From 0436e16fb22ce411311bce5994a315a991ec3219 Mon Sep 17 00:00:00 2001 From: Scott Lahteine Date: Tue, 8 May 2018 05:10:27 -0500 Subject: [PATCH] Apply shorthand Assembler macros --- Marlin/src/HAL/HAL_AVR/math_AVR.h | 92 +-- Marlin/src/HAL/HAL_DUE/DebugMonitor_Due.cpp | 130 +-- Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp | 284 +++---- .../HAL_DUE/u8g_com_HAL_DUE_st7920_sw_spi.cpp | 10 +- Marlin/src/backtrace/unwarmbytab.cpp | 2 +- Marlin/src/core/macros.h | 3 + Marlin/src/libs/softspi.h | 2 +- Marlin/src/module/planner.cpp | 454 +++++------ Marlin/src/module/stepper.cpp | 748 +++++++++--------- 9 files changed, 864 insertions(+), 861 deletions(-) diff --git a/Marlin/src/HAL/HAL_AVR/math_AVR.h b/Marlin/src/HAL/HAL_AVR/math_AVR.h index e0feab034..7d2517520 100644 --- a/Marlin/src/HAL/HAL_AVR/math_AVR.h +++ b/Marlin/src/HAL/HAL_AVR/math_AVR.h @@ -23,6 +23,8 @@ #ifndef _MATH_AVR_H_ #define _MATH_AVR_H_ +#define a(CODE) " " CODE "\n\t" + /** * Optimized math functions for AVR */ @@ -39,41 +41,41 @@ // #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" \ + A("clr r26") \ + A("mul %A1, %B2") \ + A("mov r27, r1") \ + A("mul %B1, %C2") \ + A("movw %A0, r0") \ + A("mul %C1, %C2") \ + A("add %B0, r0") \ + A("mul %C1, %B2") \ + A("add %A0, r0") \ + A("adc %B0, r1") \ + A("mul %A1, %C2") \ + A("add r27, r0") \ + A("adc %A0, r1") \ + A("adc %B0, r26") \ + A("mul %B1, %B2") \ + A("add r27, r0") \ + A("adc %A0, r1") \ + A("adc %B0, r26") \ + A("mul %C1, %A2") \ + A("add r27, r0") \ + A("adc %A0, r1") \ + A("adc %B0, r26") \ + A("mul %B1, %A2") \ + A("add r27, r1") \ + A("adc %A0, r26") \ + A("adc %B0, r26") \ + A("lsr r27") \ + A("adc %A0, r26") \ + A("adc %B0, r26") \ + A("mul %D2, %A1") \ + A("add %A0, r0") \ + A("adc %B0, r1") \ + A("mul %D2, %B1") \ + A("add %B0, r0") \ + A("clr r1") \ : \ "=&r" (intRes) \ : \ @@ -89,16 +91,16 @@ // 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" \ + A("clr r26") \ + A("mul %A1, %B2") \ + A("movw %A0, r0") \ + A("mul %A1, %A2") \ + A("add %A0, r1") \ + A("adc %B0, r26") \ + A("lsr r0") \ + A("adc %A0, r26") \ + A("adc %B0, r26") \ + A("clr r1") \ : \ "=&r" (intRes) \ : \ diff --git a/Marlin/src/HAL/HAL_DUE/DebugMonitor_Due.cpp b/Marlin/src/HAL/HAL_DUE/DebugMonitor_Due.cpp index f6ee7363a..a2322e27e 100644 --- a/Marlin/src/HAL/HAL_DUE/DebugMonitor_Due.cpp +++ b/Marlin/src/HAL/HAL_DUE/DebugMonitor_Due.cpp @@ -36,7 +36,7 @@ // state we are when running them // A SW memory barrier, to ensure GCC does not overoptimize loops -#define sw_barrier() asm volatile("": : :"memory"); +#define sw_barrier() __asm__ volatile("": : :"memory"); // (re)initialize UART0 as a monitor output to 250000,n,8,1 static void TXBegin(void) { @@ -230,106 +230,106 @@ void HardFault_HandlerC(unsigned long *sp, unsigned long lr, unsigned long cause __attribute__((naked)) void NMI_Handler(void) { __asm__ __volatile__ ( - ".syntax unified \n" - " tst lr, #4 \n" - " ite eq \n" - " mrseq r0, msp \n" - " mrsne r0, psp \n" - " mov r1,lr \n" - " mov r2,#0 \n" - " b HardFault_HandlerC \n" + ".syntax unified" "\n\t" + A("tst lr, #4") + A("ite eq") + A("mrseq r0, msp") + A("mrsne r0, psp") + A("mov r1,lr") + A("mov r2,#0") + A("b HardFault_HandlerC") ); } __attribute__((naked)) void HardFault_Handler(void) { __asm__ __volatile__ ( - ".syntax unified \n" - " tst lr, #4 \n" - " ite eq \n" - " mrseq r0, msp \n" - " mrsne r0, psp \n" - " mov r1,lr \n" - " mov r2,#1 \n" - " b HardFault_HandlerC \n" + ".syntax unified" "\n\t" + A("tst lr, #4") + A("ite eq") + A("mrseq r0, msp") + A("mrsne r0, psp") + A("mov r1,lr") + A("mov r2,#1") + A("b HardFault_HandlerC") ); } __attribute__((naked)) void MemManage_Handler(void) { __asm__ __volatile__ ( - ".syntax unified \n" - " tst lr, #4 \n" - " ite eq \n" - " mrseq r0, msp \n" - " mrsne r0, psp \n" - " mov r1,lr \n" - " mov r2,#2 \n" - " b HardFault_HandlerC \n" + ".syntax unified" "\n\t" + A("tst lr, #4") + A("ite eq") + A("mrseq r0, msp") + A("mrsne r0, psp") + A("mov r1,lr") + A("mov r2,#2") + A("b HardFault_HandlerC") ); } __attribute__((naked)) void BusFault_Handler(void) { __asm__ __volatile__ ( - ".syntax unified \n" - " tst lr, #4 \n" - " ite eq \n" - " mrseq r0, msp \n" - " mrsne r0, psp \n" - " mov r1,lr \n" - " mov r2,#3 \n" - " b HardFault_HandlerC \n" + ".syntax unified" "\n\t" + A("tst lr, #4") + A("ite eq") + A("mrseq r0, msp") + A("mrsne r0, psp") + A("mov r1,lr") + A("mov r2,#3") + A("b HardFault_HandlerC") ); } __attribute__((naked)) void UsageFault_Handler(void) { __asm__ __volatile__ ( - ".syntax unified \n" - " tst lr, #4 \n" - " ite eq \n" - " mrseq r0, msp \n" - " mrsne r0, psp \n" - " mov r1,lr \n" - " mov r2,#4 \n" - " b HardFault_HandlerC \n" + ".syntax unified" "\n\t" + A("tst lr, #4") + A("ite eq") + A("mrseq r0, msp") + A("mrsne r0, psp") + A("mov r1,lr") + A("mov r2,#4") + A("b HardFault_HandlerC") ); } __attribute__((naked)) void DebugMon_Handler(void) { __asm__ __volatile__ ( - ".syntax unified \n" - " tst lr, #4 \n" - " ite eq \n" - " mrseq r0, msp \n" - " mrsne r0, psp \n" - " mov r1,lr \n" - " mov r2,#5 \n" - " b HardFault_HandlerC \n" + ".syntax unified" "\n\t" + A("tst lr, #4") + A("ite eq") + A("mrseq r0, msp") + A("mrsne r0, psp") + A("mov r1,lr") + A("mov r2,#5") + A("b HardFault_HandlerC") ); } /* This is NOT an exception, it is an interrupt handler - Nevertheless, the framing is the same */ __attribute__((naked)) void WDT_Handler(void) { __asm__ __volatile__ ( - ".syntax unified \n" - " tst lr, #4 \n" - " ite eq \n" - " mrseq r0, msp \n" - " mrsne r0, psp \n" - " mov r1,lr \n" - " mov r2,#6 \n" - " b HardFault_HandlerC \n" + ".syntax unified" "\n\t" + A("tst lr, #4") + A("ite eq") + A("mrseq r0, msp") + A("mrsne r0, psp") + A("mov r1,lr") + A("mov r2,#6") + A("b HardFault_HandlerC") ); } __attribute__((naked)) void RSTC_Handler(void) { __asm__ __volatile__ ( - ".syntax unified \n" - " tst lr, #4 \n" - " ite eq \n" - " mrseq r0, msp \n" - " mrsne r0, psp \n" - " mov r1,lr \n" - " mov r2,#7 \n" - " b HardFault_HandlerC \n" + ".syntax unified" "\n\t" + A("tst