
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A("sbc %1,%4")
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A("sbc %10,%5") /* v0 -= v1, C=1 if result is negative */
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A("brcc 1f") /* branch if result is positive (C=0), that means v0 >= v1 */
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/* Result was negative, get the absolute value*/
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" com %10" "\n\t"
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" com %1" "\n\t"
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" neg %0" "\n\t"
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" sbc %1,%2" "\n\t"
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" sbc %10,%2" "\n\t" /* %10:%1:%0 +1 -> %10:%1:%0 = -(v0 - v1) = (v1 - v0) */
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" clr %2" "\n\t" /* %2 = 0, means A_negative = false */
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A("com %10")
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A("com %1")
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A("neg %0")
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A("sbc %1,%2")
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A("sbc %10,%2") /* %10:%1:%0 +1 -> %10:%1:%0 = -(v0 - v1) = (v1 - v0) */
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A("clr %2") /* %2 = 0, means A_negative = false */
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/* Store negative flag*/
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"1:" "\n\t"
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" sts A_negative, %2" "\n\t" /* Store negative flag */
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L("1")
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A("sts A_negative, %2") /* Store negative flag */
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/* Compute coefficients A,B and C [20 cycles worst case]*/
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" ldi %9,6" "\n\t" /* %9 = 6 */
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" mul %0,%9" "\n\t" /* r1:r0 = 6*LO(v0-v1) */
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" sts bezier_A, r0" "\n\t"
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" mov %6,r1" "\n\t"
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" clr %7" "\n\t" /* %7:%6:r0 = 6*LO(v0-v1) */
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" mul %1,%9" "\n\t" /* r1:r0 = 6*MI(v0-v1) */
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" add %6,r0" "\n\t"
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" adc %7,r1" "\n\t" /* %7:%6:?? += 6*MI(v0-v1) << 8 */
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" mul %10,%9" "\n\t" /* r1:r0 = 6*HI(v0-v1) */
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" add %7,r0" "\n\t" /* %7:%6:?? += 6*HI(v0-v1) << 16 */
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" sts bezier_A+1, %6" "\n\t"
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" sts bezier_A+2, %7" "\n\t" /* bezier_A = %7:%6:?? = 6*(v0-v1) [35 cycles worst] */
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A("ldi %9,6") /* %9 = 6 */
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A("mul %0,%9") /* r1:r0 = 6*LO(v0-v1) */
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A("sts bezier_A, r0")
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A("mov %6,r1")
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A("clr %7") /* %7:%6:r0 = 6*LO(v0-v1) */
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A("mul %1,%9") /* r1:r0 = 6*MI(v0-v1) */
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A("add %6,r0")
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A("adc %7,r1") /* %7:%6:?? += 6*MI(v0-v1) << 8 */
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A("mul %10,%9") /* r1:r0 = 6*HI(v0-v1) */
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A("add %7,r0") /* %7:%6:?? += 6*HI(v0-v1) << 16 */
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A("sts bezier_A+1, %6")
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A("sts bezier_A+2, %7") /* bezier_A = %7:%6:?? = 6*(v0-v1) [35 cycles worst] */
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" ldi %9,15" "\n\t" /* %9 = 15 */
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" mul %0,%9" "\n\t" /* r1:r0 = 5*LO(v0-v1) */
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" sts bezier_B, r0" "\n\t"
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" mov %6,r1" "\n\t"
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" clr %7" "\n\t" /* %7:%6:?? = 5*LO(v0-v1) */
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" mul %1,%9" "\n\t" /* r1:r0 = 5*MI(v0-v1) */
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" add %6,r0" "\n\t"
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" adc %7,r1" "\n\t" /* %7:%6:?? += 5*MI(v0-v1) << 8 */
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" mul %10,%9" "\n\t" /* r1:r0 = 5*HI(v0-v1) */
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" add %7,r0" "\n\t" /* %7:%6:?? += 5*HI(v0-v1) << 16 */
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" sts bezier_B+1, %6" "\n\t"
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" sts bezier_B+2, %7" "\n\t" /* bezier_B = %7:%6:?? = 5*(v0-v1) [50 cycles worst] */
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A("ldi %9,15") /* %9 = 15 */
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A("mul %0,%9") /* r1:r0 = 5*LO(v0-v1) */
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A("sts bezier_B, r0")
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A("mov %6,r1")
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A("clr %7") /* %7:%6:?? = 5*LO(v0-v1) */
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A("mul %1,%9") /* r1:r0 = 5*MI(v0-v1) */
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A("add %6,r0")
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A("adc %7,r1") /* %7:%6:?? += 5*MI(v0-v1) << 8 */
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A("mul %10,%9") /* r1:r0 = 5*HI(v0-v1) */
