|
|
|
|
/**
|
|
|
|
|
* Marlin 3D Printer Firmware
|
|
|
|
|
* Copyright (C) 2016 MarlinFirmware [https://github.com/MarlinFirmware/Marlin]
|
|
|
|
|
*
|
|
|
|
|
* Based on Sprinter and grbl.
|
|
|
|
|
* Copyright (C) 2011 Camiel Gubbels / Erik van der Zalm
|
|
|
|
|
*
|
|
|
|
|
* 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 3 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, see <http://www.gnu.org/licenses/>.
|
|
|
|
|
*
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
#ifndef _MATH_AVR_H_
|
|
|
|
|
#define _MATH_AVR_H_
|
|
|
|
|
|
|
|
|
|
/**
|
|
|
|
|
* Optimized math functions for AVR
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
// intRes = longIn1 * longIn2 >> 24
|
|
|
|
|
// uses:
|
|
|
|
|
// r26 to store 0
|
|
|
|
|
// r27 to store bits 16-23 of the 48bit result. The top bit is used to round the two byte result.
|
|
|
|
|
// note that the lower two bytes and the upper byte of the 48bit result are not calculated.
|
|
|
|
|
// this can cause the result to be out by one as the lower bytes may cause carries into the upper ones.
|
|
|
|
|
// B0 A0 are bits 24-39 and are the returned value
|
|
|
|
|
// C1 B1 A1 is longIn1
|
|
|
|
|
// D2 C2 B2 A2 is longIn2
|
|
|
|
|
//
|
|
|
|
|
#define MultiU24X32toH16(intRes, longIn1, longIn2) \
|
|
|
|
|
asm volatile ( \
|
|
|
|
|
"clr r26 \n\t" \
|
|
|
|
|
"mul %A1, %B2 \n\t" \
|
|
|
|
|
"mov r27, r1 \n\t" \
|
|
|
|
|
"mul %B1, %C2 \n\t" \
|
|
|
|
|
"movw %A0, r0 \n\t" \
|
|
|
|
|
"mul %C1, %C2 \n\t" \
|
|
|
|
|
"add %B0, r0 \n\t" \
|
|
|
|
|
"mul %C1, %B2 \n\t" \
|
|
|
|
|
"add %A0, r0 \n\t" \
|
|
|
|
|
"adc %B0, r1 \n\t" \
|
|
|
|
|
"mul %A1, %C2 \n\t" \
|
|
|
|
|
"add r27, r0 \n\t" \
|
|
|
|
|
"adc %A0, r1 \n\t" \
|
|
|
|
|
"adc %B0, r26 \n\t" \
|
|
|
|
|
"mul %B1, %B2 \n\t" \
|
|
|
|
|
"add r27, r0 \n\t" \
|
|
|
|
|
"adc %A0, r1 \n\t" \
|
|
|
|
|
"adc %B0, r26 \n\t" \
|
|
|
|
|
"mul %C1, %A2 \n\t" \
|
|
|
|
|
"add r27, r0 \n\t" \
|
|
|
|
|
"adc %A0, r1 \n\t" \
|
|
|
|
|
"adc %B0, r26 \n\t" \
|
|
|
|
|
"mul %B1, %A2 \n\t" \
|
|
|
|
|
"add r27, r1 \n\t" \
|
|
|
|
|
"adc %A0, r26 \n\t" \
|
|
|
|
|
"adc %B0, r26 \n\t" \
|
|
|
|
|
"lsr r27 \n\t" \
|
|
|
|
|
"adc %A0, r26 \n\t" \
|
|
|
|
|
"adc %B0, r26 \n\t" \
|
|
|
|
|
"mul %D2, %A1 \n\t" \
|
|
|
|
|
"add %A0, r0 \n\t" \
|
|
|
|
|
"adc %B0, r1 \n\t" \
|
|
|
|
|
"mul %D2, %B1 \n\t" \
|
|
|
|
|
"add %B0, r0 \n\t" \
|
|
|
|
|
"clr r1 \n\t" \
|
|
|
|
|
: \
|
|
|
|
|
"=&r" (intRes) \
|
|
|
|
|
: \
|
|
|
|
|
"d" (longIn1), \
|
|
|
|
|
"d" (longIn2) \
|
|
|
|
|
: \
|
|
|
|
|
"r26" , "r27" \
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
// intRes = intIn1 * intIn2 >> 16
|
|
|
|
|
// uses:
|
|
|
|
|
// r26 to store 0
|
|
|
|
|
// r27 to store the byte 1 of the 24 bit result
|
|
|
|
|
#define MultiU16X8toH16(intRes, charIn1, intIn2) \
|
|
|
|
|
asm volatile ( \
|
|
|
|
|
"clr r26 \n\t" \
|
|
|
|
|
"mul %A1, %B2 \n\t" \
|
|
|
|
|
"movw %A0, r0 \n\t" \
|
|
|
|
|
"mul %A1, %A2 \n\t" \
|
|
|
|
|
"add %A0, r1 \n\t" \
|
|
|
|
|
"adc %B0, r26 \n\t" \
|
|
|
|
|
"lsr r0 \n\t" \
|
|
|
|
|
"adc %A0, r26 \n\t" \
|
|
|
|
|
"adc %B0, r26 \n\t" \
|
|
|
|
|
"clr r1 \n\t" \
|
|
|
|
|
: \
|
|
|
|
|
"=&r" (intRes) \
|
|
|
|
|
: \
|
|
|
|
|
"d" (charIn1), \
|
|
|
|
|
"d" (intIn2) \
|
|
|
|
|
: \
|
|
|
|
|
"r26" \
|
|
|
|
|
)
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#endif // _MATH_AVR_H_
|
