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ardupilot/libraries/AP_HAL_AVR/utility/macros.inc

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/* Copyright (c) 2002, 2005, 2006, 2007 Marek Michalkiewicz
Copyright (c) 2006 Dmitry Xmelkov
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in
the documentation and/or other materials provided with the
distribution.
* Neither the name of the copyright holders nor the names of
contributors may be used to endorse or promote products derived
from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE. */
#include <AP_HAL_Boards.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1 || CONFIG_HAL_BOARD == HAL_BOARD_APM2
/*
macros.inc - macros for use in assembler sources
Contributors:
Created by Marek Michalkiewicz <marekm@linux.org.pl>
*/
#include <avr/io.h>
//#include "sectionname.h"
/* if not defined, assume old version with underscores */
#ifndef __USER_LABEL_PREFIX__
#define __USER_LABEL_PREFIX__ _
#endif
#ifndef __REGISTER_PREFIX__
#define __REGISTER_PREFIX__
#endif
/* the assembler line separator (just in case it ever changes) */
#define _L $
#define CONCAT1(a, b) CONCAT2(a, b)
#define CONCAT2(a, b) a ## b
#define _U(x) CONCAT1(__USER_LABEL_PREFIX__, x)
#define _R(x) CONCAT1(__REGISTER_PREFIX__, x)
/* these should help to fix the "can't have function named r1()" bug
which may require adding '%' in front of register names. */
#define r0 _R(r0)
#define r1 _R(r1)
#define r2 _R(r2)
#define r3 _R(r3)
#define r4 _R(r4)
#define r5 _R(r5)
#define r6 _R(r6)
#define r7 _R(r7)
#define r8 _R(r8)
#define r9 _R(r9)
#define r10 _R(r10)
#define r11 _R(r11)
#define r12 _R(r12)
#define r13 _R(r13)
#define r14 _R(r14)
#define r15 _R(r15)
#define r16 _R(r16)
#define r17 _R(r17)
#define r18 _R(r18)
#define r19 _R(r19)
#define r20 _R(r20)
#define r21 _R(r21)
#define r22 _R(r22)
#define r23 _R(r23)
#define r24 _R(r24)
#define r25 _R(r25)
#define r26 _R(r26)
#define r27 _R(r27)
#define r28 _R(r28)
#define r29 _R(r29)
#define r30 _R(r30)
#define r31 _R(r31)
#ifndef __tmp_reg__
#define __tmp_reg__ r0
#endif
#ifndef __zero_reg__
#define __zero_reg__ r1
#endif
#if __AVR_MEGA__
#define XJMP jmp
#define XCALL call
#else
#define XJMP rjmp
#define XCALL rcall
#endif
/* used only by fplib/strtod.S - libgcc internal function calls */
#define PROLOGUE_SAVES(offset) XJMP (__prologue_saves__ + 2 * (offset))
#define EPILOGUE_RESTORES(offset) XJMP (__epilogue_restores__ + 2 * (offset))
#if FLASHEND > 0x10000 /* ATmega103 */
#define BIG_CODE 1
#else
#define BIG_CODE 0
#endif
#ifndef __AVR_HAVE_MOVW__
# if defined(__AVR_ENHANCED__) && __AVR_ENHANCED__
# define __AVR_HAVE_MOVW__ 1
# endif
#endif
#ifndef __AVR_HAVE_LPMX__
# if defined(__AVR_ENHANCED__) && __AVR_ENHANCED__
# define __AVR_HAVE_LPMX__ 1
# endif
#endif
#ifndef __AVR_HAVE_MUL__
# if defined(__AVR_ENHANCED__) && __AVR_ENHANCED__
# define __AVR_HAVE_MUL__ 1
# endif
#endif
/*
Smart version of movw:
- uses "movw" if possible (supported by MCU, and both registers even)
- handles overlapping register pairs correctly
- no instruction generated if source and destination are the same
(may expand to 0, 1 or 2 instructions).
*/
.macro X_movw dst src
.L_movw_dst = -1
.L_movw_src = -1
.L_movw_n = 0
.irp reg, r0, r1, r2, r3, r4, r5, r6, r7, r8, r9, \
r10,r11,r12,r13,r14,r15,r16,r17,r18,r19, \
r20,r21,r22,r23,r24,r25,r26,r27,r28,r29, \
r30,r31
.ifc \reg,\dst
.L_movw_dst = .L_movw_n
.endif
.ifc \reg,\src
.L_movw_src = .L_movw_n
.endif
.L_movw_n = .L_movw_n + 1
.endr
.L_movw_n = 0
.irp reg, R0, R1, R2, R3, R4, R5, R6, R7, R8, R9, \
R10,R11,R12,R13,R14,R15,R16,R17,R18,R19, \
R20,R21,R22,R23,R24,R25,R26,R27,R28,R29, \
R30,R31
.ifc \reg,\dst
.L_movw_dst = .L_movw_n
.endif
.ifc \reg,\src
.L_movw_src = .L_movw_n
.endif
.L_movw_n = .L_movw_n + 1
.endr
.if .L_movw_dst < 0
.L_movw_n = 0
.rept 32
.if \dst == .L_movw_n
.L_movw_dst = .L_movw_n
.endif
.L_movw_n = .L_movw_n + 1
.endr
.endif
.if .L_movw_src < 0
.L_movw_n = 0
.rept 32
.if \src == .L_movw_n
.L_movw_src = .L_movw_n
.endif
.L_movw_n = .L_movw_n + 1
.endr
.endif
.if (.L_movw_dst < 0) || (.L_movw_src < 0)
.err ; Invalid 'X_movw' arg.