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A("add %7,r0") /* %7:%6:?? += 5*HI(v0-v1) << 16 */
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A("sts bezier_B+1, %6")
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A("sts bezier_B+2, %7") /* bezier_B = %7:%6:?? = 5*(v0-v1) [50 cycles worst] */
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" ldi %9,10" "\n\t" /* %9 = 10 */
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" mul %0,%9" "\n\t" /* r1:r0 = 10*LO(v0-v1) */
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" sts bezier_C, r0" "\n\t"
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" mov %6,r1" "\n\t"
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" clr %7" "\n\t" /* %7:%6:?? = 10*LO(v0-v1) */
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" mul %1,%9" "\n\t" /* r1:r0 = 10*MI(v0-v1) */
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" add %6,r0" "\n\t"
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" adc %7,r1" "\n\t" /* %7:%6:?? += 10*MI(v0-v1) << 8 */
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" mul %10,%9" "\n\t" /* r1:r0 = 10*HI(v0-v1) */
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" add %7,r0" "\n\t" /* %7:%6:?? += 10*HI(v0-v1) << 16 */
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" sts bezier_C+1, %6" "\n\t"
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A("ldi %9,10") /* %9 = 10 */
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A("mul %0,%9") /* r1:r0 = 10*LO(v0-v1) */
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A("sts bezier_C, r0")
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A("mov %6,r1")
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A("clr %7") /* %7:%6:?? = 10*LO(v0-v1) */
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A("mul %1,%9") /* r1:r0 = 10*MI(v0-v1) */
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A("add %6,r0")
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A("adc %7,r1") /* %7:%6:?? += 10*MI(v0-v1) << 8 */
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A("mul %10,%9") /* r1:r0 = 10*HI(v0-v1) */
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A("add %7,r0") /* %7:%6:?? += 10*HI(v0-v1) << 16 */
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A("sts bezier_C+1, %6")
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" sts bezier_C+2, %7" /* bezier_C = %7:%6:?? = 10*(v0-v1) [65 cycles worst] */
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: "+r" (r2),
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"+d" (r3),
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@ -674,358 +674,358 @@ void Stepper::set_directions() {
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__asm__ __volatile(
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/* umul24x24to16hi(t, bezier_AV, curr_step); t: Range 0 - 1^16 = 16 bits*/
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" lds %9,bezier_AV" "\n\t" /* %9 = LO(AV)*/
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" mul %9,%2" "\n\t" /* r1:r0 = LO(bezier_AV)*LO(curr_step)*/
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" mov %7,r1" "\n\t" /* %7 = LO(bezier_AV)*LO(curr_step) >> 8*/
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" clr %8" "\n\t" /* %8:%7 = LO(bezier_AV)*LO(curr_step) >> 8*/
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" lds %10,bezier_AV+1" "\n\t" /* %10 = MI(AV)*/
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" mul %10,%2" "\n\t" /* r1:r0 = MI(bezier_AV)*LO(curr_step)*/
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" add %7,r0" "\n\t"
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" adc %8,r1" "\n\t" /* %8:%7 += MI(bezier_AV)*LO(curr_step)*/
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" lds r1,bezier_AV+2" "\n\t" /* r11 = HI(AV)*/
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" mul r1,%2" "\n\t" /* r1:r0 = HI(bezier_AV)*LO(curr_step)*/
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" add %8,r0" "\n\t" /* %8:%7 += HI(bezier_AV)*LO(curr_step) << 8*/
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" mul %9,%3" "\n\t" /* r1:r0 = LO(bezier_AV)*MI(curr_step)*/
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" add %7,r0" "\n\t"
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" adc %8,r1" "\n\t" /* %8:%7 += LO(bezier_AV)*MI(curr_step)*/
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" mul %10,%3" "\n\t" /* r1:r0 = MI(bezier_AV)*MI(curr_step)*/
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" add %8,r0" "\n\t" /* %8:%7 += LO(bezier_AV)*MI(curr_step) << 8*/
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" mul %9,%4" "\n\t" /* r1:r0 = LO(bezier_AV)*HI(curr_step)*/
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" add %8,r0" "\n\t" /* %8:%7 += LO(bezier_AV)*HI(curr_step) << 8*/
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A("lds %9,bezier_AV") /* %9 = LO(AV)*/
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A("mul %9,%2") /* r1:r0 = LO(bezier_AV)*LO(curr_step)*/
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A("mov %7,r1") /* %7 = LO(bezier_AV)*LO(curr_step) >> 8*/
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A("clr %8") /* %8:%7 = LO(bezier_AV)*LO(curr_step) >> 8*/
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A("lds %10,bezier_AV+1") /* %10 = MI(AV)*/
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A("mul %10,%2") /* r1:r0 = MI(bezier_AV)*LO(curr_step)*/
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A("add %7,r0")
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A("adc %8,r1") /* %8:%7 += MI(bezier_AV)*LO(curr_step)*/
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A("lds r1,bezier_AV+2") /* r11 = HI(AV)*/
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A("mul r1,%2") /* r1:r0 = HI(bezier_AV)*LO(curr_step)*/
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A("add %8,r0") /* %8:%7 += HI(bezier_AV)*LO(curr_step) << 8*/
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A("mul %9,%3") /* r1:r0 = LO(bezier_AV)*MI(curr_step)*/
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A("add %7,r0")
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A("adc %8,r1") /* %8:%7 += LO(bezier_AV)*MI(curr_step)*/
