Initial commit

1 files changed, 113 insertions, 0 deletions

diff --git a/Marlin/src/HAL/AVR/math.h b/Marlin/src/HAL/AVR/math.h
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+++ b/Marlin/src/HAL/AVR/math.h
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+/**
+ * Marlin 3D Printer Firmware
+ * Copyright (c) 2020 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 <https://www.gnu.org/licenses/>.
+ *
+ */
+#pragma once
+
+/**
+ * Optimized math functions for AVR
+ */
+
+// intRes = longIn1 * longIn2 >> 24
+// uses:
+// A[tmp] to store 0
+// B[tmp] 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.
+// B A are bits 24-39 and are the returned value
+// C B A is longIn1
+// D C B A is longIn2
+//
+static FORCE_INLINE uint16_t MultiU24X32toH16(uint32_t longIn1, uint32_t longIn2) {
+  uint8_t tmp1;
+  uint8_t tmp2;
+  uint16_t intRes;
+  __asm__ __volatile__(
+    A("clr %[tmp1]")
+    A("mul %A[longIn1], %B[longIn2]")
+    A("mov %[tmp2], r1")
+    A("mul %B[longIn1], %C[longIn2]")
+    A("movw %A[intRes], r0")
+    A("mul %C[longIn1], %C[longIn2]")
+    A("add %B[intRes], r0")
+    A("mul %C[longIn1], %B[longIn2]")
+    A("add %A[intRes], r0")
+    A("adc %B[intRes], r1")
+    A("mul %A[longIn1], %C[longIn2]")
+    A("add %[tmp2], r0")
+    A("adc %A[intRes], r1")
+    A("adc %B[intRes], %[tmp1]")
+    A("mul %B[longIn1], %B[longIn2]")
+    A("add %[tmp2], r0")
+    A("adc %A[intRes], r1")
+    A("adc %B[intRes], %[tmp1]")
+    A("mul %C[longIn1], %A[longIn2]")
+    A("add %[tmp2], r0")
+    A("adc %A[intRes], r1")
+    A("adc %B[intRes], %[tmp1]")
+    A("mul %B[longIn1], %A[longIn2]")
+    A("add %[tmp2], r1")
+    A("adc %A[intRes], %[tmp1]")
+    A("adc %B[intRes], %[tmp1]")
+    A("lsr %[tmp2]")
+    A("adc %A[intRes], %[tmp1]")
+    A("adc %B[intRes], %[tmp1]")
+    A("mul %D[longIn2], %A[longIn1]")
+    A("add %A[intRes], r0")
+    A("adc %B[intRes], r1")
+    A("mul %D[longIn2], %B[longIn1]")
+    A("add %B[intRes], r0")
+    A("clr r1")
+      : [intRes] "=&r" (intRes),
+        [tmp1] "=&r" (tmp1),
+        [tmp2] "=&r" (tmp2)
+      : [longIn1] "d" (longIn1),
+        [longIn2] "d" (longIn2)
+      : "cc"
+  );
+  return intRes;
+}
+
+// intRes = intIn1 * intIn2 >> 16
+// uses:
+// r26 to store 0
+// r27 to store the byte 1 of the 24 bit result
+static FORCE_INLINE uint16_t MultiU16X8toH16(uint8_t charIn1, uint16_t intIn2) {
+  uint8_t tmp;
+  uint16_t intRes;
+  __asm__ __volatile__ (
+    A("clr %[tmp]")
+    A("mul %[charIn1], %B[intIn2]")
+    A("movw %A[intRes], r0")
+    A("mul %[charIn1], %A[intIn2]")
+    A("add %A[intRes], r1")
+    A("adc %B[intRes], %[tmp]")
+    A("lsr r0")
+    A("adc %A[intRes], %[tmp]")
+    A("adc %B[intRes], %[tmp]")
+    A("clr r1")
+      : [intRes] "=&r" (intRes),
+        [tmp] "=&r" (tmp)
+      : [charIn1] "d" (charIn1),
+        [intIn2] "d" (intIn2)
+      : "cc"
+  );
+  return intRes;
+}