.endif
.if ((.L_movw_src) - (.L_movw_dst)) /* different registers */
.if (((.L_movw_src) | (.L_movw_dst)) & 0x01)
.if (((.L_movw_src)-(.L_movw_dst)) & 0x80) /* src < dest */
mov (.L_movw_dst)+1, (.L_movw_src)+1
mov (.L_movw_dst), (.L_movw_src)
.else /* src > dest */
mov (.L_movw_dst), (.L_movw_src)
mov (.L_movw_dst)+1, (.L_movw_src)+1
.endif
.else /* both even -> overlap not possible */
#if defined(__AVR_HAVE_MOVW__) && __AVR_HAVE_MOVW__
movw \dst, \src
#else
mov (.L_movw_dst), (.L_movw_src)
mov (.L_movw_dst)+1, (.L_movw_src)+1
#endif
.endif
.endif
.endm
/* Macro 'X_lpm' extends enhanced lpm instruction for classic chips.
Usage:
X_lpm reg, dst
where
reg is 0..31, r0..r31 or R0..R31
dst is z, Z, z+ or Z+
It is possible to omit both arguments.
Possible results for classic chips:
lpm
lpm / mov Rd,r0
lpm / adiw ZL,1
lpm / mov Rd,r0 / adiw ZL,1
For enhanced chips it is one instruction always.
ATTENTION: unlike enhanced chips SREG (S,V,N,Z,C) flags are
changed in case of 'Z+' dst. R0 is scratch.
*/
.macro X_lpm dst=r0, src=Z
/* dst evaluation */
.L_lpm_dst = -1
.L_lpm_n = 0
.irp reg, r0, r1, r2, r3, r4, r5, r6, r7, r8, r9, \
r10,r11,r12,r13,r14,r15,r16,r17,r18,r19, \
r20,r21,r22,r23,r24,r25,r26,r27,r28,r29, \
r30,r31
.ifc \reg,\dst
.L_lpm_dst = .L_lpm_n
.endif
.L_lpm_n = .L_lpm_n + 1
.endr
.L_lpm_n = 0
.irp reg, R0, R1, R2, R3, R4, R5, R6, R7, R8, R9, \
R10,R11,R12,R13,R14,R15,R16,R17,R18,R19, \
R20,R21,R22,R23,R24,R25,R26,R27,R28,R29, \
R30,R31
.ifc \reg,\dst
.L_lpm_dst = .L_lpm_n
.endif
.L_lpm_n = .L_lpm_n + 1
.endr
.if .L_lpm_dst < 0
.L_lpm_n = 0
.rept 32
.if \dst == .L_lpm_n
.L_lpm_dst = .L_lpm_n
.endif
.L_lpm_n = .L_lpm_n + 1
.endr
.endif
.if (.L_lpm_dst < 0)
.err ; Invalid dst arg of 'X_lpm' macro.
.endif
/* src evaluation */
.L_lpm_src = -1
.L_lpm_n = 0
.irp reg, z,Z,z+,Z+
.ifc \reg,\src
.L_lpm_src = .L_lpm_n
.endif
.L_lpm_n = .L_lpm_n + 1
.endr
.if (.L_lpm_src < 0)
.err ; Invalid src arg of 'X_lpm' macro.
.endif
/* instruction(s) */
.if .L_lpm_src < 2
.if .L_lpm_dst == 0
lpm
.else
#if defined(__AVR_HAVE_LPMX__) && __AVR_HAVE_LPMX__
lpm .L_lpm_dst, Z
#else
lpm
mov .L_lpm_dst, r0
#endif
.endif
.else
.if (.L_lpm_dst >= 30)
.err ; Registers 30 and 31 are inhibited as 'X_lpm *,Z+' dst.
.endif
#if defined(__AVR_HAVE_LPMX__) && __AVR_HAVE_LPMX__
lpm .L_lpm_dst, Z+
#else
lpm
.if .L_lpm_dst
mov .L_lpm_dst, r0
.endif
adiw r30, 1
#endif
.endif
.endm
/*
LPM_R0_ZPLUS_INIT is used before the loop to initialize RAMPZ
for future devices with RAMPZ:Z auto-increment - [e]lpm r0, Z+.
LPM_R0_ZPLUS_NEXT is used inside the loop to load a byte from
the program memory at [RAMPZ:]Z to R0, and increment [RAMPZ:]Z.
The argument in both macros is a register that contains the
high byte (bits 23-16) of the address, bits 15-0 should be in
the Z (r31:r30) register. It can be any register except for:
r0, r1 (__zero_reg__ - assumed to always contain 0), r30, r31.
*/
.macro LPM_R0_ZPLUS_INIT hhi
#if __AVR_ENHANCED__
#if BIG_CODE
out AVR_RAMPZ_ADDR, \hhi
#endif
#endif
.endm
.macro LPM_R0_ZPLUS_NEXT hhi
#if __AVR_ENHANCED__
#if BIG_CODE
/* ELPM with RAMPZ:Z post-increment, load RAMPZ only once */
elpm r0, Z+
#else
/* LPM with Z post-increment, max 64K, no RAMPZ (ATmega83/161/163/32) */
lpm r0, Z+
#endif
#else
#if BIG_CODE
/* ELPM without post-increment, load RAMPZ each time (ATmega103) */
out AVR_RAMPZ_ADDR, \hhi
elpm
adiw r30,1
adc \hhi, __zero_reg__
#else
/* LPM without post-increment, max 64K, no RAMPZ (AT90S*) */
lpm
adiw r30,1
#endif
#endif
.endm
#endif
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