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A("mul %10,%3") /* r1:r0 = MI(bezier_AV)*MI(curr_step)*/
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A("add %8,r0") /* %8:%7 += LO(bezier_AV)*MI(curr_step) << 8*/
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A("mul %9,%4") /* r1:r0 = LO(bezier_AV)*HI(curr_step)*/
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A("add %8,r0") /* %8:%7 += LO(bezier_AV)*HI(curr_step) << 8*/
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/* %8:%7 = t*/
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/* uint16_t f = t;*/
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" mov %5,%7" "\n\t" /* %6:%5 = f*/
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" mov %6,%8" "\n\t"
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A("mov %5,%7") /* %6:%5 = f*/
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A("mov %6,%8")
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/* %6:%5 = f*/
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/* umul16x16to16hi(f, f, t); / Range 16 bits (unsigned) [17] */
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" mul %5,%7" "\n\t" /* r1:r0 = LO(f) * LO(t)*/
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" mov %9,r1" "\n\t" /* store MIL(LO(f) * LO(t)) in %9, we need it for rounding*/
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" clr %10" "\n\t" /* %10 = 0*/
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" clr %11" "\n\t" /* %11 = 0*/
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" mul %5,%8" "\n\t" /* r1:r0 = LO(f) * HI(t)*/
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" add %9,r0" "\n\t" /* %9 += LO(LO(f) * HI(t))*/
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" adc %10,r1" "\n\t" /* %10 = HI(LO(f) * HI(t))*/
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" adc %11,%0" "\n\t" /* %11 += carry*/
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" mul %6,%7" "\n\t" /* r1:r0 = HI(f) * LO(t)*/
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" add %9,r0" "\n\t" /* %9 += LO(HI(f) * LO(t))*/
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" adc %10,r1" "\n\t" /* %10 += HI(HI(f) * LO(t)) */
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" adc %11,%0" "\n\t" /* %11 += carry*/
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" mul %6,%8" "\n\t" /* r1:r0 = HI(f) * HI(t)*/
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" add %10,r0" "\n\t" /* %10 += LO(HI(f) * HI(t))*/
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" adc %11,r1" "\n\t" /* %11 += HI(HI(f) * HI(t))*/
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" mov %5,%10" "\n\t" /* %6:%5 = */
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" mov %6,%11" "\n\t" /* f = %10:%11*/
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A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
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A("mov %9,r1") /* store MIL(LO(f) * LO(t)) in %9, we need it for rounding*/
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A("clr %10") /* %10 = 0*/
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A("clr %11") /* %11 = 0*/
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A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
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A("add %9,r0") /* %9 += LO(LO(f) * HI(t))*/
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A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
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A("adc %11,%0") /* %11 += carry*/
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A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
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A("add %9,r0") /* %9 += LO(HI(f) * LO(t))*/
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A("adc %10,r1") /* %10 += HI(HI(f) * LO(t)) */
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A("adc %11,%0") /* %11 += carry*/
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A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
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A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
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A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
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A("mov %5,%10") /* %6:%5 = */
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A("mov %6,%11") /* f = %10:%11*/
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/* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^3 (unsigned) [17]*/
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" mul %5,%7" "\n\t" /* r1:r0 = LO(f) * LO(t)*/
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" mov %1,r1" "\n\t" /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
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" clr %10" "\n\t" /* %10 = 0*/
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" clr %11" "\n\t" /* %11 = 0*/
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" mul %5,%8" "\n\t" /* r1:r0 = LO(f) * HI(t)*/
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" add %1,r0" "\n\t" /* %1 += LO(LO(f) * HI(t))*/
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" adc %10,r1" "\n\t" /* %10 = HI(LO(f) * HI(t))*/
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" adc %11,%0" "\n\t" /* %11 += carry*/
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" mul %6,%7" "\n\t" /* r1:r0 = HI(f) * LO(t)*/
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" add %1,r0" "\n\t" /* %1 += LO(HI(f) * LO(t))*/
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" adc %10,r1" "\n\t" /* %10 += HI(HI(f) * LO(t))*/
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" adc %11,%0" "\n\t" /* %11 += carry*/
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" mul %6,%8" "\n\t" /* r1:r0 = HI(f) * HI(t)*/
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" add %10,r0" "\n\t" /* %10 += LO(HI(f) * HI(t))*/
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" adc %11,r1" "\n\t" /* %11 += HI(HI(f) * HI(t))*/
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" mov %5,%10" "\n\t" /* %6:%5 =*/