lr, #4") + A("ite eq") + A("mrseq r0, msp") + A("mrsne r0, psp") + A("mov r1,lr") + A("mov r2,#7") + A("b HardFault_HandlerC") ); } diff --git a/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp b/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp index 8cbdb97e3..360d04bff 100644 --- a/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp +++ b/Marlin/src/HAL/HAL_DUE/HAL_spi_Due.cpp @@ -77,10 +77,10 @@ __asm__ __volatile__( ".syntax unified" "\n\t" // is to prevent CM0,CM1 non-unified syntax - "loop%=:" "\n\t" - " subs %[cnt],#1" "\n\t" - EXTRA_NOP_CYCLES "\n\t" - " bne loop%=" "\n\t" + L("loop%=") + A("subs %[cnt],#1") + A(EXTRA_NOP_CYCLES) + A("bne loop%=") : [cnt]"+r"(cy) // output: +r means input+output : // input: : "cc" // clobbers: @@ -141,54 +141,54 @@ ".syntax unified" "\n\t" // is to prevent CM0,CM1 non-unified syntax /* Bit 7 */ - " ubfx %[idx],%[txval],#7,#1" "\n\t" /* Place bit 7 in bit 0 of idx*/ + A("ubfx %[idx],%[txval],#7,#1") /* Place bit 7 in bit 0 of idx*/ - " str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ubfx %[idx],%[txval],#6,#1" "\n\t" /* Place bit 6 in bit 0 of idx*/ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ + A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ubfx %[idx],%[txval],#6,#1") /* Place bit 6 in bit 0 of idx*/ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ /* Bit 6 */ - " str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ubfx %[idx],%[txval],#5,#1" "\n\t" /* Place bit 5 in bit 0 of idx*/ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ + A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ubfx %[idx],%[txval],#5,#1") /* Place bit 5 in bit 0 of idx*/ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ /* Bit 5 */ - " str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ubfx %[idx],%[txval],#4,#1" "\n\t" /* Place bit 4 in bit 0 of idx*/ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ + A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ubfx %[idx],%[txval],#4,#1") /* Place bit 4 in bit 0 of idx*/ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ /* Bit 4 */ - " str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ubfx %[idx],%[txval],#3,#1" "\n\t" /* Place bit 3 in bit 0 of idx*/ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ + A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ubfx %[idx],%[txval],#3,#1") /* Place bit 3 in bit 0 of idx*/ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ /* Bit 3 */ - " str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ubfx %[idx],%[txval],#2,#1" "\n\t" /* Place bit 2 in bit 0 of idx*/ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ + A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ubfx %[idx],%[txval],#2,#1") /* Place bit 2 in bit 0 of idx*/ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ /* Bit 2 */ - " str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ubfx %[idx],%[txval],#1,#1" "\n\t" /* Place bit 1 in bit 0 of idx*/ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ + A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ubfx %[idx],%[txval],#1,#1") /* Place bit 1 in bit 0 of idx*/ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ /* Bit 1 */ - " str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ubfx %[idx],%[txval],#0,#1" "\n\t" /* Place bit 0 in bit 0 of idx*/ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ + A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ubfx %[idx],%[txval],#0,#1") /* Place bit 0 in bit 0 of idx*/ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ /* Bit 0 */ - " str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " nop" "\n\t" /* Result will be 0 */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ + A("str %[mosi_mask],[%[mosi_port], %[idx],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("nop") /* Result will be 0 */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ : [idx]"+r"( idx ) : [txval]"r"( bout ) , @@ -222,52 +222,52 @@ ".syntax unified" "\n\t" // is to prevent CM0,CM1 non-unified syntax /* bit 7 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#7,#1" "\n\t" /* Store read bit as the bit 7 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#7,#1") /* Store read bit as the bit 7 */ /* bit 6 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#6,#1" "\n\t" /* Store read bit as the bit 6 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#6,#1") /* Store read bit as the bit 6 */ /* bit 5 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#5,#1" "\n\t" /* Store read bit as the bit 5 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#5,#1") /* Store read bit as the bit 5 */ /* bit 4 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#4,#1" "\n\t" /* Store read bit as the bit 4 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#4,#1") /* Store read bit as the bit 4 */ /* bit 3 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#3,#1" "\n\t" /* Store read bit as the bit 3 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#3,#1") /* Store read bit as the bit 3 */ /* bit 2 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#2,#1" "\n\t" /* Store read bit as the bit 2 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#2,#1") /* Store read bit as the bit 2 */ /* bit 1 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#1,#1" "\n\t" /* Store read bit as the bit 1 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#1,#1") /* Store read bit as the bit 1 */ /* bit 0 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#0,#1" "\n\t" /* Store read bit as the bit 0 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#0,#1") /* Store read bit as the bit 0 */ : [bin]"+r"(bin), [work]"+r"(work) @@ -335,60 +335,60 @@ __asm__ __volatile__( ".syntax unified" "\n\t" // is to prevent CM0,CM1 non-unified syntax - " loop%=:" "\n\t" - " ldrb.w %[txval], [%[ptr]], #1" "\n\t" /* Load value to send, increment buffer */ - " mvn %[txval],%[txval]" "\n\t" /* Negate value */ + L("loop%=") + A("ldrb.w %[txval], [%[ptr]], #1") /* Load value to send, increment buffer */ + A("mvn %[txval],%[txval]") /* Negate value */ /* Bit 7 */ - " ubfx %[work],%[txval],#7,#1" "\n\t" /* Place bit 7 in bit 0 of work*/ + A("ubfx %[work],%[txval],#7,#1") /* Place bit 7 in bit 0 of work*/ - " str %[mosi_mask],[%[mosi_port], %[work],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ubfx %[work],%[txval],#6,#1" "\n\t" /* Place bit 6 in bit 0 of work*/ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ + A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ubfx %[work],%[txval],#6,#1") /* Place bit 6 in bit 0 of work*/ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ /* Bit 6 */ - " str %[mosi_mask],[%[mosi_port], %[work],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ubfx %[work],%[txval],#5,#1" "\n\t" /* Place bit 5 in bit 0 of work*/ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ + A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ubfx %[work],%[txval],#5,#1") /* Place bit 5 in bit 0 of work*/ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ /* Bit 5 */ - " str %[mosi_mask],[%[mosi_port], %[work],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ubfx %[work],%[txval],#4,#1" "\n\t" /* Place bit 4 in bit 0 of work*/ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ + A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ubfx %[work],%[txval],#4,#1") /* Place bit 4 in bit 0 of work*/ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ /* Bit 4 */ - " str %[mosi_mask],[%[mosi_port], %[work],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ubfx %[work],%[txval],#3,#1" "\n\t" /* Place bit 3 in bit 0 of work*/ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ + A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ubfx %[work],%[txval],#3,#1") /* Place bit 3 in bit 0 of work*/ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ /* Bit 3 */ - " str %[mosi_mask],[%[mosi_port], %[work],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ubfx %[work],%[txval],#2,#1" "\n\t" /* Place bit 2 in bit 0 of work*/ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ + A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ubfx %[work],%[txval],#2,#1") /* Place bit 2 in bit 0 of work*/ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ /* Bit 2 */ - " str %[mosi_mask],[%[mosi_port], %[work],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ubfx %[work],%[txval],#1,#1" "\n\t" /* Place bit 1 in bit 0 of work*/ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ + A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ubfx %[work],%[txval],#1,#1") /* Place bit 1 in bit 0 of work*/ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ /* Bit 1 */ - " str %[mosi_mask],[%[mosi_port], %[work],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ubfx %[work],%[txval],#0,#1" "\n\t" /* Place bit 0 in bit 0 of work*/ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ + A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ubfx %[work],%[txval],#0,#1") /* Place bit 0 in bit 0 of work*/ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ /* Bit 0 */ - " str %[mosi_mask],[%[mosi_port], %[work],LSL #2]" "\n\t" /* Access the proper SODR or CODR registers based on that bit */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " subs %[todo],#1" "\n\t" /* Decrement count of pending words to send, update status */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bne.n loop%=" "\n\t" /* Repeat until done */ + A("str %[mosi_mask],[%[mosi_port], %[work],LSL #2]") /* Access the proper SODR or CODR registers based on that bit */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("subs %[todo],#1") /* Decrement count of pending words to send, update status */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bne.n loop%=") /* Repeat until done */ : [ptr]"+r" ( ptr ) , [todo]"+r" ( todo ) , @@ -413,59 +413,59 @@ __asm__ __volatile__( ".syntax unified" "\n\t" // is to prevent CM0,CM1 non-unified syntax - " loop%=:" "\n\t" + L("loop%=") /* bit 7 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#7,#1" "\n\t" /* Store read bit as the bit 7 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#7,#1") /* Store read bit as the bit 7 */ /* bit 6 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#6,#1" "\n\t" /* Store read bit as the bit 6 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#6,#1") /* Store read bit as the bit 6 */ /* bit 5 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#5,#1" "\n\t" /* Store read bit as the bit 5 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#5,#1") /* Store read bit as the bit 5 */ /* bit 4 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#4,#1" "\n\t" /* Store read bit as the bit 4 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#4,#1") /* Store read bit as the bit 4 */ /* bit 3 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#3,#1" "\n\t" /* Store read bit as the bit 3 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#3,#1") /* Store read bit as the bit 3 */ /* bit 2 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#2,#1" "\n\t" /* Store read bit as the bit 2 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#2,#1") /* Store read bit as the bit 2 */ /* bit 1 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#1,#1" "\n\t" /* Store read bit as the bit 1 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#1,#1") /* Store read bit as the bit 1 */ /* bit 0 */ - " str %[sck_mask],[%[sck_port]]" "\n\t" /* SODR */ - " ldr %[work],[%[bitband_miso_port]]" "\n\t" /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ - " str %[sck_mask],[%[sck_port],#0x4]" "\n\t" /* CODR */ - " bfi %[bin],%[work],#0,#1" "\n\t" /* Store read bit as the bit 0 */ + A("str %[sck_mask],[%[sck_port]]") /* SODR */ + A("ldr %[work],[%[bitband_miso_port]]") /* PDSR on bitband area for required bit: work will be 1 or 0 based on port */ + A("str %[sck_mask],[%[sck_port],#0x4]") /* CODR */ + A("bfi %[bin],%[work],#0,#1") /* Store read bit as the bit 0 */ - " subs %[todo],#1" "\n\t" /* Decrement count of pending words to send, update status */ - " strb.w %[bin], [%[ptr]], #1" "\n\t" /* Store read value into buffer, increment buffer pointer */ - " bne.n loop%=" "\n\t" /* Repeat until done */ + A("subs %[todo],#1") /* Decrement count of pending words to send, update status */ + A("strb.w %[bin], [%[ptr]], #1") /* Store read value into buffer, increment buffer pointer */ + A("bne.n loop%=") /* Repeat until done */ : [ptr]"+r"(ptr), [todo]"+r"(todo), diff --git a/Marlin/src/HAL/HAL_DUE/u8g_com_HAL_DUE_st7920_sw_spi.cpp b/Marlin/src/HAL/HAL_DUE/u8g_com_HAL_DUE_st7920_sw_spi.cpp index 7f46e5c9c..e8335788d 100644 --- a/Marlin/src/HAL/HAL_DUE/u8g_com_HAL_DUE_st7920_sw_spi.cpp +++ b/Marlin/src/HAL/HAL_DUE/u8g_com_HAL_DUE_st7920_sw_spi.cpp @@ -71,8 +71,6 @@ void u8g_SetPILevel_DUE(u8g_t *u8g, uint8_t pin_index, uint8_t level) { else port->PIO_CODR = mask; } -#define nop() __asm__ __volatile__("nop;\n\t":::) - void __delay_4cycles(uint32_t cy) __attribute__ ((weak)); FORCE_INLINE void __delay_4cycles(uint32_t cy) { // +1 cycle @@ -85,10 +83,10 @@ FORCE_INLINE void __delay_4cycles(uint32_t cy) { // +1 cycle __asm__ __volatile__( ".syntax unified" "\n\t" // is to prevent CM0,CM1 non-unified syntax - "loop%=:" "\n\t" - " subs %[cnt],#1" "\n\t" - EXTRA_NOP_CYCLES "\n\t" - " bne loop%=" "\n\t" + L("loop%=") + A("subs %[cnt],#1") + A(EXTRA_NOP_CYCLES) + A("bne loop%=") : [cnt]"+r"(cy) // output: +r means input+output : // input: : "cc" // clobbers: diff --git a/Marlin/src/backtrace/unwarmbytab.cpp b/Marlin/src/backtrace/unwarmbytab.cpp index f3b36ee23..607b42672 100644 --- a/Marlin/src/backtrace/unwarmbytab.cpp +++ b/Marlin/src/backtrace/unwarmbytab.cpp @@ -291,7 +291,7 @@ static inline __attribute__((always_inline)) uint32_t read_psp(void) { /* Read the current PSP and return its value as a pointer */ uint32_t psp; - __asm volatile ( + __asm__ volatile ( " mrs %0, psp \n" : "=r" (psp) : : ); diff --git a/Marlin/src/core/macros.h b/Marlin/src/core/macros.h index 9bdd33e7e..34896c4f5 100644 --- a/Marlin/src/core/macros.h +++ b/Marlin/src/core/macros.h @@ -110,6 +110,9 @@ #define STRINGIFY_(M) #M #define STRINGIFY(M) STRINGIFY_(M) +#define A(CODE) " " CODE "\n\t" +#define L(CODE) CODE ":\n\t" + // Macros for bit masks #undef _BV #define _BV(b) (1 << (b)) diff --git a/Marlin/src/libs/softspi.h b/Marlin/src/libs/softspi.h index b3afcc11d..e3a28fdc7 100644 --- a/Marlin/src/libs/softspi.h +++ b/Marlin/src/libs/softspi.h @@ -639,7 +639,7 @@ class DigitalPin { //------------------------------------------------------------------------------ /** Nop for timing. */ -#define nop asm volatile ("nop\n\t") +#define nop __asm__ volatile ("nop") //------------------------------------------------------------------------------ /** Pin Mode for MISO is input.*/ const bool MISO_MODE = false; diff --git a/Marlin/src/module/planner.cpp b/Marlin/src/module/planner.cpp index 7a68cc628..7cbbbfaf7 100644 --- a/Marlin/src/module/planner.cpp +++ b/Marlin/src/module/planner.cpp @@ -409,7 +409,7 @@ void Planner::init() { // %8:%7:%6 = interval // r31:r30: MUST be those registers, and they must point to the inv_tab - " clr %13" "\n\t" // %13 = 0 + A("clr %13") // %13 = 0 // Now we must compute // result = 0xFFFFFF / d @@ -421,122 +421,122 @@ void Planner::init() { // use Newton-Raphson for the calculation, and will strive to get way less cycles // for the same result - Using C division, it takes 500cycles to complete . - " clr %3" "\n\t" // idx = 0 - " mov %14,%6" "\n\t" - " mov %15,%7" "\n\t" - " mov %16,%8" "\n\t" // nr = interval - " tst %16" "\n\t" // nr & 0xFF0000 == 0 ? - " brne 2f" "\n\t" // No, skip this - " mov %16,%15" "\n\t" - " mov %15,%14" "\n\t" // nr <<= 8, %14 not needed - " subi %3,-8" "\n\t" // idx += 8 - " tst %16" "\n\t" // nr & 0xFF0000 == 0 ? - " brne 2f" "\n\t" // No, skip this - " mov %16,%15" "\n\t" // nr <<= 8, %14 not needed - " clr %15" "\n\t" // We clear %14 - " subi %3,-8" "\n\t" // idx += 8 + A("clr %3") // idx = 0 + A("mov %14,%6") + A("mov %15,%7") + A("mov %16,%8") // nr = interval + A("tst %16") // nr & 0xFF0000 == 0 ? + A("brne 2f") // No, skip this + A("mov %16,%15") + A("mov %15,%14") // nr <<= 8, %14 not needed + A("subi %3,-8") // idx += 8 + A("tst %16") // nr & 0xFF0000 == 0 ? + A("brne 2f") // No, skip this + A("mov %16,%15") // nr <<= 8, %14 not needed + A("clr %15") // We clear %14 + A("subi %3,-8") // idx += 8 // here %16 != 0 and %16:%15 contains at least 9 MSBits, or both %16:%15 are 0 - "2:" "\n\t" - " cpi %16,0x10" "\n\t" // (nr & 0xf00000) == 0 ? - " brcc 3f" "\n\t" // No, skip this - " swap %15" "\n\t" // Swap nibbles - " swap %16" "\n\t" // Swap nibbles. Low nibble is 0 - " mov %14, %15" "\n\t" - " andi %14,0x0f" "\n\t" // Isolate low nibble - " andi %15,0xf0" "\n\t" // Keep proper nibble in %15 - " or %16, %14" "\n\t" // %16:%15 <<= 4 - " subi %3,-4" "\n\t" // idx += 4 + L("2") + A("cpi %16,0x10") // (nr & 0xF00000) == 0 ? + A("brcc 3f") // No, skip this + A("swap %15") // Swap nibbles + A("swap %16") // Swap nibbles. Low nibble is 0 + A("mov %14, %15") + A("andi %14,0x0F") // Isolate low nibble + A("andi %15,0xF0") // Keep proper nibble in %15 + A("or %16, %14") // %16:%15 <<= 4 + A("subi %3,-4") // idx += 4 - "3:" "\n\t" - " cpi %16,0x40" "\n\t" // (nr & 0xc00000) == 0 ? - " brcc 4f" "\n\t" // No, skip this - " add %15,%15" "\n\t" - " adc %16,%16" "\n\t" - " add %15,%15" "\n\t" - " adc %16,%16" "\n\t" // %16:%15 <<= 2 - " subi %3,-2" "\n\t" // idx += 2 + L("3") + A("cpi %16,0x40") // (nr & 0xC00000) == 0 ? + A("brcc 4f") // No, skip this + A("add %15,%15") + A("adc %16,%16") + A("add %15,%15") + A("adc %16,%16") // %16:%15 <<= 2 + A("subi %3,-2") // idx += 2 - "4:" "\n\t" - " cpi %16,0x80" "\n\t" // (nr & 0x800000) == 0 ? - " brcc 5f" "\n\t" // No, skip this - " add %15,%15" "\n\t" - " adc %16,%16" "\n\t" // %16:%15 <<= 1 - " inc %3" "\n\t" // idx += 1 + L("4") + A("cpi %16,0x80") // (nr & 0x800000) == 0 ? + A("brcc 5f") // No, skip this + A("add %15,%15") + A("adc %16,%16") // %16:%15 <<= 1 + A("inc %3") // idx += 1 // Now %16:%15 contains its MSBit set to 1, or %16:%15 is == 0. We are now absolutely sure // we have at least 9 MSBits available to enter the initial estimation table - "5:" "\n\t" - " add %15,%15" "\n\t" - " adc %16,%16" "\n\t" // %16:%15 = tidx = (nr <<= 1), we lose the top MSBit (always set to 1, %16 is the index into the inverse table) - " add r30,%16" "\n\t" // Only use top 8 bits - " adc r31,%13" "\n\t" // r31:r30 = inv_tab + (tidx) - " lpm %14, Z" "\n\t" // %14 = inv_tab[tidx] - " ldi %15, 1" "\n\t" // %15 = 1 %15:%14 = inv_tab[tidx] + 256 + L("5") + A("add %15,%15") + A("adc %16,%16") // %16:%15 = tidx = (nr <<= 1), we lose the top MSBit (always set to 1, %16 is the index into the inverse table) + A("add r30,%16") // Only use top 8 bits + A("adc r31,%13") // r31:r30 = inv_tab + (tidx) + A("lpm %14, Z") // %14 = inv_tab[tidx] + A("ldi %15, 1") // %15 = 1 %15:%14 = inv_tab[tidx] + 256 // We must scale the approximation to the proper place - " clr %16" "\n\t" // %16 will always be 0 here - " subi %3,8" "\n\t" // idx == 8 ? - " breq 6f" "\n\t" // yes, no need to scale - " brcs 7f" "\n\t" // If C=1, means idx < 8, result was negative! + A("clr %16") // %16 will always be 0 here + A("subi %3,8") // idx == 8 ? + A("breq 6f") // yes, no need to scale + A("brcs 7f") // If C=1, means idx < 8, result was negative! // idx > 8, now %3 = idx - 8. We must perform a left shift. idx range:[1-8] - " sbrs %3,0" "\n\t" // shift by 1bit position? - " rjmp 8f" "\n\t" // No - " add %14,%14" "\n\t" - " adc %15,%15" "\n\t" // %15:16 <<= 1 - "8:" "\n\t" - " sbrs %3,1" "\n\t" // shift by 2bit position? - " rjmp 9f" "\n\t" // No - " add %14,%14" "\n\t" - " adc %15,%15" "\n\t" - " add %14,%14" "\n\t" - " adc %15,%15" "\n\t" // %15:16 <<= 1 - "9:" "\n\t" - " sbrs %3,2" "\n\t" // shift by 4bits position? - " rjmp 16f" "\n\t" // No - " swap %15" "\n\t" // Swap nibbles. lo nibble of %15 will always be 0 - " swap %14" "\n\t" // Swap nibbles - " mov %12,%14" "\n\t" - " andi %12,0x0f" "\n\t" // isolate low nibble - " andi %14,0xf0" "\n\t" // and clear it - " or %15,%12" "\n\t" // %15:%16 <<= 4 - "16:" "\n\t" - " sbrs %3,3" "\n\t" // shift by 8bits position? - " rjmp 6f" "\n\t" // No, we are done - " mov %16,%15" "\n\t" - " mov %15,%14" "\n\t" - " clr %14" "\n\t" - " jmp 6f" "\n\t" + A("sbrs %3,0") // shift by 1bit position? + A("rjmp 8f") // No + A("add %14,%14") + A("adc %15,%15") // %15:16 <<= 1 + L("8") + A("sbrs %3,1") // shift by 2bit position? + A("rjmp 9f") // No + A("add %14,%14") + A("adc %15,%15") + A("add %14,%14") + A("adc %15,%15") // %15:16 <<= 1 + L("9") + A("sbrs %3,2") // shift by 4bits position? + A("rjmp 16f") // No + A("swap %15") // Swap nibbles. lo nibble of %15 will always be 0 + A("swap %14") // Swap nibbles + A("mov %12,%14") + A("andi %12,0x0F") // isolate low nibble + A("andi %14,0xF0") // and clear it + A("or %15,%12") // %15:%16 <<= 4 + L("16") + A("sbrs %3,3") // shift by 8bits position? + A("rjmp 6f") // No, we are done + A("mov %16,%15") + A("mov %15,%14") + A("clr %14") + A("jmp 6f") // idx < 8, now %3 = idx - 8. Get the count of bits - "7:" "\n\t" - " neg %3" "\n\t" // %3 = -idx = count of bits to move right. idx range:[1...8] - " sbrs %3,0" "\n\t" // shift by 1 bit position ? - " rjmp 10f" "\n\t" // No, skip it - " asr %15" "\n\t" // (bit7 is always 0 here) - " ror %14" "\n\t" - "10:" "\n\t" - " sbrs %3,1" "\n\t" // shift by 2 bit position ? - " rjmp 11f" "\n\t" // No, skip it - " asr %15" "\n\t" // (bit7 is always 0 here) - " ror %14" "\n\t" - " asr %15" "\n\t" // (bit7 is always 0 here) - " ror %14" "\n\t" - "11:" "\n\t" - " sbrs %3,2" "\n\t" // shift by 4 bit position ? - " rjmp 12f" "\n\t" // No, skip it - " swap %15" "\n\t" // Swap nibbles - " andi %14, 0xf0" "\n\t" // Lose the lowest nibble - " swap %14" "\n\t" // Swap nibbles. Upper nibble is 0 - " or %14,%15" "\n\t" // Pass nibble from upper byte - " andi %15, 0x0f" "\n\t" // And get rid of that nibble - "12:" "\n\t" - " sbrs %3,3" "\n\t" // shift by 8 bit position ? - " rjmp 6f" "\n\t" // No, skip it - " mov %14,%15" "\n\t" - " clr %15" "\n\t" - "6:" "\n\t" // %16:%15:%14 = initial estimation of 0x1000000 / d + L("7") + A("neg %3") // %3 = -idx = count of bits to move right. idx range:[1...8] + A("sbrs %3,0") // shift by 1 bit position ? + A("rjmp 10f") // No, skip it + A("asr %15") // (bit7 is always 0 here) + A("ror %14") + L("10") + A("sbrs %3,1") // shift by 2 bit position ? + A("rjmp 11f") // No, skip it + A("asr %15") // (bit7 is always 0 here) + A("ror %14") + A("asr %15") // (bit7 is always 0 here) + A("ror %14") + L("11") + A("sbrs %3,2") // shift by 4 bit position ? + A("rjmp 12f") // No, skip it + A("swap %15") // Swap nibbles + A("andi %14, 0xF0") // Lose the lowest nibble + A("swap %14") // Swap nibbles. Upper nibble is 0 + A("or %14,%15") // Pass nibble from upper byte + A("andi %15, 0x0F") // And get rid of that nibble + L("12") + A("sbrs %3,3") // shift by 8 bit position ? + A("rjmp 6f") // No, skip it + A("mov %14,%15") + A("clr %15") + L("6") // %16:%15:%14 = initial estimation of 0x1000000 / d // Now, we must refine the estimation present on %16:%15:%14 using 1 iteration // of Newton-Raphson. As it has a quadratic convergence, 1 iteration is enough @@ -549,36 +549,36 @@ void Planner::init() { // %3:%2:%1:%0 = working accumulator // Compute 1<<25 - x*d. Result should never exceed 25 bits and should always be positive - " clr %0" "\n\t" - " clr %1" "\n\t" - " clr %2" "\n\t" - " ldi %3,2" "\n\t" // %3:%2:%1:%0 = 0x2000000 - " mul %6,%14" "\n\t" // r1:r0 = LO(d) * LO(x) - " sub %0,r0" "\n\t" - " sbc %1,r1" "\n\t" - " sbc %2,%13" "\n\t" - " sbc %3,%13" "\n\t" // %3:%2:%1:%0 -= LO(d) * LO(x) - " mul %7,%14" "\n\t" // r1:r0 = MI(d) * LO(x) - " sub %1,r0" "\n\t" - " sbc %2,r1" "\n\t" - " sbc %3,%13" "\n\t" // %3:%2:%1:%0 -= MI(d) * LO(x) << 8 - " mul %8,%14" "\n\t" // r1:r0 = HI(d) * LO(x) - " sub %2,r0" "\n\t" - " sbc %3,r1" "\n\t" // %3:%2:%1:%0 -= MIL(d) * LO(x) << 16 - " mul %6,%15" "\n\t" // r1:r0 = LO(d) * MI(x) - " sub %1,r0" "\n\t" - " sbc %2,r1" "\n\t" - " sbc %3,%13" "\n\t" // %3:%2:%1:%0 -= LO(d) * MI(x) << 8 - " mul %7,%15" "\n\t" // r1:r0 = MI(d) * MI(x) - " sub %2,r0" "\n\t" - " sbc %3,r1" "\n\t" // %3:%2:%1:%0 -= MI(d) * MI(x) << 16 - " mul %8,%15" "\n\t" // r1:r0 = HI(d) * MI(x) - " sub %3,r0" "\n\t" // %3:%2:%1:%0 -= MIL(d) * MI(x) << 24 - " mul %6,%16" "\n\t" // r1:r0 = LO(d) * HI(x) - " sub %2,r0" "\n\t" - " sbc %3,r1" "\n\t" // %3:%2:%1:%0 -= LO(d) * HI(x) << 16 - " mul %7,%16" "\n\t" // r1:r0 = MI(d) * HI(x) - " sub %3,r0" "\n\t" // %3:%2:%1:%0 -= MI(d) * HI(x) << 24 + A("clr %0") + A("clr %1") + A("clr %2") + A("ldi %3,2") // %3:%2:%1:%0 = 0x2000000 + A("mul %6,%14") // r1:r0 = LO(d) * LO(x) + A("sub %0,r0") + A("sbc %1,r1") + A("sbc %2,%13") + A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * LO(x) + A("mul %7,%14") // r1:r0 = MI(d) * LO(x) + A("sub %1,r0") + A("sbc %2,r1" ) + A("sbc %3,%13") // %3:%2:%1:%0 -= MI(d) * LO(x) << 8 + A("mul %8,%14") // r1:r0 = HI(d) * LO(x) + A("sub %2,r0") + A("sbc %3,r1") // %3:%2:%1:%0 -= MIL(d) * LO(x) << 16 + A("mul %6,%15") // r1:r0 = LO(d) * MI(x) + A("sub %1,r0") + A("sbc %2,r1") + A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * MI(x) << 8 + A("mul %7,%15") // r1:r0 = MI(d) * MI(x) + A("sub %2,r0") + A("sbc %3,r1") // %3:%2:%1:%0 -= MI(d) * MI(x) << 16 + A("mul %8,%15") // r1:r0 = HI(d) * MI(x) + A("sub %3,r0") // %3:%2:%1:%0 -= MIL(d) * MI(x) << 24 + A("mul %6,%16") // r1:r0 = LO(d) * HI(x) + A("sub %2,r0") + A("sbc %3,r1") // %3:%2:%1:%0 -= LO(d) * HI(x) << 16 + A("mul %7,%16") // r1:r0 = MI(d) * HI(x) + A("sub %3,r0") // %3:%2:%1:%0 -= MI(d) * HI(x) << 24 // %3:%2:%1:%0 = (1<<25) - x*d [169] // We need to multiply that result by x, and we are only interested in the top 24bits of that multiply @@ -588,62 +588,62 @@ void Planner::init() { // %13 = 0 // result = %11:%10:%9:%5:%4 - " mul %14,%0" "\n\t" // r1:r0 = LO(x) * LO(acc) - " mov %4,r1" "\n\t" - " clr %5" "\n\t" - " clr %9" "\n\t" - " clr %10" "\n\t" - " clr %11" "\n\t" // %11:%10:%9:%5:%4 = LO(x) * LO(acc) >> 8 - " mul %15,%0" "\n\t" // r1:r0 = MI(x) * LO(acc) - " add %4,r0" "\n\t" - " adc %5,r1" "\n\t" - " adc %9,%13" "\n\t" - " adc %10,%13" "\n\t" - " adc %11,%13" "\n\t" // %11:%10:%9:%5:%4 += MI(x) * LO(acc) - " mul %16,%0" "\n\t" // r1:r0 = HI(x) * LO(acc) - " add %5,r0" "\n\t" - " adc %9,r1" "\n\t" - " adc %10,%13" "\n\t" - " adc %11,%13" "\n\t" // %11:%10:%9:%5:%4 += MI(x) * LO(acc) << 8 + A("mul %14,%0") // r1:r0 = LO(x) * LO(acc) + A("mov %4,r1") + A("clr %5") + A("clr %9") + A("clr %10") + A("clr %11") // %11:%10:%9:%5:%4 = LO(x) * LO(acc) >> 8 + A("mul %15,%0") // r1:r0 = MI(x) * LO(acc) + A("add %4,r0") + A("adc %5,r1") + A("adc %9,%13") + A("adc %10,%13") + A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * LO(acc) + A("mul %16,%0") // r1:r0 = HI(x) * LO(acc) + A("add %5,r0") + A("adc %9,r1") + A("adc %10,%13") + A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * LO(acc) << 8 - " mul %14,%1" "\n\t" // r1:r0 = LO(x) * MIL(acc) - " add %4,r0" "\n\t" - " adc %5,r1" "\n\t" - " adc %9,%13" "\n\t" - " adc %10,%13" "\n\t" - " adc %11,%13" "\n\t" // %11:%10:%9:%5:%4 = LO(x) * MIL(acc) - " mul %15,%1" "\n\t" // r1:r0 = MI(x) * MIL(acc) - " add %5,r0" "\n\t" - " adc %9,r1" "\n\t" - " adc %10,%13" "\n\t" - " adc %11,%13" "\n\t" // %11:%10:%9:%5:%4 += MI(x) * MIL(acc) << 8 - " mul %16,%1" "\n\t" // r1:r0 = HI(x) * MIL(acc) - " add %9,r0" "\n\t" - " adc %10,r1" "\n\t" - " adc %11,%13" "\n\t" // %11:%10:%9:%5:%4 += MI(x) * MIL(acc) << 16 + A("mul %14,%1") // r1:r0 = LO(x) * MIL(acc) + A("add %4,r0") + A("adc %5,r1") + A("adc %9,%13") + A("adc %10,%13") + A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * MIL(acc) + A("mul %15,%1") // r1:r0 = MI(x) * MIL(acc) + A("add %5,r0") + A("adc %9,r1") + A("adc %10,%13") + A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIL(acc) << 8 + A("mul %16,%1") // r1:r0 = HI(x) * MIL(acc) + A("add %9,r0") + A("adc %10,r1") + A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIL(acc) << 16 - " mul %14,%2" "\n\t" // r1:r0 = LO(x) * MIH(acc) - " add %5,r0" "\n\t" - " adc %9,r1" "\n\t" - " adc %10,%13" "\n\t" - " adc %11,%13" "\n\t" // %11:%10:%9:%5:%4 = LO(x) * MIH(acc) << 8 - " mul %15,%2" "\n\t" // r1:r0 = MI(x) * MIH(acc) - " add %9,r0" "\n\t" - " adc %10,r1" "\n\t" - " adc %11,%13" "\n\t" // %11:%10:%9:%5:%4 += MI(x) * MIH(acc) << 16 - " mul %16,%2" "\n\t" // r1:r0 = HI(x) * MIH(acc) - " add %10,r0" "\n\t" - " adc %11,r1" "\n\t" // %11:%10:%9:%5:%4 += MI(x) * MIH(acc) << 24 + A("mul %14,%2") // r1:r0 = LO(x) * MIH(acc) + A("add %5,r0") + A("adc %9,r1") + A("adc %10,%13") + A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * MIH(acc) << 8 + A("mul %15,%2") // r1:r0 = MI(x) * MIH(acc) + A("add %9,r0") + A("adc %10,r1") + A("adc %11,%13") // %11:%10:%9:%5:%4 += MI(x) * MIH(acc) << 16 + A("mul %16,%2") // r1:r0 = HI(x) * MIH(acc) + A("add %10,r0") + A("adc %11,r1") // %11:%10:%9:%5:%4 += MI(x) * MIH(acc) << 24 - " mul %14,%3" "\n\t" // r1:r0 = LO(x) * HI(acc) - " add %9,r0" "\n\t" - " adc %10,r1" "\n\t" - " adc %11,%13" "\n\t" // %11:%10:%9:%5:%4 = LO(x) * HI(acc) << 16 - " mul %15,%3" "\n\t" // r1:r0 = MI(x) * HI(acc) - " add %10,r0" "\n\t" - " adc %11,r1" "\n\t" // %11:%10:%9:%5:%4 += MI(x) * HI(acc) << 24 - " mul %16,%3" "\n\t" // r1:r0 = HI(x) * HI(acc) - " add %11,r0" "\n\t" // %11:%10:%9:%5:%4 += MI(x) * HI(acc) << 32 + A("mul %14,%3") // r1:r0 = LO(x) * HI(acc) + A("add %9,r0") + A("adc %10,r1") + A("adc %11,%13") // %11:%10:%9:%5:%4 = LO(x) * HI(acc) << 16 + A("mul %15,%3") // r1:r0 = MI(x) * HI(acc) + A("add %10,r0") + A("adc %11,r1") // %11:%10:%9:%5:%4 += MI(x) * HI(acc) << 24 + A("mul %16,%3") // r1:r0 = HI(x) * HI(acc) + A("add %11,r0") // %11:%10:%9:%5:%4 += MI(x) * HI(acc) << 32 // At this point, %11:%10:%9 contains the new estimation of x. @@ -651,54 +651,54 @@ void Planner::init() { // (1<<24) - x*d // %11:%10:%9 = x // %8:%7:%6 = d = interval" "\n\t" - " ldi %3,1" "\n\t" - " clr %2" "\n\t" - " clr %1" "\n\t" - " clr %0" "\n\t" // %3:%2:%1:%0 = 0x1000000 - " mul %6,%9" "\n\t" // r1:r0 = LO(d) * LO(x) - " sub %0,r0" "\n\t" - " sbc %1,r1" "\n\t" - " sbc %2,%13" "\n\t" - " sbc %3,%13" "\n\t" // %3:%2:%1:%0 -= LO(d) * LO(x) - " mul %7,%9" "\n\t" // r1:r0 = MI(d) * LO(x) - " sub %1,r0" "\n\t" - " sbc %2,r1" "\n\t" - " sbc %3,%13" "\n\t" // %3:%2:%1:%0 -= MI(d) * LO(x) << 8 - " mul %8,%9" "\n\t" // r1:r0 = HI(d) * LO(x) - " sub %2,r0" "\n\t" - " sbc %3,r1" "\n\t" // %3:%2:%1:%0 -= MIL(d) * LO(x) << 16 - " mul %6,%10" "\n\t" // r1:r0 = LO(d) * MI(x) - " sub %1,r0" "\n\t" - " sbc %2,r1" "\n\t" - " sbc %3,%13" "\n\t" // %3:%2:%1:%0 -= LO(d) * MI(x) << 8 - " mul %7,%10" "\n\t" // r1:r0 = MI(d) * MI(x) - " sub %2,r0" "\n\t" - " sbc %3,r1" "\n\t" // %3:%2:%1:%0 -= MI(d) * MI(x) << 16 - " mul %8,%10" "\n\t" // r1:r0 = HI(d) * MI(x) - " sub %3,r0" "\n\t" // %3:%2:%1:%0 -= MIL(d) * MI(x) << 24 - " mul %6,%11" "\n\t" // r1:r0 = LO(d) * HI(x) - " sub %2,r0" "\n\t" - " sbc %3,r1" "\n\t" // %3:%2:%1:%0 -= LO(d) * HI(x) << 16 - " mul %7,%11" "\n\t" // r1:r0 = MI(d) * HI(x) - " sub %3,r0" "\n\t" // %3:%2:%1:%0 -= MI(d) * HI(x) << 24 + A("ldi %3,1") + A("clr %2") + A("clr %1") + A("clr %0") // %3:%2:%1:%0 = 0x1000000 + A("mul %6,%9") // r1:r0 = LO(d) * LO(x) + A("sub %0,r0") + A("sbc %1,r1") + A("sbc %2,%13") + A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * LO(x) + A("mul %7,%9") // r1:r0 = MI(d) * LO(x) + A("sub %1,r0") + A("sbc %2,r1") + A("sbc %3,%13") // %3:%2:%1:%0 -= MI(d) * LO(x) << 8 + A("mul %8,%9") // r1:r0 = HI(d) * LO(x) + A("sub %2,r0") + A("sbc %3,r1") // %3:%2:%1:%0 -= MIL(d) * LO(x) << 16 + A("mul %6,%10") // r1:r0 = LO(d) * MI(x) + A("sub %1,r0") + A("sbc %2,r1") + A("sbc %3,%13") // %3:%2:%1:%0 -= LO(d) * MI(x) << 8 + A("mul %7,%10") // r1:r0 = MI(d) * MI(x) + A("sub %2,r0") + A("sbc %3,r1") // %3:%2:%1:%0 -= MI(d) * MI(x) << 16 + A("mul %8,%10") // r1:r0 = HI(d) * MI(x) + A("sub %3,r0") // %3:%2:%1:%0 -= MIL(d) * MI(x) << 24 + A("mul %6,%11") // r1:r0 = LO(d) * HI(x) + A("sub %2,r0") + A("sbc %3,r1") // %3:%2:%1:%0 -= LO(d) * HI(x) << 16 + A("mul %7,%11") // r1:r0 = MI(d) * HI(x) + A("sub %3,r0") // %3:%2:%1:%0 -= MI(d) * HI(x) << 24 // %3:%2:%1:%0 = r = (1<<24) - x*d // %8:%7:%6 = d = interval // Perform the final correction - " sub %0,%6" "\n\t" - " sbc %1,%7" "\n\t" - " sbc %2,%8" "\n\t" // r -= d - " brcs 14f" "\n\t" // if ( r >= d) + A("sub %0,%6") + A("sbc %1,%7") + A("sbc %2,%8") // r -= d + A("brcs 14f") // if ( r >= d) // %11:%10:%9 = x - " ldi %3,1" "\n\t" - " add %9,%3" "\n\t" - " adc %10,%13" "\n\t" - " adc %11,%13" "\n\t" // x++ - "14:" "\n\t" + A("ldi %3,1") + A("add %9,%3") + A("adc %10,%13") + A("adc %11,%13") // x++ + L("14") // Estimation is done. %11:%10:%9 = x - " clr __zero_reg__" "\n\t" // Make C runtime happy + A("clr __zero_reg__") // Make C runtime happy // [211 cycles total] : "=r" (r2), "=r" (r3), diff --git a/Marlin/src/module/stepper.cpp b/Marlin/src/module/stepper.cpp index 4e6747a12..5214bade4 100644 --- a/Marlin/src/module/stepper.cpp +++ b/Marlin/src/module/stepper.cpp @@ -581,68 +581,68 @@ void Stepper::set_directions() { /* %10 (must be high register!)*/ /* Store initial velocity*/ - " sts bezier_F, %0" "\n\t" - " sts bezier_F+1, %1" "\n\t" - " sts bezier_F+2, %10" "\n\t" /* bezier_F = %10:%1:%0 = v0 */ + A("sts bezier_F, %0") + A("sts bezier_F+1, %1") + A("sts bezier_F+2, %10") /* bezier_F = %10:%1:%0 = v0 */ /* Get delta speed */ - " ldi %2,-1" "\n\t" /* %2 = 0xff, means A_negative = true */ - " clr %8" "\n\t" /* %8 = 0 */ - " sub %0,%3" "\n\t" - " sbc %1,%4" "\n\t" - " sbc %10,%5" "\n\t" /* v0 -= v1, C=1 if result is negative */ - " brcc 1f" "\n\t" /* branch if result is positive (C=0), that means v0 >= v1 */ + A("ldi %2,-1") /* %2 = 0xFF, means A_negative = true */ + A("clr %8") /* %8 = 0 */ + A("sub %0,%3") + A("sbc %1,%4") + A("sbc %10,%5") /* v0 -= v1, C=1 if result is negative */ + A("brcc 1f") /* branch if result is positive (C=0), that means v0 >= v1 */ /* Result was negative, get the absolute value*/ - " com %10" "\n\t" - " com %1" "\n\t" - " neg %0" "\n\t" - " sbc %1,%2" "\n\t" - " sbc %10,%2" "\n\t" /* %10:%1:%0 +1 -> %10:%1:%0 = -(v0 - v1) = (v1 - v0) */ - " clr %2" "\n\t" /* %2 = 0, means A_negative = false */ + A("com %10") + A("com %1") + A("neg %0") + A("sbc %1,%2") + A("sbc %10,%2") /* %10:%1:%0 +1 -> %10:%1:%0 = -(v0 - v1) = (v1 - v0) */ + A("clr %2") /* %2 = 0, means A_negative = false */ /* Store negative flag*/ - "1:" "\n\t" - " sts A_negative, %2" "\n\t" /* Store negative flag */ + L("1") + A("sts A_negative, %2") /* Store negative flag */ /* Compute coefficients A,B and C [20 cycles worst case]*/ - " ldi %9,6" "\n\t" /* %9 = 6 */ - " mul %0,%9" "\n\t" /* r1:r0 = 6*LO(v0-v1) */ - " sts bezier_A, r0" "\n\t" - " mov %6,r1" "\n\t" - " clr %7" "\n\t" /* %7:%6:r0 = 6*LO(v0-v1) */ - " mul %1,%9" "\n\t" /* r1:r0 = 6*MI(v0-v1) */ - " add %6,r0" "\n\t" - " adc %7,r1" "\n\t" /* %7:%6:?? += 6*MI(v0-v1) << 8 */ - " mul %10,%9" "\n\t" /* r1:r0 = 6*HI(v0-v1) */ - " add %7,r0" "\n\t" /* %7:%6:?? += 6*HI(v0-v1) << 16 */ - " sts bezier_A+1, %6" "\n\t" - " sts bezier_A+2, %7" "\n\t" /* bezier_A = %7:%6:?? = 6*(v0-v1) [35 cycles worst] */ + A("ldi %9,6") /* %9 = 6 */ + A("mul %0,%9") /* r1:r0 = 6*LO(v0-v1) */ + A("sts bezier_A, r0") + A("mov %6,r1") + A("clr %7") /* %7:%6:r0 = 6*LO(v0-v1) */ + A("mul %1,%9") /* r1:r0 = 6*MI(v0-v1) */ + A("add %6,r0") + A("adc %7,r1") /* %7:%6:?? += 6*MI(v0-v1) << 8 */ + A("mul %10,%9") /* r1:r0 = 6*HI(v0-v1) */ + A("add %7,r0") /* %7:%6:?? += 6*HI(v0-v1) << 16 */ + A("sts bezier_A+1, %6") + A("sts bezier_A+2, %7") /* bezier_A = %7:%6:?? = 6*(v0-v1) [35 cycles worst] */ - " ldi %9,15" "\n\t" /* %9 = 15 */ - " mul %0,%9" "\n\t" /* r1:r0 = 5*LO(v0-v1) */ - " sts bezier_B, r0" "\n\t" - " mov %6,r1" "\n\t" - " clr %7" "\n\t" /* %7:%6:?? = 5*LO(v0-v1) */ - " mul %1,%9" "\n\t" /* r1:r0 = 5*MI(v0-v1) */ - " add %6,r0" "\n\t" - " adc %7,r1" "\n\t" /* %7:%6:?? += 5*MI(v0-v1) << 8 */ - " mul %10,%9" "\n\t" /* r1:r0 = 5*HI(v0-v1) */ - " add %7,r0" "\n\t" /* %7:%6:?? += 5*HI(v0-v1) << 16 */ - " sts bezier_B+1, %6" "\n\t" - " sts bezier_B+2, %7" "\n\t" /* bezier_B = %7:%6:?? = 5*(v0-v1) [50 cycles worst] */ + A("ldi %9,15") /* %9 = 15 */ + A("mul %0,%9") /* r1:r0 = 5*LO(v0-v1) */ + A("sts bezier_B, r0") + A("mov %6,r1") + A("clr %7") /* %7:%6:?? = 5*LO(v0-v1) */ + A("mul %1,%9") /* r1:r0 = 5*MI(v0-v1) */ + A("add %6,r0") + A("adc %7,r1") /* %7:%6:?? += 5*MI(v0-v1) << 8 */ + A("mul %10,%9") /* r1:r0 = 5*HI(v0-v1) */ + A("add %7,r0") /* %7:%6:?? += 5*HI(v0-v1) << 16 */ + A("sts bezier_B+1, %6") + A("sts bezier_B+2, %7") /* bezier_B = %7:%6:?? = 5*(v0-v1) [50 cycles worst] */ - " ldi %9,10" "\n\t" /* %9 = 10 */ - " mul %0,%9" "\n\t" /* r1:r0 = 10*LO(v0-v1) */ - " sts bezier_C, r0" "\n\t" - " mov %6,r1" "\n\t" - " clr %7" "\n\t" /* %7:%6:?? = 10*LO(v0-v1) */ - " mul %1,%9" "\n\t" /* r1:r0 = 10*MI(v0-v1) */ - " add %6,r0" "\n\t" - " adc %7,r1" "\n\t" /* %7:%6:?? += 10*MI(v0-v1) << 8 */ - " mul %10,%9" "\n\t" /* r1:r0 = 10*HI(v0-v1) */ - " add %7,r0" "\n\t" /* %7:%6:?? += 10*HI(v0-v1) << 16 */ - " sts bezier_C+1, %6" "\n\t" + A("ldi %9,10") /* %9 = 10 */ + A("mul %0,%9") /* r1:r0 = 10*LO(v0-v1) */ + A("sts bezier_C, r0") + A("mov %6,r1") + A("clr %7") /* %7:%6:?? = 10*LO(v0-v1) */ + A("mul %1,%9") /* r1:r0 = 10*MI(v0-v1) */ + A("add %6,r0") + A("adc %7,r1") /* %7:%6:?? += 10*MI(v0-v1) << 8 */ + A("mul %10,%9") /* r1:r0 = 10*HI(v0-v1) */ + A("add %7,r0") /* %7:%6:?? += 10*HI(v0-v1) << 16 */ + A("sts bezier_C+1, %6") " sts bezier_C+2, %7" /* bezier_C = %7:%6:?? = 10*(v0-v1) [65 cycles worst] */ : "+r" (r2), "+d" (r3), @@ -674,358 +674,358 @@ void Stepper::set_directions() { __asm__ __volatile( /* umul24x24to16hi(t, bezier_AV, curr_step); t: Range 0 - 1^16 = 16 bits*/ - " lds %9,bezier_AV" "\n\t" /* %9 = LO(AV)*/ - " mul %9,%2" "\n\t" /* r1:r0 = LO(bezier_AV)*LO(curr_step)*/ - " mov %7,r1" "\n\t" /* %7 = LO(bezier_AV)*LO(curr_step) >> 8*/ - " clr %8" "\n\t" /* %8:%7 = LO(bezier_AV)*LO(curr_step) >> 8*/ - " lds %10,bezier_AV+1" "\n\t" /* %10 = MI(AV)*/ - " mul %10,%2" "\n\t" /* r1:r0 = MI(bezier_AV)*LO(curr_step)*/ - " add %7,r0" "\n\t" - " adc %8,r1" "\n\t" /* %8:%7 += MI(bezier_AV)*LO(curr_step)*/ - " lds r1,bezier_AV+2" "\n\t" /* r11 = HI(AV)*/ - " mul r1,%2" "\n\t" /* r1:r0 = HI(bezier_AV)*LO(curr_step)*/ - " add %8,r0" "\n\t" /* %8:%7 += HI(bezier_AV)*LO(curr_step) << 8*/ - " mul %9,%3" "\n\t" /* r1:r0 = LO(bezier_AV)*MI(curr_step)*/ - " add %7,r0" "\n\t" - " adc %8,r1" "\n\t" /* %8:%7 += LO(bezier_AV)*MI(curr_step)*/ - " mul %10,%3" "\n\t" /* r1:r0 = MI(bezier_AV)*MI(curr_step)*/ - " add %8,r0" "\n\t" /* %8:%7 += LO(bezier_AV)*MI(curr_step) << 8*/ - " mul %9,%4" "\n\t" /* r1:r0 = LO(bezier_AV)*HI(curr_step)*/ - " add %8,r0" "\n\t" /* %8:%7 += LO(bezier_AV)*HI(curr_step) << 8*/ + A("lds %9,bezier_AV") /* %9 = LO(AV)*/ + A("mul %9,%2") /* r1:r0 = LO(bezier_AV)*LO(curr_step)*/ + A("mov %7,r1") /* %7 = LO(bezier_AV)*LO(curr_step) >> 8*/ + A("clr %8") /* %8:%7 = LO(bezier_AV)*LO(curr_step) >> 8*/ + A("lds %10,bezier_AV+1") /* %10 = MI(AV)*/ + A("mul %10,%2") /* r1:r0 = MI(bezier_AV)*LO(curr_step)*/ + A("add %7,r0") + A("adc %8,r1") /* %8:%7 += MI(bezier_AV)*LO(curr_step)*/ + A("lds r1,bezier_AV+2") /* r11 = HI(AV)*/ + A("mul r1,%2") /* r1:r0 = HI(bezier_AV)*LO(curr_step)*/ + A("add %8,r0") /* %8:%7 += HI(bezier_AV)*LO(curr_step) << 8*/ + A("mul %9,%3") /* r1:r0 = LO(bezier_AV)*MI(curr_step)*/ + A("add %7,r0") + A("adc %8,r1") /* %8:%7 += LO(bezier_AV)*MI(curr_step)*/ + A("mul %10,%3") /* r1:r0 = MI(bezier_AV)*MI(curr_step)*/ + A("add %8,r0") /* %8:%7 += LO(bezier_AV)*MI(curr_step) << 8*/ + A("mul %9,%4") /* r1:r0 = LO(bezier_AV)*HI(curr_step)*/ + A("add %8,r0") /* %8:%7 += LO(bezier_AV)*HI(curr_step) << 8*/ /* %8:%7 = t*/ /* uint16_t f = t;*/ - " mov %5,%7" "\n\t" /* %6:%5 = f*/ - " mov %6,%8" "\n\t" + A("mov %5,%7") /* %6:%5 = f*/ + A("mov %6,%8") /* %6:%5 = f*/ /* umul16x16to16hi(f, f, t); / Range 16 bits (unsigned) [17] */ - " mul %5,%7" "\n\t" /* r1:r0 = LO(f) * LO(t)*/ - " mov %9,r1" "\n\t" /* store MIL(LO(f) * LO(t)) in %9, 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 %9,r0" "\n\t" /* %9 += 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 %9,r0" "\n\t" /* %9 += 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 %9,r1") /* store MIL(LO(f) * LO(t)) in %9, 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 %9,r0") /* %9 += 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 %9,r0") /* %9 += 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*/ /* 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*/ /* [15 +17*2] = [49]*/ /* %4:%3:%2 will be acc from now on*/ /* uint24_t acc = bezier_F; / Range 20 bits (unsigned)*/ - " clr %9" "\n\t" /* "decimal place we get for free"*/ - " lds %2,bezier_F" "\n\t" - " lds %3,bezier_F+1" "\n\t" - " lds %4,bezier_F+2" "\n\t" /* %4:%3:%2 = acc*/ + A("clr %9") /* "decimal place we get for free"*/ + A("lds %2,bezier_F") + A("lds %3,bezier_F+1") + A("lds %4,bezier_F+2") /* %4:%3:%2 = acc*/ /* if (A_negative) {*/ - " lds r0,A_negative" "\n\t" - " or r0,%0" "\n\t" /* Is flag signalling negative? */ - " brne 3f" "\n\t" /* If yes, Skip next instruction if A was negative*/ - " rjmp 1f" "\n\t" /* Otherwise, jump */ + A("lds r0,A_negative") + A("or r0,%0") /* Is flag signalling negative? */ + A("brne 3f") /* If yes, Skip next instruction if A was negative*/ + A("rjmp 1f") /* Otherwise, jump */ /* uint24_t v; */ /* umul16x24to24hi(v, f, bezier_C); / Range 21bits [29] */ /* acc -= v; */ - "3:" "\n\t" - " lds %10, bezier_C" "\n\t" /* %10 = LO(bezier_C)*/ - " 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] - " lsrs %[flo],%[fhi],#1" "\n\t" // f>>=33; 1 cycles [31bits] - " smlal %[alo],%[ahi],%[flo],%[A]" "\n\t" // a+=(f>>33)*A; 5 cycles - " lsrs %[alo],%[ahi],#6" "\n\t" // a>>=38 1 cycles + ".syntax unified" "\n\t" // is to prevent CM0,CM1 non-unified syntax + A("lsrs %[ahi],%[alo],#1") // a = F << 31 1 cycles + A("lsls %[alo],%[alo],#31") // 1 cycles + A("umull %[flo],%[fhi],%[fhi],%[t]") // f *= t 5 cycles [fhi:flo=64bits] + 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],%[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 ) ,