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" mov %6,%11" "\n\t" /* f = %10:%11*/
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A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
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A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
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A("clr %10") /* %10 = 0*/
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A("clr %11") /* %11 = 0*/
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A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
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A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/
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A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
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A("adc %11,%0") /* %11 += carry*/
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A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
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A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/
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A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/
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A("adc %11,%0") /* %11 += carry*/
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A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
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A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
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A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
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A("mov %5,%10") /* %6:%5 =*/
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A("mov %6,%11") /* f = %10:%11*/
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/* [15 +17*2] = [49]*/
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/* %4:%3:%2 will be acc from now on*/
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/* uint24_t acc = bezier_F; / Range 20 bits (unsigned)*/
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" clr %9" "\n\t" /* "decimal place we get for free"*/
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" lds %2,bezier_F" "\n\t"
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" lds %3,bezier_F+1" "\n\t"
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" lds %4,bezier_F+2" "\n\t" /* %4:%3:%2 = acc*/
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A("clr %9") /* "decimal place we get for free"*/
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A("lds %2,bezier_F")
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A("lds %3,bezier_F+1")
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A("lds %4,bezier_F+2") /* %4:%3:%2 = acc*/
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/* if (A_negative) {*/
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" lds r0,A_negative" "\n\t"
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" or r0,%0" "\n\t" /* Is flag signalling negative? */
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" brne 3f" "\n\t" /* If yes, Skip next instruction if A was negative*/
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" rjmp 1f" "\n\t" /* Otherwise, jump */
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A("lds r0,A_negative")
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A("or r0,%0") /* Is flag signalling negative? */
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A("brne 3f") /* If yes, Skip next instruction if A was negative*/
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A("rjmp 1f") /* Otherwise, jump */
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/* uint24_t v; */
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/* umul16x24to24hi(v, f, bezier_C); / Range 21bits [29] */
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/* acc -= v; */
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"3:" "\n\t"
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" lds %10, bezier_C" "\n\t" /* %10 = LO(bezier_C)*/
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" mul %10,%5" "\n\t" /* r1:r0 = LO(bezier_C) * LO(f)*/
|
||||
" sub %9,r1" "\n\t"
|
||||
" sbc %2,%0" "\n\t"
|
||||
" sbc %3,%0" "\n\t"
|
||||
" sbc %4,%0" "\n\t" /* %4:%3:%2:%9 -= HI(LO(bezier_C) * LO(f))*/
|
||||
" lds %11, bezier_C+1" "\n\t" /* %11 = MI(bezier_C)*/
|
||||
" mul %11,%5" "\n\t" /* r1:r0 = MI(bezier_C) * LO(f)*/
|
||||
" sub %9,r0" "\n\t"
|
||||
" sbc %2,r1" "\n\t"
|
||||
" sbc %3,%0" "\n\t"
|
||||
" sbc %4,%0" "\n\t" /* %4:%3:%2:%9 -= MI(bezier_C) * LO(f)*/
|
||||
" lds %1, bezier_C+2" "\n\t" /* %1 = HI(bezier_C)*/
|
||||
" mul %1,%5" "\n\t" /* r1:r0 = MI(bezier_C) * LO(f)*/
|
||||
" sub %2,r0" "\n\t"
|
||||
" sbc %3,r1" "\n\t"
|
||||
" sbc %4,%0" "\n\t" /* %4:%3:%2:%9 -= HI(bezier_C) * LO(f) << 8*/
|
||||
" mul %10,%6" "\n\t" /* r1:r0 = LO(bezier_C) * MI(f)*/
|
||||
" sub %9,r0" "\n\t"
|
||||
" sbc %2,r1" "\n\t"
|
||||
" sbc %3,%0" "\n\t"
|
||||
" sbc %4,%0" "\n\t" /* %4:%3:%2:%9 -= LO(bezier_C) * MI(f)*/
|
||||
" mul %11,%6" "\n\t" /* r1:r0 = MI(bezier_C) * MI(f)*/
|
||||
" sub %2,r0" "\n\t"
|
||||
" sbc %3,r1" "\n\t"
|
||||
" sbc %4,%0" "\n\t" /* %4:%3:%2:%9 -= MI(bezier_C) * MI(f) << 8*/
|
||||
" mul %1,%6" "\n\t" /* r1:r0 = HI(bezier_C) * LO(f)*/
|
||||
" sub %3,r0" "\n\t"
|
||||
" sbc %4,r1" "\n\t" /* %4:%3:%2:%9 -= HI(bezier_C) * LO(f) << 16*/
|
||||
L("3")
|
||||
A("lds %10, bezier_C") /* %10 = LO(bezier_C)*/
|
||||
A("mul %10,%5") /* r1:r0 = LO(bezier_C) * LO(f)*/
|
||||
A("sub %9,r1")
|
||||
A("sbc %2,%0")
|
||||
A("sbc %3,%0")
|
||||
A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(LO(bezier_C) * LO(f))*/
|
||||
A("lds %11, bezier_C+1") /* %11 = MI(bezier_C)*/
|
||||
A("mul %11,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/
|
||||
A("sub %9,r0")
|
||||
A("sbc %2,r1")
|
||||
A("sbc %3,%0")
|
||||
A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_C) * LO(f)*/
|
||||
A("lds %1, bezier_C+2") /* %1 = HI(bezier_C)*/
|
||||
A("mul %1,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/
|
||||
A("sub %2,r0")
|
||||
A("sbc %3,r1")
|
||||
A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(bezier_C) * LO(f) << 8*/
|
||||
A("mul %10,%6") /* r1:r0 = LO(bezier_C) * MI(f)*/
|
||||
A("sub %9,r0")
|
||||
A("sbc %2,r1")
|
||||
A("sbc %3,%0")
|
||||
A("sbc %4,%0") /* %4:%3:%2:%9 -= LO(bezier_C) * MI(f)*/
|
||||
A("mul %11,%6") /* r1:r0 = MI(bezier_C) * MI(f)*/
|
||||
A("sub %2,r0")
|
||||
A("sbc %3,r1")
|
||||
A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_C) * MI(f) << 8*/
|
||||
A("mul %1,%6") /* r1:r0 = HI(bezier_C) * LO(f)*/
|
||||
A("sub %3,r0")
|
||||
A("sbc %4,r1") /* %4:%3:%2:%9 -= HI(bezier_C) * LO(f) << 16*/
|
||||
|
||||
/* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^3 (unsigned) [17]*/
|
||||
" mul %5,%7" "\n\t" /* r1:r0 = LO(f) * LO(t)*/
|
||||
" mov %1,r1" "\n\t" /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
|
||||
" clr %10" "\n\t" /* %10 = 0*/
|
||||
" clr %11" "\n\t" /* %11 = 0*/
|
||||
" mul %5,%8" "\n\t" /* r1:r0 = LO(f) * HI(t)*/
|
||||
" add %1,r0" "\n\t" /* %1 += LO(LO(f) * HI(t))*/
|
||||
" adc %10,r1" "\n\t" /* %10 = HI(LO(f) * HI(t))*/
|
||||
" adc %11,%0" "\n\t" /* %11 += carry*/
|
||||
" mul %6,%7" "\n\t" /* r1:r0 = HI(f) * LO(t)*/
|
||||
" add %1,r0" "\n\t" /* %1 += LO(HI(f) * LO(t))*/
|
||||
" adc %10,r1" "\n\t" /* %10 += HI(HI(f) * LO(t))*/
|
||||
" adc %11,%0" "\n\t" /* %11 += carry*/
|
||||
" mul %6,%8" "\n\t" /* r1:r0 = HI(f) * HI(t)*/
|
||||
" add %10,r0" "\n\t" /* %10 += LO(HI(f) * HI(t))*/
|
||||
" adc %11,r1" "\n\t" /* %11 += HI(HI(f) * HI(t))*/
|
||||
" mov %5,%10" "\n\t" /* %6:%5 =*/
|
||||
" mov %6,%11" "\n\t" /* f = %10:%11*/
|
||||
A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
|
||||
A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
|
||||
A("clr %10") /* %10 = 0*/
|
||||
A("clr %11") /* %11 = 0*/
|
||||
A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
|
||||
A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/
|
||||
A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
|
||||
A("adc %11,%0") /* %11 += carry*/
|
||||
A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
|
||||
A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/
|
||||
A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/
|
||||
A("adc %11,%0") /* %11 += carry*/
|
||||
A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
|
||||
A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
|
||||
A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
|
||||
A("mov %5,%10") /* %6:%5 =*/
|
||||
A("mov %6,%11") /* f = %10:%11*/
|
||||
|
||||
/* umul16x24to24hi(v, f, bezier_B); / Range 22bits [29]*/
|
||||
/* acc += v; */
|
||||
" lds %10, bezier_B" "\n\t" /* %10 = LO(bezier_B)*/
|
||||
" mul %10,%5" "\n\t" /* r1:r0 = LO(bezier_B) * LO(f)*/
|
||||
" add %9,r1" "\n\t"
|
||||
" adc %2,%0" "\n\t"
|
||||
" adc %3,%0" "\n\t"
|
||||
" adc %4,%0" "\n\t" /* %4:%3:%2:%9 += HI(LO(bezier_B) * LO(f))*/
|
||||
" lds %11, bezier_B+1" "\n\t" /* %11 = MI(bezier_B)*/
|
||||
" mul %11,%5" "\n\t" /* r1:r0 = MI(bezier_B) * LO(f)*/
|
||||
" add %9,r0" "\n\t"
|
||||
" adc %2,r1" "\n\t"
|
||||
" adc %3,%0" "\n\t"
|
||||
" adc %4,%0" "\n\t" /* %4:%3:%2:%9 += MI(bezier_B) * LO(f)*/
|
||||
" lds %1, bezier_B+2" "\n\t" /* %1 = HI(bezier_B)*/
|
||||
" mul %1,%5" "\n\t" /* r1:r0 = MI(bezier_B) * LO(f)*/
|
||||
" add %2,r0" "\n\t"
|
||||
" adc %3,r1" "\n\t"
|
||||
" adc %4,%0" "\n\t" /* %4:%3:%2:%9 += HI(bezier_B) * LO(f) << 8*/
|
||||
" mul %10,%6" "\n\t" /* r1:r0 = LO(bezier_B) * MI(f)*/
|
||||
" add %9,r0" "\n\t"
|
||||
" adc %2,r1" "\n\t"
|
||||
" adc %3,%0" "\n\t"
|
||||
" adc %4,%0" "\n\t" /* %4:%3:%2:%9 += LO(bezier_B) * MI(f)*/
|
||||
" mul %11,%6" "\n\t" /* r1:r0 = MI(bezier_B) * MI(f)*/
|
||||
" add %2,r0" "\n\t"
|
||||
" adc %3,r1" "\n\t"
|
||||
" adc %4,%0" "\n\t" /* %4:%3:%2:%9 += MI(bezier_B) * MI(f) << 8*/
|
||||
" mul %1,%6" "\n\t" /* r1:r0 = HI(bezier_B) * LO(f)*/
|
||||
" add %3,r0" "\n\t"
|
||||
" adc %4,r1" "\n\t" /* %4:%3:%2:%9 += HI(bezier_B) * LO(f) << 16*/
|
||||
A("lds %10, bezier_B") /* %10 = LO(bezier_B)*/
|
||||
A("mul %10,%5") /* r1:r0 = LO(bezier_B) * LO(f)*/
|
||||
A("add %9,r1")
|
||||
A("adc %2,%0")
|
||||
A("adc %3,%0")
|
||||
A("adc %4,%0") /* %4:%3:%2:%9 += HI(LO(bezier_B) * LO(f))*/
|
||||
A("lds %11, bezier_B+1") /* %11 = MI(bezier_B)*/
|
||||
A("mul %11,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/
|
||||
A("add %9,r0")
|
||||
A("adc %2,r1")
|
||||
A("adc %3,%0")
|
||||
A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_B) * LO(f)*/
|
||||
A("lds %1, bezier_B+2") /* %1 = HI(bezier_B)*/
|
||||
A("mul %1,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/
|
||||
A("add %2,r0")
|
||||
A("adc %3,r1")
|
||||
A("adc %4,%0") /* %4:%3:%2:%9 += HI(bezier_B) * LO(f) << 8*/
|
||||
A("mul %10,%6") /* r1:r0 = LO(bezier_B) * MI(f)*/
|
||||
A("add %9,r0")
|
||||
A("adc %2,r1")
|
||||
A("adc %3,%0")
|
||||
A("adc %4,%0") /* %4:%3:%2:%9 += LO(bezier_B) * MI(f)*/
|
||||
A("mul %11,%6") /* r1:r0 = MI(bezier_B) * MI(f)*/
|
||||
A("add %2,r0")
|
||||
A("adc %3,r1")
|
||||
A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_B) * MI(f) << 8*/
|
||||
A("mul %1,%6") /* r1:r0 = HI(bezier_B) * LO(f)*/
|
||||
A("add %3,r0")
|
||||
A("adc %4,r1") /* %4:%3:%2:%9 += HI(bezier_B) * LO(f) << 16*/
|
||||
|
||||
/* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^5 (unsigned) [17]*/
|
||||
" mul %5,%7" "\n\t" /* r1:r0 = LO(f) * LO(t)*/
|
||||
" mov %1,r1" "\n\t" /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
|
||||
" clr %10" "\n\t" /* %10 = 0*/
|
||||
" clr %11" "\n\t" /* %11 = 0*/
|
||||
" mul %5,%8" "\n\t" /* r1:r0 = LO(f) * HI(t)*/
|
||||
" add %1,r0" "\n\t" /* %1 += LO(LO(f) * HI(t))*/
|
||||
" adc %10,r1" "\n\t" /* %10 = HI(LO(f) * HI(t))*/
|
||||
" adc %11,%0" "\n\t" /* %11 += carry*/
|
||||
" mul %6,%7" "\n\t" /* r1:r0 = HI(f) * LO(t)*/
|
||||
" add %1,r0" "\n\t" /* %1 += LO(HI(f) * LO(t))*/
|
||||
" adc %10,r1" "\n\t" /* %10 += HI(HI(f) * LO(t))*/
|
||||
" adc %11,%0" "\n\t" /* %11 += carry*/
|
||||
" mul %6,%8" "\n\t" /* r1:r0 = HI(f) * HI(t)*/
|
||||
" add %10,r0" "\n\t" /* %10 += LO(HI(f) * HI(t))*/
|
||||
" adc %11,r1" "\n\t" /* %11 += HI(HI(f) * HI(t))*/
|
||||
" mov %5,%10" "\n\t" /* %6:%5 =*/
|
||||
" mov %6,%11" "\n\t" /* f = %10:%11*/
|
||||
A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
|
||||
A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
|
||||
A("clr %10") /* %10 = 0*/
|
||||
A("clr %11") /* %11 = 0*/
|
||||
A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
|
||||
A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/
|
||||
A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
|
||||
A("adc %11,%0") /* %11 += carry*/
|
||||
A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
|
||||
A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/
|
||||
A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/
|
||||
A("adc %11,%0") /* %11 += carry*/
|
||||
A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
|
||||
A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
|
||||
A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
|
||||
A("mov %5,%10") /* %6:%5 =*/
|
||||
A("mov %6,%11") /* f = %10:%11*/
|
||||
|
||||
/* umul16x24to24hi(v, f, bezier_A); / Range 21bits [29]*/
|
||||
/* acc -= v; */
|
||||
" lds %10, bezier_A" "\n\t" /* %10 = LO(bezier_A)*/
|
||||
" mul %10,%5" "\n\t" /* r1:r0 = LO(bezier_A) * LO(f)*/
|
||||
" sub %9,r1" "\n\t"
|
||||
" sbc %2,%0" "\n\t"
|
||||
" sbc %3,%0" "\n\t"
|
||||
" sbc %4,%0" "\n\t" /* %4:%3:%2:%9 -= HI(LO(bezier_A) * LO(f))*/
|
||||
" lds %11, bezier_A+1" "\n\t" /* %11 = MI(bezier_A)*/
|
||||
" mul %11,%5" "\n\t" /* r1:r0 = MI(bezier_A) * LO(f)*/
|
||||
" sub %9,r0" "\n\t"
|
||||
" sbc %2,r1" "\n\t"
|
||||
" sbc %3,%0" "\n\t"
|
||||
" sbc %4,%0" "\n\t" /* %4:%3:%2:%9 -= MI(bezier_A) * LO(f)*/
|
||||
" lds %1, bezier_A+2" "\n\t" /* %1 = HI(bezier_A)*/
|
||||
" mul %1,%5" "\n\t" /* r1:r0 = MI(bezier_A) * LO(f)*/
|
||||
" sub %2,r0" "\n\t"
|
||||
" sbc %3,r1" "\n\t"
|
||||
" sbc %4,%0" "\n\t" /* %4:%3:%2:%9 -= HI(bezier_A) * LO(f) << 8*/
|
||||
" mul %10,%6" "\n\t" /* r1:r0 = LO(bezier_A) * MI(f)*/
|
||||
" sub %9,r0" "\n\t"
|
||||
" sbc %2,r1" "\n\t"
|
||||
" sbc %3,%0" "\n\t"
|
||||
" sbc %4,%0" "\n\t" /* %4:%3:%2:%9 -= LO(bezier_A) * MI(f)*/
|
||||
" mul %11,%6" "\n\t" /* r1:r0 = MI(bezier_A) * MI(f)*/
|
||||
" sub %2,r0" "\n\t"
|
||||
" sbc %3,r1" "\n\t"
|
||||
" sbc %4,%0" "\n\t" /* %4:%3:%2:%9 -= MI(bezier_A) * MI(f) << 8*/
|
||||
" mul %1,%6" "\n\t" /* r1:r0 = HI(bezier_A) * LO(f)*/
|
||||
" sub %3,r0" "\n\t"
|
||||
" sbc %4,r1" "\n\t" /* %4:%3:%2:%9 -= HI(bezier_A) * LO(f) << 16*/
|
||||
" jmp 2f" "\n\t" /* Done!*/
|
||||
A("lds %10, bezier_A") /* %10 = LO(bezier_A)*/
|
||||
A("mul %10,%5") /* r1:r0 = LO(bezier_A) * LO(f)*/
|
||||
A("sub %9,r1")
|
||||
A("sbc %2,%0")
|
||||
A("sbc %3,%0")
|
||||
A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(LO(bezier_A) * LO(f))*/
|
||||
A("lds %11, bezier_A+1") /* %11 = MI(bezier_A)*/
|
||||
A("mul %11,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/
|
||||
A("sub %9,r0")
|
||||
A("sbc %2,r1")
|
||||
A("sbc %3,%0")
|
||||
A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_A) * LO(f)*/
|
||||
A("lds %1, bezier_A+2") /* %1 = HI(bezier_A)*/
|
||||
A("mul %1,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/
|
||||
A("sub %2,r0")
|
||||
A("sbc %3,r1")
|
||||
A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(bezier_A) * LO(f) << 8*/
|
||||
A("mul %10,%6") /* r1:r0 = LO(bezier_A) * MI(f)*/
|
||||
A("sub %9,r0")
|
||||
A("sbc %2,r1")
|
||||
A("sbc %3,%0")
|
||||
A("sbc %4,%0") /* %4:%3:%2:%9 -= LO(bezier_A) * MI(f)*/
|
||||
A("mul %11,%6") /* r1:r0 = MI(bezier_A) * MI(f)*/
|
||||
A("sub %2,r0")
|
||||
A("sbc %3,r1")
|
||||
A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_A) * MI(f) << 8*/
|
||||
A("mul %1,%6") /* r1:r0 = HI(bezier_A) * LO(f)*/
|
||||
A("sub %3,r0")
|
||||
A("sbc %4,r1") /* %4:%3:%2:%9 -= HI(bezier_A) * LO(f) << 16*/
|
||||
A("jmp 2f") /* Done!*/
|
||||
|
||||
"1:" "\n\t"
|
||||
L("1")
|
||||
|
||||
/* uint24_t v; */
|
||||
/* umul16x24to24hi(v, f, bezier_C); / Range 21bits [29]*/
|
||||
/* acc += v; */
|
||||
" lds %10, bezier_C" "\n\t" /* %10 = LO(bezier_C)*/
|
||||
" mul %10,%5" "\n\t" /* r1:r0 = LO(bezier_C) * LO(f)*/
|
||||
" add %9,r1" "\n\t"
|
||||
" adc %2,%0" "\n\t"
|
||||
" adc %3,%0" "\n\t"
|
||||
" adc %4,%0" "\n\t" /* %4:%3:%2:%9 += HI(LO(bezier_C) * LO(f))*/
|
||||
" lds %11, bezier_C+1" "\n\t" /* %11 = MI(bezier_C)*/
|
||||
" mul %11,%5" "\n\t" /* r1:r0 = MI(bezier_C) * LO(f)*/
|
||||
" add %9,r0" "\n\t"
|
||||
" adc %2,r1" "\n\t"
|
||||
" adc %3,%0" "\n\t"
|
||||
" adc %4,%0" "\n\t" /* %4:%3:%2:%9 += MI(bezier_C) * LO(f)*/
|
||||
" lds %1, bezier_C+2" "\n\t" /* %1 = HI(bezier_C)*/
|
||||
" mul %1,%5" "\n\t" /* r1:r0 = MI(bezier_C) * LO(f)*/
|
||||
" add %2,r0" "\n\t"
|
||||
" adc %3,r1" "\n\t"
|
||||
" adc %4,%0" "\n\t" /* %4:%3:%2:%9 += HI(bezier_C) * LO(f) << 8*/
|
||||
" mul %10,%6" "\n\t" /* r1:r0 = LO(bezier_C) * MI(f)*/
|
||||
" add %9,r0" "\n\t"
|
||||
" adc %2,r1" "\n\t"
|
||||
" adc %3,%0" "\n\t"
|
||||
" adc %4,%0" "\n\t" /* %4:%3:%2:%9 += LO(bezier_C) * MI(f)*/
|
||||
" mul %11,%6" "\n\t" /* r1:r0 = MI(bezier_C) * MI(f)*/
|
||||
" add %2,r0" "\n\t"
|
||||
" adc %3,r1" "\n\t"
|
||||
" adc %4,%0" "\n\t" /* %4:%3:%2:%9 += MI(bezier_C) * MI(f) << 8*/
|
||||
" mul %1,%6" "\n\t" /* r1:r0 = HI(bezier_C) * LO(f)*/
|
||||
" add %3,r0" "\n\t"
|
||||
" adc %4,r1" "\n\t" /* %4:%3:%2:%9 += HI(bezier_C) * LO(f) << 16*/
|
||||
A("lds %10, bezier_C") /* %10 = LO(bezier_C)*/
|
||||
A("mul %10,%5") /* r1:r0 = LO(bezier_C) * LO(f)*/
|
||||
A("add %9,r1")
|
||||
A("adc %2,%0")
|
||||
A("adc %3,%0")
|
||||
A("adc %4,%0") /* %4:%3:%2:%9 += HI(LO(bezier_C) * LO(f))*/
|
||||
A("lds %11, bezier_C+1") /* %11 = MI(bezier_C)*/
|
||||
A("mul %11,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/
|
||||
A("add %9,r0")
|
||||
A("adc %2,r1")
|
||||
A("adc %3,%0")
|
||||
A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_C) * LO(f)*/
|
||||
A("lds %1, bezier_C+2") /* %1 = HI(bezier_C)*/
|
||||
A("mul %1,%5") /* r1:r0 = MI(bezier_C) * LO(f)*/
|
||||
A("add %2,r0")
|
||||
A("adc %3,r1")
|
||||
A("adc %4,%0") /* %4:%3:%2:%9 += HI(bezier_C) * LO(f) << 8*/
|
||||
A("mul %10,%6") /* r1:r0 = LO(bezier_C) * MI(f)*/
|
||||
A("add %9,r0")
|
||||
A("adc %2,r1")
|
||||
A("adc %3,%0")
|
||||
A("adc %4,%0") /* %4:%3:%2:%9 += LO(bezier_C) * MI(f)*/
|
||||
A("mul %11,%6") /* r1:r0 = MI(bezier_C) * MI(f)*/
|
||||
A("add %2,r0")
|
||||
A("adc %3,r1")
|
||||
A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_C) * MI(f) << 8*/
|
||||
A("mul %1,%6") /* r1:r0 = HI(bezier_C) * LO(f)*/
|
||||
A("add %3,r0")
|
||||
A("adc %4,r1") /* %4:%3:%2:%9 += HI(bezier_C) * LO(f) << 16*/
|
||||
|
||||
/* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^3 (unsigned) [17]*/
|
||||
" mul %5,%7" "\n\t" /* r1:r0 = LO(f) * LO(t)*/
|
||||
" mov %1,r1" "\n\t" /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
|
||||
" clr %10" "\n\t" /* %10 = 0*/
|
||||
" clr %11" "\n\t" /* %11 = 0*/
|
||||
" mul %5,%8" "\n\t" /* r1:r0 = LO(f) * HI(t)*/
|
||||
" add %1,r0" "\n\t" /* %1 += LO(LO(f) * HI(t))*/
|
||||
" adc %10,r1" "\n\t" /* %10 = HI(LO(f) * HI(t))*/
|
||||
" adc %11,%0" "\n\t" /* %11 += carry*/
|
||||
" mul %6,%7" "\n\t" /* r1:r0 = HI(f) * LO(t)*/
|
||||
" add %1,r0" "\n\t" /* %1 += LO(HI(f) * LO(t))*/
|
||||
" adc %10,r1" "\n\t" /* %10 += HI(HI(f) * LO(t))*/
|
||||
" adc %11,%0" "\n\t" /* %11 += carry*/
|
||||
" mul %6,%8" "\n\t" /* r1:r0 = HI(f) * HI(t)*/
|
||||
" add %10,r0" "\n\t" /* %10 += LO(HI(f) * HI(t))*/
|
||||
" adc %11,r1" "\n\t" /* %11 += HI(HI(f) * HI(t))*/
|
||||
" mov %5,%10" "\n\t" /* %6:%5 =*/
|
||||
" mov %6,%11" "\n\t" /* f = %10:%11*/
|
||||
A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
|
||||
A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
|
||||
A("clr %10") /* %10 = 0*/
|
||||
A("clr %11") /* %11 = 0*/
|
||||
A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
|
||||
A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/
|
||||
A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
|
||||
A("adc %11,%0") /* %11 += carry*/
|
||||
A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
|
||||
A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/
|
||||
A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/
|
||||
A("adc %11,%0") /* %11 += carry*/
|
||||
A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
|
||||
A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
|
||||
A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
|
||||
A("mov %5,%10") /* %6:%5 =*/
|
||||
A("mov %6,%11") /* f = %10:%11*/
|
||||
|
||||
/* umul16x24to24hi(v, f, bezier_B); / Range 22bits [29]*/
|
||||
/* acc -= v;*/
|
||||
" lds %10, bezier_B" "\n\t" /* %10 = LO(bezier_B)*/
|
||||
" mul %10,%5" "\n\t" /* r1:r0 = LO(bezier_B) * LO(f)*/
|
||||
" sub %9,r1" "\n\t"
|
||||
" sbc %2,%0" "\n\t"
|
||||
" sbc %3,%0" "\n\t"
|
||||
" sbc %4,%0" "\n\t" /* %4:%3:%2:%9 -= HI(LO(bezier_B) * LO(f))*/
|
||||
" lds %11, bezier_B+1" "\n\t" /* %11 = MI(bezier_B)*/
|
||||
" mul %11,%5" "\n\t" /* r1:r0 = MI(bezier_B) * LO(f)*/
|
||||
" sub %9,r0" "\n\t"
|
||||
" sbc %2,r1" "\n\t"
|
||||
" sbc %3,%0" "\n\t"
|
||||
" sbc %4,%0" "\n\t" /* %4:%3:%2:%9 -= MI(bezier_B) * LO(f)*/
|
||||
" lds %1, bezier_B+2" "\n\t" /* %1 = HI(bezier_B)*/
|
||||
" mul %1,%5" "\n\t" /* r1:r0 = MI(bezier_B) * LO(f)*/
|
||||
" sub %2,r0" "\n\t"
|
||||
" sbc %3,r1" "\n\t"
|
||||
" sbc %4,%0" "\n\t" /* %4:%3:%2:%9 -= HI(bezier_B) * LO(f) << 8*/
|
||||
" mul %10,%6" "\n\t" /* r1:r0 = LO(bezier_B) * MI(f)*/
|
||||
" sub %9,r0" "\n\t"
|
||||
" sbc %2,r1" "\n\t"
|
||||
" sbc %3,%0" "\n\t"
|
||||
" sbc %4,%0" "\n\t" /* %4:%3:%2:%9 -= LO(bezier_B) * MI(f)*/
|
||||
" mul %11,%6" "\n\t" /* r1:r0 = MI(bezier_B) * MI(f)*/
|
||||
" sub %2,r0" "\n\t"
|
||||
" sbc %3,r1" "\n\t"
|
||||
" sbc %4,%0" "\n\t" /* %4:%3:%2:%9 -= MI(bezier_B) * MI(f) << 8*/
|
||||
" mul %1,%6" "\n\t" /* r1:r0 = HI(bezier_B) * LO(f)*/
|
||||
" sub %3,r0" "\n\t"
|
||||
" sbc %4,r1" "\n\t" /* %4:%3:%2:%9 -= HI(bezier_B) * LO(f) << 16*/
|
||||
A("lds %10, bezier_B") /* %10 = LO(bezier_B)*/
|
||||
A("mul %10,%5") /* r1:r0 = LO(bezier_B) * LO(f)*/
|
||||
A("sub %9,r1")
|
||||
A("sbc %2,%0")
|
||||
A("sbc %3,%0")
|
||||
A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(LO(bezier_B) * LO(f))*/
|
||||
A("lds %11, bezier_B+1") /* %11 = MI(bezier_B)*/
|
||||
A("mul %11,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/
|
||||
A("sub %9,r0")
|
||||
A("sbc %2,r1")
|
||||
A("sbc %3,%0")
|
||||
A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_B) * LO(f)*/
|
||||
A("lds %1, bezier_B+2") /* %1 = HI(bezier_B)*/
|
||||
A("mul %1,%5") /* r1:r0 = MI(bezier_B) * LO(f)*/
|
||||
A("sub %2,r0")
|
||||
A("sbc %3,r1")
|
||||
A("sbc %4,%0") /* %4:%3:%2:%9 -= HI(bezier_B) * LO(f) << 8*/
|
||||
A("mul %10,%6") /* r1:r0 = LO(bezier_B) * MI(f)*/
|
||||
A("sub %9,r0")
|
||||
A("sbc %2,r1")
|
||||
A("sbc %3,%0")
|
||||
A("sbc %4,%0") /* %4:%3:%2:%9 -= LO(bezier_B) * MI(f)*/
|
||||
A("mul %11,%6") /* r1:r0 = MI(bezier_B) * MI(f)*/
|
||||
A("sub %2,r0")
|
||||
A("sbc %3,r1")
|
||||
A("sbc %4,%0") /* %4:%3:%2:%9 -= MI(bezier_B) * MI(f) << 8*/
|
||||
A("mul %1,%6") /* r1:r0 = HI(bezier_B) * LO(f)*/
|
||||
A("sub %3,r0")
|
||||
A("sbc %4,r1") /* %4:%3:%2:%9 -= HI(bezier_B) * LO(f) << 16*/
|
||||
|
||||
/* umul16x16to16hi(f, f, t); / Range 16 bits : f = t^5 (unsigned) [17]*/
|
||||
" mul %5,%7" "\n\t" /* r1:r0 = LO(f) * LO(t)*/
|
||||
" mov %1,r1" "\n\t" /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
|
||||
" clr %10" "\n\t" /* %10 = 0*/
|
||||
" clr %11" "\n\t" /* %11 = 0*/
|
||||
" mul %5,%8" "\n\t" /* r1:r0 = LO(f) * HI(t)*/
|
||||
" add %1,r0" "\n\t" /* %1 += LO(LO(f) * HI(t))*/
|
||||
" adc %10,r1" "\n\t" /* %10 = HI(LO(f) * HI(t))*/
|
||||
" adc %11,%0" "\n\t" /* %11 += carry*/
|
||||
" mul %6,%7" "\n\t" /* r1:r0 = HI(f) * LO(t)*/
|
||||
" add %1,r0" "\n\t" /* %1 += LO(HI(f) * LO(t))*/
|
||||
" adc %10,r1" "\n\t" /* %10 += HI(HI(f) * LO(t))*/
|
||||
" adc %11,%0" "\n\t" /* %11 += carry*/
|
||||
" mul %6,%8" "\n\t" /* r1:r0 = HI(f) * HI(t)*/
|
||||
" add %10,r0" "\n\t" /* %10 += LO(HI(f) * HI(t))*/
|
||||
" adc %11,r1" "\n\t" /* %11 += HI(HI(f) * HI(t))*/
|
||||
" mov %5,%10" "\n\t" /* %6:%5 =*/
|
||||
" mov %6,%11" "\n\t" /* f = %10:%11*/
|
||||
A("mul %5,%7") /* r1:r0 = LO(f) * LO(t)*/
|
||||
A("mov %1,r1") /* store MIL(LO(f) * LO(t)) in %1, we need it for rounding*/
|
||||
A("clr %10") /* %10 = 0*/
|
||||
A("clr %11") /* %11 = 0*/
|
||||
A("mul %5,%8") /* r1:r0 = LO(f) * HI(t)*/
|
||||
A("add %1,r0") /* %1 += LO(LO(f) * HI(t))*/
|
||||
A("adc %10,r1") /* %10 = HI(LO(f) * HI(t))*/
|
||||
A("adc %11,%0") /* %11 += carry*/
|
||||
A("mul %6,%7") /* r1:r0 = HI(f) * LO(t)*/
|
||||
A("add %1,r0") /* %1 += LO(HI(f) * LO(t))*/
|
||||
A("adc %10,r1") /* %10 += HI(HI(f) * LO(t))*/
|
||||
A("adc %11,%0") /* %11 += carry*/
|
||||
A("mul %6,%8") /* r1:r0 = HI(f) * HI(t)*/
|
||||
A("add %10,r0") /* %10 += LO(HI(f) * HI(t))*/
|
||||
A("adc %11,r1") /* %11 += HI(HI(f) * HI(t))*/
|
||||
A("mov %5,%10") /* %6:%5 =*/
|
||||
A("mov %6,%11") /* f = %10:%11*/
|
||||
|
||||
/* umul16x24to24hi(v, f, bezier_A); / Range 21bits [29]*/
|
||||
/* acc += v; */
|
||||
" lds %10, bezier_A" "\n\t" /* %10 = LO(bezier_A)*/
|
||||
" mul %10,%5" "\n\t" /* r1:r0 = LO(bezier_A) * LO(f)*/
|
||||
" add %9,r1" "\n\t"
|
||||
" adc %2,%0" "\n\t"
|
||||
" adc %3,%0" "\n\t"
|
||||
" adc %4,%0" "\n\t" /* %4:%3:%2:%9 += HI(LO(bezier_A) * LO(f))*/
|
||||
" lds %11, bezier_A+1" "\n\t" /* %11 = MI(bezier_A)*/
|
||||
" mul %11,%5" "\n\t" /* r1:r0 = MI(bezier_A) * LO(f)*/
|
||||
" add %9,r0" "\n\t"
|
||||
" adc %2,r1" "\n\t"
|
||||
" adc %3,%0" "\n\t"
|
||||
" adc %4,%0" "\n\t" /* %4:%3:%2:%9 += MI(bezier_A) * LO(f)*/
|
||||
" lds %1, bezier_A+2" "\n\t" /* %1 = HI(bezier_A)*/
|
||||
" mul %1,%5" "\n\t" /* r1:r0 = MI(bezier_A) * LO(f)*/
|
||||
" add %2,r0" "\n\t"
|
||||
" adc %3,r1" "\n\t"
|
||||
" adc %4,%0" "\n\t" /* %4:%3:%2:%9 += HI(bezier_A) * LO(f) << 8*/
|
||||
" mul %10,%6" "\n\t" /* r1:r0 = LO(bezier_A) * MI(f)*/
|
||||
" add %9,r0" "\n\t"
|
||||
" adc %2,r1" "\n\t"
|
||||
" adc %3,%0" "\n\t"
|
||||
" adc %4,%0" "\n\t" /* %4:%3:%2:%9 += LO(bezier_A) * MI(f)*/
|
||||
" mul %11,%6" "\n\t" /* r1:r0 = MI(bezier_A) * MI(f)*/
|
||||
" add %2,r0" "\n\t"
|
||||
" adc %3,r1" "\n\t"
|
||||
" adc %4,%0" "\n\t" /* %4:%3:%2:%9 += MI(bezier_A) * MI(f) << 8*/
|
||||
" mul %1,%6" "\n\t" /* r1:r0 = HI(bezier_A) * LO(f)*/
|
||||
" add %3,r0" "\n\t"
|
||||
" adc %4,r1" "\n\t" /* %4:%3:%2:%9 += HI(bezier_A) * LO(f) << 16*/
|
||||
"2:" "\n\t"
|
||||
A("lds %10, bezier_A") /* %10 = LO(bezier_A)*/
|
||||
A("mul %10,%5") /* r1:r0 = LO(bezier_A) * LO(f)*/
|
||||
A("add %9,r1")
|
||||
A("adc %2,%0")
|
||||
A("adc %3,%0")
|
||||
A("adc %4,%0") /* %4:%3:%2:%9 += HI(LO(bezier_A) * LO(f))*/
|
||||
A("lds %11, bezier_A+1") /* %11 = MI(bezier_A)*/
|
||||
A("mul %11,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/
|
||||
A("add %9,r0")
|
||||
A("adc %2,r1")
|
||||
A("adc %3,%0")
|
||||
A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_A) * LO(f)*/
|
||||
A("lds %1, bezier_A+2") /* %1 = HI(bezier_A)*/
|
||||
A("mul %1,%5") /* r1:r0 = MI(bezier_A) * LO(f)*/
|
||||
A("add %2,r0")
|
||||
A("adc %3,r1")
|
||||
A("adc %4,%0") /* %4:%3:%2:%9 += HI(bezier_A) * LO(f) << 8*/
|
||||
A("mul %10,%6") /* r1:r0 = LO(bezier_A) * MI(f)*/
|
||||
A("add %9,r0")
|
||||
A("adc %2,r1")
|
||||
A("adc %3,%0")
|
||||
A("adc %4,%0") /* %4:%3:%2:%9 += LO(bezier_A) * MI(f)*/
|
||||
A("mul %11,%6") /* r1:r0 = MI(bezier_A) * MI(f)*/
|
||||
A("add %2,r0")
|
||||
A("adc %3,r1")
|
||||
A("adc %4,%0") /* %4:%3:%2:%9 += MI(bezier_A) * MI(f) << 8*/
|
||||
A("mul %1,%6") /* r1:r0 = HI(bezier_A) * LO(f)*/
|
||||
A("add %3,r0")
|
||||
A("adc %4,r1") /* %4:%3:%2:%9 += HI(bezier_A) * LO(f) << 16*/
|
||||
L("2")
|
||||
" clr __zero_reg__" /* C runtime expects r1 = __zero_reg__ = 0 */
|
||||
: "+r"(r0),
|
||||
"+r"(r1),
|
||||
|
|
@ -1071,20 +1071,20 @@ void Stepper::set_directions() {
|
|||
register int32_t C = bezier_C;
|
||||
|
||||
__asm__ __volatile__(
|
||||
".syntax unified" "\n\t" // is to prevent CM0,CM1 non-unified syntax
|
||||
" lsrs %[ahi],%[alo],#1" "\n\t" // a = F << 31 1 cycles
|
||||
" lsls %[alo],%[alo],#31" "\n\t" // 1 cycles
|
||||
" umull %[flo],%[fhi],%[fhi],%[t]" "\n\t" // f *= t 5 cycles [fhi:flo=64bits]
|
||||
" umull %[flo],%[fhi],%[fhi],%[t]" "\n\t" // f>>=32; f*=t 5 cycles [fhi:flo=64bits]
|
||||
" lsrs %[flo],%[fhi],#1" "\n\t" // 1 cycles [31bits]
|
||||
" smlal %[alo],%[ahi],%[flo],%[C]" "\n\t" // a+=(f>>33)*C; 5 cycles
|
||||
" umull %[flo],%[fhi],%[fhi],%[t]" "\n\t" // f>>=32; f*=t 5 cycles [fhi:flo=64bits]
|
||||
" lsrs %[flo],%[fhi],#1" "\n\t" // 1 cycles [31bits]
|
||||
" smlal %[alo],%[ahi],%[flo],%[B]" "\n\t" // a+=(f>>33)*B; 5 cycles
|
||||
" umull %[flo],%[fhi],%[fhi],%[t]" "\n\t" // f>>=32; f*=t 5 cycles [fhi:flo=64bits]
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" lsrs %[flo],%[fhi],#1" "\n\t" // f>>=33; 1 cycles [31bits]
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" smlal %[alo],%[ahi],%[flo],%[A]" "\n\t" // a+=(f>>33)*A; 5 cycles
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" lsrs %[alo],%[ahi],#6" "\n\t" // a>>=38 1 cycles
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".syntax unified" "\n\t" // is to prevent CM0,CM1 non-unified syntax
|
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A("lsrs %[ahi],%[alo],#1") // a = F << 31 1 cycles
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A("lsls %[alo],%[alo],#31") // 1 cycles
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||||
A("umull %[flo],%[fhi],%[fhi],%[t]") // f *= t 5 cycles [fhi:flo=64bits]
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||||
A("umull %[flo],%[fhi],%[fhi],%[t]") // f>>=32; f*=t 5 cycles [fhi:flo=64bits]
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||||
A("lsrs %[flo],%[fhi],#1") // 1 cycles [31bits]
|
||||
A("smlal %[alo],%[ahi],%[flo],%[C]") // a+=(f>>33)*C; 5 cycles
|
||||
A("umull %[flo],%[fhi],%[fhi],%[t]") // f>>=32; f*=t 5 cycles [fhi:flo=64bits]
|
||||
A("lsrs %[flo],%[fhi],#1") // 1 cycles [31bits]
|
||||
A("smlal %[alo],%[ahi],%[flo],%[B]") // a+=(f>>33)*B; 5 cycles
|
||||
A("umull %[flo],%[fhi],%[fhi],%[t]") // f>>=32; f*=t 5 cycles [fhi:flo=64bits]
|
||||
A("lsrs %[flo],%[fhi],#1") // f>>=33; 1 cycles [31bits]
|
||||
A("smlal %[alo],%[ahi],%[flo],%[A]") // a+=(f>>33)*A; 5 cycles
|
||||
A("lsrs %[alo],%[ahi],#6") // a>>=38 1 cycles
|
||||
: [alo]"+r"( alo ) ,
|
||||
[flo]"+r"( flo ) ,
|
||||
[fhi]"+r"( fhi ) ,
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue